JPH0310781A - Articulated type robot - Google Patents
Articulated type robotInfo
- Publication number
- JPH0310781A JPH0310781A JP14580489A JP14580489A JPH0310781A JP H0310781 A JPH0310781 A JP H0310781A JP 14580489 A JP14580489 A JP 14580489A JP 14580489 A JP14580489 A JP 14580489A JP H0310781 A JPH0310781 A JP H0310781A
- Authority
- JP
- Japan
- Prior art keywords
- order
- rotation angle
- posture
- calculation means
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000036544 posture Effects 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
イ）産業上の利用分野
本発明は多関節ロボットに関し、特に動作時のアクチュ
エータ変化量最小経路を決定するための経路決定装置に
関する。DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an articulated robot, and more particularly to a path determining device for determining a path with a minimum amount of change in actuators during operation.
口）従来の技術
近年、生産工程の自動化にともない例えば特開昭６１−
２１１７０４号に示すような多関節型ロボットが種々開
発されている。このような多関節型ロボットの使用方法
としては、先端部に設けたハンドあるはその他のツール
をいくつかの決められたポイント（姿勢あるいは位置）
に移動させ、各ポイントで作業をさせると云う使用法が
一般的である。このため、こうしたポイントの通過順序
を連続的に作業者が指示しておく必要があった。また、
作業者が順序を決定する際、実際の３次元の作業空間内
で手元位置の移動量等が最小になるように決めることは
可能であるが、それが各関節を回動させるモータの回転
量の合計が最小であることは必ずしも一致せず、効率的
な移動と云う点から今一つ問題があった。(Example) Conventional technology In recent years, with the automation of production processes, for example, JP-A-61-
Various articulated robots as shown in No. 211704 have been developed. How to use such an articulated robot is to move the hand or other tool provided at the tip at several predetermined points (postures or positions).
The most common method is to move the robot to each point and have it work at each point. Therefore, it was necessary for the operator to continuously instruct the order in which these points should be passed. Also,
When a worker decides on the order, it is possible to do so in a way that minimizes the amount of movement of the hand position within the actual three-dimensional work space, but it is possible to do so in a way that minimizes the amount of movement of the hand position within the actual three-dimensional work space. It is not always the case that the sum of
ハ）発明が解決しようとする課題
本発明はこのような点に鑑みて為されたものであって、
自動的に各関節を回動させるモータの回転量が最小にな
る多関節型ロボットの動作を決定しようとしている。c) Problems to be solved by the invention The present invention has been made in view of the above points, and
We are trying to determine the motion of an articulated robot that minimizes the amount of rotation of the motor that automatically rotates each joint.
（ニ）課題を解決するための手段
本発明では、各２つの姿勢間を移動するときの関節回転
用のモータ回転角の変化が最小となる経路を求める２点
間最小経路算出手段と、上記各姿勢をとる順序に応じ、
上記２点間最小経路算出手段で算出された結果を用いて
全姿勢変化行程での合計のモータ回転角変化量を算出す
る全行程算出手段と、この全行程算出手段で算出された
モータ回転角変化量が最小となる順序を選び出す選択手
段と、を有して成り、この選択手段で選び出された順序
に応じて姿勢を変化させている。(d) Means for Solving the Problems The present invention includes a two-point minimum path calculating means for calculating a path that minimizes the change in the rotation angle of a motor for rotating a joint when moving between each two postures; Depending on the order in which each posture is taken,
A total stroke calculation means for calculating the total amount of motor rotation angle change in the entire posture change stroke using the results calculated by the two-point minimum path calculation means; and a motor rotation angle calculated by the total stroke calculation means. and a selection means for selecting an order in which the amount of change is minimum, and the posture is changed according to the order selected by the selection means.
ホ）作用
モータの回転角自身が最小となる姿勢変化が行われるの
で姿勢変化の高速化が図れる。e) Since the posture change is performed such that the rotation angle of the operating motor is minimized, the speed of the posture change can be increased.
へ）実施例
第２図は、本発明多関節型ロボットの１例を示し、（１
１（２）はアームであって、夫々図示しないモータによ
り関節（３） （４１を軸として回転する。（５）はア
ーム（２）先端部の手先位置を示し、対象物を試験する
ためのセンサあるいは作業等を行うツール等を取り付け
る。（６）は、このロボットの駆動を行うようモータの
回転を制御する制御部を示す。こうしたロボットは、第
３図のような作業空間を有する。第１図は本発明多関節
型ロボットの制御部の構成図であり、第２図の多関節型
ロボットを一般化したり自由度のものについて示してい
る。また、各アクチュエータの位置を軸としたｎ次元空
間をそのロボットの関節角空間と呼び、２次元関節かと
空間を第４図に示す、こうした制御部において、（７）
は与えられるｉ＋１個の姿勢の内、各２つの姿勢間を移
動するときのｎ次元関節角空間内での２点間の直線距離
を計算する２点間最小経路算出手段であり、例えば各関
節の回転角がθ１．θ２．・・・θ、からθ、′、θ２
ρ＝Σ１θ、−θ４′１としても良い、（８）は１個の
通過姿勢を順次通過するし１個の経路の距離を算出す全
行程算出手段、（９）はこの全行程算出手段（８）で算
出された距離が算小となる通過順序を選び出す選択手段
を示し、選択された順序に従うて、駆動制御手段（４０
）がロボットを動作させる。f) Embodiment FIG. 2 shows an example of the articulated robot of the present invention.
1 (2) is an arm, which is rotated around joints (3) (41) by motors (not shown). (5) indicates the position of the tip of the arm (2), and is used for testing the object. Attach sensors or tools for work, etc. (6) indicates a control unit that controls the rotation of the motor to drive this robot. Such a robot has a work space as shown in Fig. 3. Figure 1 is a block diagram of the control unit of the articulated robot of the present invention, and shows a generalized version of the articulated robot in Figure 2 with degrees of freedom. The dimensional space is called the robot's joint angle space, and the two-dimensional joint angle space is shown in Figure 4. In such a control unit, (7)
is a two-point minimum path calculation means that calculates the straight line distance between two points in the n-dimensional joint angle space when moving between each two postures among the given i+1 postures. The rotation angle is θ1. θ2. ...θ, to θ, ′, θ2
ρ=Σ1θ, -θ4'1 may also be used. (8) is a total stroke calculation means that sequentially passes through one passing attitude and calculates the distance of one route, and (9) is this total stroke calculation means ( The drive control means (40
) makes the robot move.
このような多関節型ロボットにおいて、ロボットの開始
姿勢及び、通過すべきｉ個（ｉ≧２）の姿勢が、各々、
関節角空間内の１点すなわちｎ個関節を有する各関節回
転用のモータの回転位置を要素とする座標データで与え
られていて、ロボットは開始姿勢から出発し、ｉ個の姿
勢を通過した後、開始姿勢に戻って来て終了するものと
してその動作を説明する。最初ロボットは開始姿勢にあ
り、通過すべきｉ個の姿勢が与えられたならば、開始姿
勢を含めた（ｉ＋１）個の姿勢のうちの２つの姿勢の組
み合せ（ｉ＋１）ｘｉ／２個の各々に着目する。２つの
姿勢間を移動する場合関節角空間内でその２つの座標を
直線で結んだ軌跡に従ってモータを回転させるのが、モ
ータ変化量最小経路である（第５図）、２つの姿勢の座
標データを（θ１．θ２．θ１．・・・、θ。）と（θ
、°、θ２′、０３′、・・・、０１′）とすると、上
述の直線の距ｗＬｇは前述の式で示される。２点間最小
経路算出手段（７）で（ｉ＋１）ｘｉ／２個の組み合わ
せに関する距離ｇを全て計算する。その後、ｉ個のロボ
ットの通過姿勢を順次通過する１１種類の経路の距離を
全行程算出手段（８）で算出す（第６図）０次いで、こ
うして算出された距離が最小となる通過順序を選択手段
（９）で選択し最小経路を決定する。このように選択さ
れる経路は各姿勢の通過順序が全く逆になる２種類が最
低存在する。In such an articulated robot, the starting posture of the robot and the i (i≧2) postures to be passed through are each
It is given as coordinate data whose element is one point in the joint angle space, that is, the rotational position of the motor for rotating each joint with n joints, and the robot starts from the starting posture and after passing through i postures. The operation will be explained assuming that the robot returns to the starting position and ends. Initially, the robot is in the starting posture, and given i postures to pass through, each of the combinations (i+1)xi/2 of two postures out of the (i+1) postures including the starting posture. Focus on When moving between two postures, the motor is rotated according to a trajectory connecting the two coordinates with a straight line in the joint angle space, which is the minimum motor change path (Figure 5).Coordinate data of the two postures (θ1.θ2.θ1...., θ.) and (θ
, °, θ2', 03', . The two-point minimum path calculation means (7) calculates all distances g regarding the (i+1)xi/2 combinations. After that, the distances of the 11 types of paths that sequentially pass through the passing postures of the i robots are calculated by the total path calculation means (8) (Figure 6).Next, the passing order that minimizes the distances calculated in this way is calculated. The selection means (9) selects and determines the minimum route. There are at least two types of routes selected in this way, in which the order of passage of each posture is completely reversed.
そして選択された経路の内適切なものを作業者が入力装
置（１１）等から指示すると、その経路が決定され、決
定された経路に沿って駆動制御手段＋１０）がロボット
の駆動を制御する。Then, when the operator indicates an appropriate route among the selected routes using the input device (11) or the like, that route is determined, and the drive control means +10) controls the drive of the robot along the determined route.
ト）発明の効果
以上述べた如く、本発明多関節型ロボットはモータの回
転角自身が最小となる姿勢変化が行なわれるので、姿勢
変化の高速化が図れ、作業の効牢死が望める。g) Effects of the Invention As described above, since the articulated robot of the present invention changes its posture so that the rotation angle of the motor itself is minimized, it is possible to speed up the posture change and improve the effectiveness of the work.
第１図は本発明多関節型ロボットの制御部の構成図、第
２図は本発明多関節ロボットのブロック図、第３図は作
業空間の状態説明図、第４図乃至第６図は関節型空間の
状憩説明図である。
（１１（２＋・・・アーム、＜３ ） （４）・・・関
節角、（５）・・・手先、（６）・・−制御部、（７）
・・−２点間最小経路算出手段、（８）・・・全行程算
出手段、（９）・・−選択手段、（１０）・・・駆動制
御手段、＋１１）・・・入力装置。
第１図
第２図Figure 1 is a block diagram of the control unit of the articulated robot of the present invention, Figure 2 is a block diagram of the articulated robot of the present invention, Figure 3 is an explanatory diagram of the state of the work space, and Figures 4 to 6 are the joints. FIG. 2 is an explanatory diagram of a situation in a mold space. (11 (2+...arm, <3) (4)...joint angle, (5)...hand, (6)...-control unit, (7)
...-minimum path calculation means between two points, (8) ... total stroke calculation means, (9) ... - selection means, (10) ... drive control means, +11) ... input device. Figure 1 Figure 2
Claims (1)
えることにより、その姿勢をとる順序及び経路を決定す
る多関節型ロボットにおいて、各２つの姿勢間を移動す
るときの関節回転用のモータ回転角の変化が最小となる
経路を求める２点間最小経路算出手段と、上記各姿勢を
とる順序に応じ、上記２点間最小経路算出手段で算出さ
れた結果を用いて全姿勢変化行程での合計のモータ回転
角変化量を算出する全行程算出手段と、この全行程算出
手段で算出されたモータ回転角変化量が最小となる順序
を選び出す選択手段と、を有して成り、この選択手段で
選び出された順序に応じて姿勢を変化させることを特徴
とした多関節型ロボット。1) A motor for rotating joints when moving between each two postures in an articulated robot that determines the order and path of taking postures by providing multiple posture information in any predetermined order. A two-point minimum path calculation means that calculates a path with a minimum change in rotation angle, and a total posture change process using the results calculated by the two-point minimum path calculation means according to the order in which each posture is taken. a total stroke calculation means for calculating the total motor rotation angle change amount, and a selection means for selecting an order in which the motor rotation angle change amount calculated by the total stroke calculation means is the minimum, and this selection means An articulated robot that changes its posture according to the order selected by means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1145804A JP2823243B2 (en) | 1989-06-08 | 1989-06-08 | Articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1145804A JP2823243B2 (en) | 1989-06-08 | 1989-06-08 | Articulated robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0310781A true JPH0310781A (en) | 1991-01-18 |
| JP2823243B2 JP2823243B2 (en) | 1998-11-11 |
Family
ID=15393537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1145804A Expired - Lifetime JP2823243B2 (en) | 1989-06-08 | 1989-06-08 | Articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2823243B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2018051476A1 (en) * | 2016-09-16 | 2019-06-27 | 株式会社Ｆｕｊｉ | Automatic work carrier |
| CN111230860A (en) * | 2020-01-02 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Robot control method, robot control device, computer device, and storage medium |
| CN116330303A (en) * | 2023-05-29 | 2023-06-27 | 广东隆崎机器人有限公司 | SCARA robot motion control method, SCARA robot motion control device, SCARA robot motion control terminal equipment and SCARA robot motion control medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7013766B2 (en) * | 2017-09-22 | 2022-02-01 | セイコーエプソン株式会社 | Robot control device, robot system, and control method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6274533A (en) * | 1985-09-28 | 1987-04-06 | Toshiba Corp | Parts mounting method in automatic assembly device |
-
1989
- 1989-06-08 JP JP1145804A patent/JP2823243B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6274533A (en) * | 1985-09-28 | 1987-04-06 | Toshiba Corp | Parts mounting method in automatic assembly device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2018051476A1 (en) * | 2016-09-16 | 2019-06-27 | 株式会社Ｆｕｊｉ | Automatic work carrier |
| CN111230860A (en) * | 2020-01-02 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Robot control method, robot control device, computer device, and storage medium |
| CN111230860B (en) * | 2020-01-02 | 2022-03-01 | 腾讯科技（深圳）有限公司 | Robot control method, robot control device, computer device, and storage medium |
| CN116330303A (en) * | 2023-05-29 | 2023-06-27 | 广东隆崎机器人有限公司 | SCARA robot motion control method, SCARA robot motion control device, SCARA robot motion control terminal equipment and SCARA robot motion control medium |
| CN116330303B (en) * | 2023-05-29 | 2023-08-01 | 广东隆崎机器人有限公司 | SCARA robot motion control method, SCARA robot motion control device, SCARA robot motion control terminal equipment and SCARA robot motion control medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2823243B2 (en) | 1998-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| FI83176C (en) | A method for controlling the movements of a robot and a piece manipulator during the learning phase of a robot cell | |
| JP3207728B2 (en) | Control method of redundant manipulator | |
| US6845295B2 (en) | Method of controlling a robot through a singularity | |
| US8972056B2 (en) | Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n>5) | |
| EP2660014B1 (en) | Control device and teaching method for seven-shaft multi-joint robot | |
| JPS59218513A (en) | Arc control method of industrial robot | |
| JPH0282302A (en) | Robot controller | |
| US6064168A (en) | Method of controlling robot movement | |
| JPS6125207A (en) | Setting system of tool coordinate system | |
| JPS63291104A (en) | Control of terminal effector for industrial robot | |
| EP2523786B1 (en) | Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n>5) | |
| JP3639873B2 (en) | Robot control method and robot control system | |
| JPH0310781A (en) | Articulated type robot | |
| JPH01267706A (en) | Method for controlling robot | |
| JPH04227506A (en) | Method for controlling position determining apparatus | |
| JPH09314487A (en) | Method for controlling manipulator having redundant axis | |
| JP2005335010A (en) | Gripping control device | |
| JPH08155647A (en) | Weaving controller of welding robot | |
| JPS62199383A (en) | Control system of robot | |
| JP2676721B2 (en) | Control device for articulated robot | |
| JPS62154006A (en) | Robot controller | |
| KR20040034167A (en) | The method of control- ling straight-line movement of vertical multi-joint six-axis manipulator | |
| JPH05505893A (en) | How to control the robot cell path | |
| JPS5946758B2 (en) | Operation control method for automatic working machines | |
| US20210031369A1 (en) | Apparatus, robot control device, robot system, and method of setting robot coordinate system |