JPH0991020A - Method for controlling teaching robot - Google Patents

Method for controlling teaching robot

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Publication number
JPH0991020A
JPH0991020A JP24265695A JP24265695A JPH0991020A JP H0991020 A JPH0991020 A JP H0991020A JP 24265695 A JP24265695 A JP 24265695A JP 24265695 A JP24265695 A JP 24265695A JP H0991020 A JPH0991020 A JP H0991020A
Authority
JP
Japan
Prior art keywords
points
point
coordinates
teaching
interpolation
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.)
Pending
Application number
JP24265695A
Other languages
Japanese (ja)
Inventor
Norihiko Kawashima
伯彦 川島
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Original Assignee
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Meidensha Corp, Meidensha Electric Manufacturing Co Ltd filed Critical Meidensha Corp
Priority to JP24265695A priority Critical patent/JPH0991020A/en
Publication of JPH0991020A publication Critical patent/JPH0991020A/en
Pending legal-status Critical Current

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  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PROBLEM TO BE SOLVED: To simplify the interpolation of a track and to eliminate the necessity of a high performance computing element by independently interpolating the xy coordinates of plural specific points as functions of time by a quadratic curve, finding out the xy coordinates of the plural points and converting the xy coordinates into three-dimensional coordinates to obtain track interpolation points. SOLUTION: It is supposed that teaching points are set up as P1 to P3 and a robot is moved at a fixed speed without stopping at the intermediate teaching point (intermediate point) P. In this case, new neighbor points separated from the intermediate point P2 respectively by a distance 1a in respective directions from the point P2 to the start point P1 and the end point P3 are set up as Pa and Pb together with the point P2. A plane including the new points Pa, P2, Pb is set up as an xy coordinate plane, and in the case of interpolaring a distance between the points Pa, Pb by a quadratic curve y=ax<2> +bx+c, respective coordinates x, y are individaully interpolated as the functions of time (t) and then the interpolated coordinates x, y are synthesized to obtain an interpolated track. Thus track interpolation can be executed by the simple equation.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【発明の属する技術分野】本発明は、ティーチングプレ
イバック型ロボット（教示ロボット）の制御にあって、
ロボットの経路制御方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to control of a teaching playback robot (teaching robot),
The present invention relates to a route control method for a robot.

【０００２】[0002]

【従来の技術】教示ロボットの制御にあっては、教示ポ
イント間を直線補間や円弧補間を行ない、補間座標を求
め、この補間座標に対応するロボットの関節角を求め、
この関節角になるよう時々刻々の制御を行ない、ロボッ
ト手先の経路制御を行なっている。この場合、教示ポイ
ントにて停止することなく一定速度で動作させる場合、
所望の教示ポイント近傍では直線経路間を円滑に移動で
きるように円弧補間や曲線状の補間を行なっており、こ
の結果オーバーシュートや振動を防止している。2. Description of the Related Art In controlling a teaching robot, linear interpolation or circular interpolation is performed between teaching points, interpolation coordinates are obtained, and a joint angle of the robot corresponding to the interpolation coordinates is obtained.
The robot controls the path of the robot's hand by performing control every moment to achieve this joint angle. In this case, when operating at a constant speed without stopping at the teaching point,
In the vicinity of the desired teaching point, circular interpolation or curved interpolation is performed so as to smoothly move between linear paths, and as a result, overshoot and vibration are prevented.

【０００３】本発明実施例にて参照する図１にて例示す
れば、図１のＰ1 、Ｐ2 、Ｐ3 が教示ポイントでありＰ
2 にて停止することなくＰ1 、Ｐ2 、Ｐ3 の順にてロボ
ットを移動させるとき、教示ポイントＰ2 の近傍では、
例えば点Ｐa 、Ｐb を曲線で補間することにより、オー
バーシュートや振動がない円滑な動作が行なわれる。As shown in FIG. 1 referred to in the embodiment of the present invention, P 1 , P 2 and P 3 in FIG. 1 are teaching points and P
When the robot is moved in order of P 1 , P 2 and P 3 without stopping at 2 , in the vicinity of the teaching point P 2 ,
For example, by interpolating the points P a and P b with a curve, smooth operation without overshoot or vibration is performed.

【０００４】[0004]

【発明が解決しようとする課題】上述の教示ポイントＰ
2 近傍での補間方式としては、例えば円弧による方式が
考えられるが、この場合、補間軌道の算出に当っては直
線Ｐ1 Ｐ2 とＰ2 Ｐ3 とに内接する円弧の方程式をその
都度求めて補間する必要があり、演算量が多くなり、補
間周期を高精度にと場合には、高性能の演算器が必要と
なる。[Problems to be Solved by the Invention] The above teaching point P
As an interpolation method in the vicinity of two , for example, a method using a circular arc is conceivable. In this case, in calculating the interpolation trajectory, an arc equation inscribed between the straight lines P 1 P 2 and P 2 P 3 is calculated each time. Therefore, it is necessary to interpolate, the amount of calculation increases, and when the interpolation cycle is highly accurate, a high-performance computing unit is required.

【０００５】本発明は、上述の問題に鑑み、軌道補間を
簡単なものとして、高性能演算器を不要なものとした教
示ロボット制御方法の提供を目的とする。In view of the above problems, it is an object of the present invention to provide a teaching robot control method in which trajectory interpolation is simplified and a high-performance computing unit is unnecessary.

【０００６】[0006]

【課題を解決するための手段】上述の目的を達成する本
発明は、 （１）教示ポイント３点に基づき中間点を含めた中間点
付近の新たな２点を特定し、この新たな２点が存在する
ｘｙ平面にあってこの新たな２点のｘｙ座標を時間の関
数として独立させてそれぞれ２次曲線で補間し、上記新
たな２点のｘｙ座標を求め更に３次元座標に変換して軌
道補間点を得る、ようにしたことを特徴とし、 （２）教示ポイント３点のうち始点から中間点と、中間
点から終点までにおける速度と距離を等しくするように
したことを特徴とする。Means for Solving the Problems The present invention which achieves the above-mentioned object is as follows. (1) Based on three teaching points, two new points near the intermediate point including the intermediate point are specified, and these two new points are specified. In the xy plane in which is present, the xy coordinates of these two new points are made independent as a function of time and interpolated by quadratic curves, and the xy coordinates of the new two points are obtained and further converted into three-dimensional coordinates. It is characterized in that the trajectory interpolation points are obtained, and (2) among the three teaching points, the speed and distance from the start point to the intermediate point and from the intermediate point to the end point are made equal.

【０００７】時間の関数としてｘ座標、ｙ座標を２次曲
線に添って補間することができ、順次補間軌道を算出す
ることができ、更にはｘ座標は単調な増加とした補間で
済み更に補間が簡単なものとなる。As a function of time, x-coordinates and y-coordinates can be interpolated along a quadratic curve, sequential interpolation trajectories can be calculated, and the x-coordinates need only be monotonically increasing. Will be easy.

【０００８】[0008]

【発明の実施の形態】ここで、図１〜図４を参照しつつ
発明の実施の形態について述べる。図１において、教示
ポイントをＰ1 、Ｐ2 、Ｐ3 とし中間の教示ポイント
（中間点）Ｐ2 にて停止することなく一定速度で移動さ
せる場合を考える。すなわち、教示ポイントのうち始点
Ｐ1 、中間点Ｐ2 、終点Ｐ3 があって、中間点Ｐ2 にて
停止することなく、始点Ｐ1 から中間点Ｐ2 へ直線移動
し、また中間点Ｐ2 から終点Ｐ3 へ直線移動する場合を
考える。この場合、中間点Ｐ2 の近傍にあっては、中間
点Ｐ2 から始点Ｐ1 方向へ距離ｌa の点をＰb として、
中間点Ｐ2 と合わせて新たな点を設定する。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will now be described with reference to FIGS. In FIG. 1, consider a case where the teaching points are P 1 , P 2 , and P 3 and the teaching points are moved at a constant speed without stopping at an intermediate teaching point (intermediate point) P 2 . That is, among the teaching points, there are a starting point P 1 , an intermediate point P 2 , and an ending point P 3 , and the teaching point moves linearly from the starting point P 1 to the intermediate point P 2 without stopping at the intermediate point P 2 and also at the intermediate point P 2 . Consider the case of a straight line movement from 2 to the end point P 3 . In this case, in the vicinity of the intermediate point P 2, the point of distance l a from the midpoint P 2 to the start P 1 direction P b,
A new point is set together with the intermediate point P 2 .

【０００９】ここでは、新たな点Ｐa 、Ｐ2 、Ｐb が存
在する平面をｘ・ｙ座標平面として新たな点Ｐa 、Ｐb
間を２次曲線ｙ＝ａｘ2 ＋ｂｘ＋ｃにて補間するに当
り、各ｘ、ｙそれぞれを時間ｔの関数として個別に補間
し、ついてｘ、ｙを合成して補間軌道を得るものであ
る。時間ｔを関数としていることから、始点Ｐ1 から新
しい点Ｐa へ移動する速度によって点Ｐa から中間点Ｐ
2 へ移動することを仮定し、この移動時間ｔ1 とし、ま
た中間点Ｐ2 から終点Ｐ3 方向へ点Ｐb まで移動する時
間をｔ2 とし、ｔ1＝ｔ2 とする。こうして、時間
ｔ1 、ｔ2 において、図２に示すｘ、ｙ平面の直線を図
３、図４の如くｘ、ｙ各々時間の関数として独立させ
る。ここではｔ1 ＝ｔ2 であり、中間点Ｐ2 から点
Ｐa 、Ｐb までの距離ｌa も等しく、図３に示すように
ｔに対してｘが単調に増加するのでｘは直線補間で済
み、このためｘの演算量は少なくなる。Here, the planes on which the new points P a , P 2 and P b exist are set as x and y coordinate planes and the new points P a and P b are set.
In interpolating the interval with the quadratic curve y = ax 2 + bx + c, each of x and y is individually interpolated as a function of time t, and then x and y are combined to obtain an interpolation trajectory. Since the time t is used as a function, the speed from the starting point P 1 to the new point P a changes the speed from the point P a to the intermediate point P a.
Assuming that the move to 2, and the travel time t 1, also the time to move from the intermediate point P 2 to the end point P 3 direction until the point P b and t 2, and t 1 = t 2. Thus, at times t 1 and t 2 , the straight lines in the x and y planes shown in FIG. 2 are made independent as a function of time as shown in FIGS. 3 and 4. Here, t 1 = t 2 , and the distances l a from the intermediate points P 2 to the points P a and P b are equal, and x monotonically increases with respect to t as shown in FIG. Therefore, the calculation amount of x is reduced.

【００１０】他方、ｙについては時間ｔにつき図４に示
すようになり、ｙ（ｔ）＝ａｔ2 ＋ｂｔ＋ｃからなる２
次曲線で補間する。この場合、係数ａ、ｂ、ｃは、始点
Ｐ1と終点Ｐ3 における２次曲線と線分Ｐ1 、Ｐ2 及び
Ｐ2 、Ｐ3 からなる直線とが接することを条件として求
められ、この場合直線軌道から曲線補間軌道への移行が
円滑に行なわれる。すなわち、時間ｏのときの接線の傾
きが直線Ｐ1 、Ｐ2 の傾きと一致するで、式ｙ（ｔ）＝
ａｔ2 ＋ｂｔ＋ｃにつき、ｘｙ平面上の点Ｐ1 、Ｐ2 、
Ｐ3 の座標をＰ1 （ｘ1 ｙ1 ）、Ｐ2 （ｘ2 ｙ2 ）、Ｐ
3 （ｘ3 ｙ3 ）とした場合、次のようになる。On the other hand, for y, the time t is as shown in FIG. 4, and y (t) = at 2 + bt + c is 2
Interpolate with the next curve. In this case, the coefficients a, b, c are obtained on the condition that the quadratic curve at the starting point P 1 and the ending point P 3 and the straight line consisting of the line segments P 1 , P 2 and P 2 , P 3 are in contact with each other. In this case, the transition from the straight track to the curved interpolation track is smoothly performed. That is, since the slope of the tangent line at time o matches the slopes of the straight lines P 1 and P 2 , the formula y (t) =
For at 2 + bt + c, points P 1 , P 2 , on the xy plane,
The coordinates of P 3 are P 1 (x 1 y 1 ), P 2 (x 2 y 2 ), P
When 3 (x 3 y 3 ), the result is as follows.

【数１】 [Equation 1]

【００１１】こうして、時間ｔの関数からなるｘ、ｙを
ｔから求めることができ、このため次の補間周期ｔの
ｘ、ｙ座標を個別に算出して求めることができ、順次ｔ
1 ＋ｔ 2 までの補間軌道を算出することができる。Thus, x, y consisting of a function of time t is
can be obtained from t, and therefore the next interpolation cycle t
x and y coordinates can be calculated and obtained individually, and t
1+ T 2It is possible to calculate the interpolation trajectory up to.

【００１２】[0012]

【発明の効果】以上説明したように本発明によれば、簡
単な計算式により軌道補間ができて、従来の如き高性能
な演算器は不要となる。また、軌道上の加速度が一定で
あり円滑な移動が可能となる。更に、時間の関数として
ｘ、ｙ座標が求まるため、一定時間毎の補間座標を得る
ことができる。As described above, according to the present invention, trajectory interpolation can be performed by a simple calculation formula, and a conventional high-performance computing unit is not required. In addition, the acceleration on the orbit is constant and smooth movement is possible. Furthermore, since the x and y coordinates are obtained as a function of time, it is possible to obtain interpolated coordinates at fixed time intervals.

【図面の簡単な説明】[Brief description of drawings]

【図１】教示ポイント補間の説明図。FIG. 1 is an explanatory diagram of teaching point interpolation.

【図２】中間点Ｐ2 付近の点Ｐa 、Ｐb を含めたｘｙ座
標面の説明図。FIG. 2 is an explanatory diagram of an xy coordinate plane that includes points P a and P b near an intermediate point P 2 .

【図３】時間ｔに対する座標ｘの変化を示す図。FIG. 3 is a diagram showing a change in coordinate x with respect to time t.

【図４】時間ｔに対する座標ｙの変化を示す図。FIG. 4 is a diagram showing a change in coordinate y with respect to time t.

【符号の説明】[Explanation of symbols]

Ｐ1 、Ｐ2 、Ｐ3 教示ポイントのうちの始点、中間
点、終点 Ｐa 、Ｐb 新しい点P 1, P 2, P 3 start of the teaching point, intermediate point, end point P a, P b new point

Claims (2)

【特許請求の範囲】[Claims] 【請求項１】 教示ポイント３点に基づき中間点を含め
た中間点付近の新たな２点を特定し、 この新たな２点が存在するｘｙ平面にあってこの新たな
２点のｘｙ座標を時間の関数として独立させてそれぞれ
２次曲線で補間し、 上記新たな２点のｘｙ座標を求め更に３次元座標に変換
して軌道補間点を得る、 ようにした教示ロボット制御方法。1. Specifying two new points in the vicinity of an intermediate point including an intermediate point based on three teaching points, and determining the xy coordinates of these two new points on an xy plane where these two new points exist. A teaching robot control method, which is independent as a function of time and is interpolated by a quadratic curve, and the xy coordinates of the new two points are obtained and further converted into three-dimensional coordinates to obtain trajectory interpolation points. 【請求項２】 教示ポイント３点のうち始点から中間点
と、中間点から終点までにおける速度と距離を等しくす
るようにしたことを特徴とする請求項１記載のた教示ロ
ボット制御方法。2. The teaching robot control method according to claim 1, wherein the speed and distance from the start point to the intermediate point and from the intermediate point to the end point are made equal among the three teaching points.
JP24265695A 1995-09-21 1995-09-21 Method for controlling teaching robot Pending JPH0991020A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP24265695A JPH0991020A (en) 1995-09-21 1995-09-21 Method for controlling teaching robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP24265695A JPH0991020A (en) 1995-09-21 1995-09-21 Method for controlling teaching robot

Publications (1)

Publication Number Publication Date
JPH0991020A true JPH0991020A (en) 1997-04-04

Family

ID=17092293

Family Applications (1)

Application Number Title Priority Date Filing Date
JP24265695A Pending JPH0991020A (en) 1995-09-21 1995-09-21 Method for controlling teaching robot

Country Status (1)

Country Link
JP (1) JPH0991020A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107139173A (en) * 2017-06-15 2017-09-08 华南理工大学 A kind of industrial robot gate locus interpolation method
CN107378952A (en) * 2017-08-16 2017-11-24 华南理工大学 A kind of solution method that redundancy mechanical arm end effector posture is kept
CN108724189A (en) * 2018-06-22 2018-11-02 金蝶软件（中国）有限公司 Control method, apparatus, the Robert controller of robot movement
CN113927127A (en) * 2021-08-17 2022-01-14 熵智科技(深圳)有限公司 Automatic cutting method and device for bevel line, storage medium and computer equipment

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107139173A (en) * 2017-06-15 2017-09-08 华南理工大学 A kind of industrial robot gate locus interpolation method
CN107378952A (en) * 2017-08-16 2017-11-24 华南理工大学 A kind of solution method that redundancy mechanical arm end effector posture is kept
CN107378952B (en) * 2017-08-16 2019-08-20 华南理工大学 A kind of solution that redundancy mechanical arm end effector posture is kept
CN108724189A (en) * 2018-06-22 2018-11-02 金蝶软件（中国）有限公司 Control method, apparatus, the Robert controller of robot movement
CN108724189B (en) * 2018-06-22 2020-10-30 金蝶软件（中国）有限公司 Method and device for controlling robot to move and robot control equipment
CN113927127A (en) * 2021-08-17 2022-01-14 熵智科技(深圳)有限公司 Automatic cutting method and device for bevel line, storage medium and computer equipment
CN113927127B (en) * 2021-08-17 2023-11-14 熵智科技(深圳)有限公司 Automatic groove line cutting method and device, storage medium and computer equipment

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