JPH05204441A - Direct teaching method for robot - Google Patents
Direct teaching method for robotInfo
- Publication number
- JPH05204441A JPH05204441A JP1061292A JP1061292A JPH05204441A JP H05204441 A JPH05204441 A JP H05204441A JP 1061292 A JP1061292 A JP 1061292A JP 1061292 A JP1061292 A JP 1061292A JP H05204441 A JPH05204441 A JP H05204441A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- force sensor
- signal
- force
- output value
- 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
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、ロボット本体に設置さ
れた力センサに力を付与し、この力センサの出力に基づ
いてロボットの手先部を任意の位置および姿勢に誘導
し、この位置と姿勢を教示する方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention applies a force to a force sensor installed in a robot main body, guides the hand of the robot to an arbitrary position and posture based on the output of the force sensor, and The present invention relates to a method of teaching a posture.
【０００２】[0002]
【従来の技術】従来、直接教示型のロボットでは、ロボ
ットの本体に設置された力センサに力を付与し、この力
センサの出力値を演算部に入力し、力センサ出力値に定
数を乗じて、力に比例した変位分だけロボットの手先部
を任意の位置および姿勢に誘導し、この位置と姿勢を教
示する方法を取っていた。2. Description of the Related Art Conventionally, in a direct teaching type robot, a force is applied to a force sensor installed in the main body of the robot, the output value of this force sensor is input to a calculation unit, and the output value of the force sensor is multiplied by a constant. Then, the hand portion of the robot is guided to an arbitrary position and posture by a displacement proportional to the force, and the position and posture are taught.
【０００３】[0003]
【発明が解決しようとする課題】この様な従来の直接教
示方法では、力センサの損傷や外界からのノイズの影響
等により、力センサから不必要に過大な信号が出力され
た場合、演算部はロボット駆動部に対し、この過大な信
号値に比例した移動指令を発するため、ロボットは教示
者の意に反した過大な動作をし、その結果として教示者
の安全を脅かす可能性を有する。In such a conventional direct teaching method, when an unnecessarily excessive signal is output from the force sensor due to damage of the force sensor or the influence of noise from the outside, the arithmetic unit is operated. Issues a movement command proportional to this excessive signal value to the robot drive unit, the robot may perform excessive movements against the teacher's will, and as a result, the safety of the teacher may be threatened.
【０００４】本発明は教示時に力センサから不必要に過
大な信号が出力された場合ロボットの誤動作を防ぎ、教
示者の安全を確保できる直接教示方法を提供することを
目的とする。It is an object of the present invention to provide a direct teaching method capable of preventing the robot from malfunctioning when an excessively large signal is output from the force sensor during teaching and ensuring the safety of the teacher.
【０００５】[0005]
【課題を解決するための手段】本発明の直接教示方法
は、力センサの出力値がこの力センサの出力値を処理す
る演算部の閾値を超える場合はセンサの出力値を０に処
理して、ロボット駆動部に対して移動変位量０の指令を
発する。According to the direct teaching method of the present invention, when the output value of the force sensor exceeds the threshold value of the arithmetic unit for processing the output value of the force sensor, the output value of the sensor is processed to 0. , Issues a command for moving displacement amount 0 to the robot drive unit.
【０００６】[0006]
【作用】この構成によると、力センサの出力値を処理す
る演算部は、力センサ出力値が閾値を超える場合には、
ロボット駆動部に信号を伝達しない。したがって教示時
の不必要な過大入力に対するロボットの誤動作を防ぎ、
教示者の安全を確保できる。According to this configuration, the arithmetic unit for processing the output value of the force sensor, when the output value of the force sensor exceeds the threshold value,
No signal is transmitted to the robot drive. Therefore, prevent the robot from malfunctioning due to unnecessary excessive input during teaching,
The safety of the teacher can be secured.
【０００７】[0007]
【実施例】以下、本発明の直接教示方法を図１〜図３に
示す具体的な実施例に基づいて説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The direct teaching method of the present invention will be described below with reference to specific embodiments shown in FIGS.
【０００８】図１は教示を受けるロボットを示し、１は
ロボットマニピュレータ、２はその手首先端に装着され
た力センサ、３は力センサ２の端部にエンドエフェクタ
として装着された溶接用トーチを示す。教示者は教示の
際に、溶接用トーチ３などを把持して力センサ２に力を
付与する。この力センサ２の出力信号は図２に示すよう
に増幅器４で増幅され、これを演算部５で処理してロボ
ット駆動部６に移動指令を発して、ロボット１の手先部
を教示者の望む位置および姿勢に誘導して、この位置と
姿勢とを図示しない記憶手段に記憶させる。FIG. 1 shows a robot to be taught, 1 is a robot manipulator, 2 is a force sensor attached to the tip of the wrist, and 3 is a welding torch attached to the end of the force sensor 2 as an end effector. .. At the time of teaching, the teacher holds the welding torch 3 or the like and applies a force to the force sensor 2. The output signal of the force sensor 2 is amplified by the amplifier 4 as shown in FIG. 2, and is processed by the arithmetic unit 5 to issue a movement command to the robot drive unit 6 so that the teacher can request the hand portion of the robot 1. The position and the posture are guided, and the position and the posture are stored in a storage unit (not shown).
【０００９】演算部５では図３に示す流れ図に従って処
理が施される。増幅器４で増幅された力センサ２の出力
信号は比較部７で閾値と比較され、この信号が閾値の範
囲内であれば、処理部８でこの信号に定数を乗じて駆動
部６に移動指令を発する。The calculation unit 5 performs processing according to the flowchart shown in FIG. The output signal of the force sensor 2 amplified by the amplifier 4 is compared with a threshold value by the comparison unit 7, and if this signal is within the threshold range, the processing unit 8 multiplies this signal by a constant to instruct the drive unit 6 to move. Emit.
【００１０】しかし、比較部７で閾値の範囲外と判定さ
れた場合には、処理部９から駆動部６には移動量０の指
令を発するため、駆動部６は教示者の意に反した過大な
動作をしない。However, if the comparison unit 7 determines that the value is out of the threshold value range, the processing unit 9 issues a command for moving amount 0 to the driving unit 6, so that the driving unit 6 goes against the instructor's intention. Do not operate excessively.
【００１１】[0011]
【発明の効果】以上のように、力センサの出力値がこの
力センサの出力値を処理する演算部の閾値を超える場合
は、力センサの出力値を０に処理するため、教示時のロ
ボットの誤動作を防ぎ、教示者の安全を確保することが
できる。As described above, when the output value of the force sensor exceeds the threshold value of the calculation unit that processes the output value of this force sensor, the output value of the force sensor is processed to 0, so the robot at the time of teaching is taught. It is possible to prevent the malfunction of and to secure the safety of the teacher.
【図１】ロボットの正面図である。FIG. 1 is a front view of a robot.
【図２】同ロボットの直接教示経路の構成図である。FIG. 2 is a configuration diagram of a direct teaching path of the robot.
【図３】本発明のロボットの直接教示方法を実施する要
部の流れ図である。FIG. 3 is a flowchart of a main part for implementing the direct teaching method for a robot of the present invention.
１ ロボットマニピュレータ ２ 力センサ ３ 溶接用トーチ ５ 演算部 1 Robot Manipulator 2 Force Sensor 3 Welding Torch 5 Computing Unit
Claims (1)
を付与し、この力センサの出力に基づいてロボット手先
部を任意の位置および姿勢に誘導し、この位置と姿勢を
教示するに際し、力センサの出力値がこの力センサの出
力値を処理する演算部の閾値を超える場合は力センサ出
力値を０に処理して、ロボット駆動部に対して移動変位
量０の指令を発することにより教示時のロボットの誤動
作を防止するロボットの直接教示方法。1. A force is applied to a force sensor installed on a robot body, a robot hand is guided to an arbitrary position and posture based on the output of the force sensor, and the force is applied when teaching this position and posture. When the output value of the sensor exceeds the threshold value of the calculation unit that processes the output value of this force sensor, the output value of the force sensor is processed to 0, and the robot drive unit is instructed by issuing a command for moving displacement amount 0. Direct teaching method for robots to prevent malfunction of robots during operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01061292A JP3207231B2 (en) | 1992-01-24 | 1992-01-24 | Robot direct teaching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01061292A JP3207231B2 (en) | 1992-01-24 | 1992-01-24 | Robot direct teaching method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05204441A true JPH05204441A (en) | 1993-08-13 |
| JP3207231B2 JP3207231B2 (en) | 2001-09-10 |
Family
ID=11755067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP01061292A Expired - Fee Related JP3207231B2 (en) | 1992-01-24 | 1992-01-24 | Robot direct teaching method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3207231B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0540753A1 (en) * | 1991-05-21 | 1993-05-12 | Hitachi Construction Machinery Co., Ltd. | System for controlling industrial robot |
| JP2009297853A (en) * | 2008-06-16 | 2009-12-24 | Denso Wave Inc | Direct teach control device of robot |
| US10350768B2 (en) | 2016-03-18 | 2019-07-16 | Seiko Epson Corporation | Control device, robot, and robot system |
| JP2020157475A (en) * | 2020-07-01 | 2020-10-01 | セイコーエプソン株式会社 | Control device, robot system, and robot control method |
| KR20200139217A (en) | 2018-05-23 | 2020-12-11 | 아즈빌주식회사 | Robot's direct teaching device and direct teaching method |
| KR20210041034A (en) | 2018-09-07 | 2021-04-14 | 아즈빌주식회사 | Robot's Direct Teaching Device and Direct Teaching Method |
-
1992
- 1992-01-24 JP JP01061292A patent/JP3207231B2/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0540753A1 (en) * | 1991-05-21 | 1993-05-12 | Hitachi Construction Machinery Co., Ltd. | System for controlling industrial robot |
| EP0540753A4 (en) * | 1991-05-21 | 1994-08-24 | Hitachi Construction Machinery | System for controlling industrial robot |
| JP2009297853A (en) * | 2008-06-16 | 2009-12-24 | Denso Wave Inc | Direct teach control device of robot |
| US10350768B2 (en) | 2016-03-18 | 2019-07-16 | Seiko Epson Corporation | Control device, robot, and robot system |
| US11090814B2 (en) | 2016-03-18 | 2021-08-17 | Seiko Epson Corporation | Robot control method |
| KR20200139217A (en) | 2018-05-23 | 2020-12-11 | 아즈빌주식회사 | Robot's direct teaching device and direct teaching method |
| KR20210041034A (en) | 2018-09-07 | 2021-04-14 | 아즈빌주식회사 | Robot's Direct Teaching Device and Direct Teaching Method |
| JP2020157475A (en) * | 2020-07-01 | 2020-10-01 | セイコーエプソン株式会社 | Control device, robot system, and robot control method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3207231B2 (en) | 2001-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4550849B2 (en) | Mobile robot with arm | |
| KR100449429B1 (en) | Robot teaching device | |
| US6301526B1 (en) | Master device having force reflection function | |
| JP6450960B2 (en) | Robot, robot system and teaching method | |
| US7888900B2 (en) | Apparatus and method for robot handling control | |
| US6285920B1 (en) | Method of robot teaching with motion constraints | |
| JP2005334999A (en) | Assisting device | |
| JP3207231B2 (en) | Robot direct teaching method | |
| JPH10207519A (en) | Robot control system | |
| JPH05285870A (en) | Direct teaching device for multijoint robot | |
| JPH09150382A (en) | Direct teaching device for robot | |
| JP3465253B2 (en) | Robot direct teaching device | |
| JP3465252B2 (en) | Robot direct teaching device | |
| JPH07214435A (en) | Automatic screw tightening device | |
| DE3885437D1 (en) | Finely controlled follow-up robot. | |
| JPH0413580A (en) | Manipulator for building work | |
| JPH05341834A (en) | Direct teaching device for articulated robot | |
| JPH01146645A (en) | Profile control system | |
| JP2002086379A (en) | Robot, method of controlling the same and computer- readable storage medium storing program for operating the robot | |
| JPH0760683A (en) | Articulated robot and control device thereof | |
| JPH05250029A (en) | Industrial robot | |
| JP2005088114A (en) | Direct teaching device of robot | |
| US20230278195A1 (en) | Robot and method of controlling the same | |
| WO2023195177A1 (en) | Robot control device and control method | |
| JPH10193290A (en) | Robot control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |