JPH0991020A - Method for controlling teaching robot - Google Patents
Method for controlling teaching robotInfo
- 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.)
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- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【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.
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)
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.
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.
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 |
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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 |
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JP (1) | JPH0991020A (en) |
Cited By (4)
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 |
-
1995
- 1995-09-21 JP JP24265695A patent/JPH0991020A/en active Pending
Cited By (7)
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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