JPS59169793A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPS59169793A JPS59169793A JP4178383A JP4178383A JPS59169793A JP S59169793 A JPS59169793 A JP S59169793A JP 4178383 A JP4178383 A JP 4178383A JP 4178383 A JP4178383 A JP 4178383A JP S59169793 A JPS59169793 A JP S59169793A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- tip
- receiving element
- light receiving
- dimensional light
- 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
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
産業上の利用分野
本発明は精密位置決めを行なうロボットの位置決め装置
に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a positioning device for a robot that performs precise positioning.
従来例の構成とその問題点
従来のテレビカメラなどのセンサーを用いてロボットの
先端位置を制御する例を第１図、第２図に示す。第１図
はテレビカメラ１をロボット２の周壁部に配設し、その
信号を処理することによって、ロボット２の先端位置、
およびワーク３の位置を認識する例で、第２図はテレビ
カメラ４をロボット６の先端に取りつけてワーク６との
相対位置を認識する例である。このような、テレビカメ
ラを用いた場合、まず、レンズなどの光学系で像を結ぶ
必要がある０そしてテレビカメラにより、像を電気信号
に変換する。次にこの信号の２値化、あるいは雑音除去
などの前処理を行なった後に、重心計算１面積計算１輪
郭の摘出というような特徴抽出を行なうＣそして、その
特徴によって対象物の認識、および対象物の位置を測定
する。さらにこの対象物の位置によって、ロボットの駆
動制御量を計算し、サーボ系へ出力するという方法をと
る。しかし、このようにテレビカメラを用いた場合は１
位置精度を上げるためにはレンズの倍率を上げる必要が
あり、倍率を上げると焦点深度が小さくなるため、あ１
り高い位置精度は得られない０信号の処理時間も、テレ
ビカメラの走査時間があることから、速い処理全行なう
ことはできな３ノー−ミ
い０また、前記のように画像信号の処理が複雑になるの
で、コスト的にも問題がある。Configuration of a conventional example and its problems An example of controlling the tip position of a robot using a conventional sensor such as a television camera is shown in FIGS. 1 and 2. In FIG. 1, a television camera 1 is installed on the peripheral wall of a robot 2, and by processing the signals, the position of the tip of the robot 2 can be determined.
FIG. 2 shows an example in which a television camera 4 is attached to the tip of a robot 6 to recognize the relative position of the workpiece 6. When using such a television camera, it is first necessary to form an image using an optical system such as a lens, and then the television camera converts the image into an electrical signal. Next, after performing preprocessing such as binarization or noise removal of this signal, feature extraction is performed such as centroid calculation, area calculation, and contour extraction. Measure the position of objects. Furthermore, based on the position of the object, the robot's drive control amount is calculated and output to the servo system. However, when using a TV camera like this, 1
In order to increase positional accuracy, it is necessary to increase the magnification of the lens, and increasing the magnification reduces the depth of focus, so
However, high positional accuracy cannot be obtained due to the scanning time of the TV camera.3 No-mi 0Also, as mentioned above, image signal processing is not possible. Since it is complicated, there is also a problem in terms of cost.
発明の目的 本発明は、上記従来の欠点を解消するもので。purpose of invention The present invention solves the above-mentioned conventional drawbacks.
簡単な装置で、位置精度の高いロボットの位置決め装置
を提供するものである。The purpose of the present invention is to provide a robot positioning device that is simple and has high positional accuracy.
発明の構成
本発明は、ロボット周辺部に配設したレーザー投光装置
と、ロボット先端部にあって前記レーザー光線を受光す
る２次元受光素子とからなるロボット先端部位置検出手
段と、前記２次元受光素子の出力によりロボットの駆動
制御量を算出する演算手段と、前記駆動制御量に従って
ロボット各関節の移動方向と移動量を制御するサーボ制
御手段とを備え、装置を簡単化し、位置精度を高めるも
のである。Structure of the Invention The present invention provides robot tip position detection means comprising a laser projecting device disposed around the robot, a two-dimensional light receiving element located at the robot tip and receiving the laser beam, and A device that simplifies the device and increases positional accuracy by comprising a calculation means for calculating the drive control amount of the robot based on the output of the element, and a servo control means for controlling the moving direction and amount of movement of each joint of the robot according to the drive control amount. It is.
実施例の説明
以下に、本発明の一実施例を第３図、第４図にもとづい
て説明する。図において、７は各軸をモータにより駆動
し、その先端位置をモータに取りつけられたロータリエ
ンコーダによって粗制御できるロボッ）、 ８ 、９は
ロボット７の先端を精密に位置決めする付近にレーザー
光を照射するレーザー投光装置、１０．１１はロボット
先端部に取りつけられ、それぞれレーザー投光装置８，
９により照射されたレーザー光を受光する２次元受元素
子、１２．１３は２次元受光素子の信号を処理し、ロボ
ット７の先端の３次元位置を出力する信号処理回路、１
４はロボット７の先端位置偏差から各関節の指令値を出
力する座標変換部、１５はロボット７の各軸モータを制
御するサーボ回路である。なお、レーザー投光装置８，
９はその光軸が互いに直交するように配設する。DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 3 and 4. In the figure, 7 is a robot whose each axis is driven by a motor, and the position of its tip can be roughly controlled by a rotary encoder attached to the motor), 8 and 9 are robots that irradiate laser light near the area where the tip of the robot 7 is precisely positioned. Laser projectors 10 and 11 are attached to the tip of the robot, respectively.
9 is a two-dimensional receiving element that receives the irradiated laser beam; 12. 13 is a signal processing circuit that processes the signal of the two-dimensional receiving element and outputs the three-dimensional position of the tip of the robot 7;
Reference numeral 4 designates a coordinate conversion unit that outputs command values for each joint based on the tip position deviation of the robot 7, and reference numeral 15 represents a servo circuit that controls each axis motor of the robot 7. In addition, the laser projector 8,
9 are arranged so that their optical axes are orthogonal to each other.
以上のように構成されたロボットの位置決め装置につい
て、以下にその動作を説明する。The operation of the robot positioning device configured as described above will be described below.
まず、ロボット７の先端位置を精密位置決めしようとす
る付近へ移動させ、２次元受光素子１０゜１１がそれぞ
れレーザー光を受光できる領域にくるようにする０なお
、その際の位置決めはロボット７のモータに取りつけら
れたロータリエンツー５ハーラ゛
ダによって粗く行なう。このとき、絶対直交座標系とし
て第３図のようにレーザー投光装置８の光軸と平行にＹ
軸、レーザー投光装置９の光軸と平行にＸ軸をとれば、
２次元受光素子１０によってロボット７の先端位置のＸ
座標、２次元受光素子１１によってロボット７の先端位
置のＹ座標、Ｚ座標を検出することができる・々お、２
次元受光素子１０．１１の取りつけられたロボット了の
先端部の姿勢は一定に制御するものとする。First, move the tip of the robot 7 to the vicinity where precise positioning is to be performed, so that the two-dimensional light receiving elements 10 and 11 are in areas where they can each receive laser light. Roughly carried out by a rotary engine two-five hurdler mounted on. At this time, as an absolute orthogonal coordinate system, Y is parallel to the optical axis of the laser projector 8 as shown in FIG.
If the X-axis is taken parallel to the optical axis of the laser projector 9,
X of the tip position of the robot 7 by the two-dimensional light receiving element 10
The two-dimensional light receiving element 11 can detect the Y and Z coordinates of the tip position of the robot 7.
It is assumed that the attitude of the tip of the robot to which the dimensional light receiving element 10.11 is attached is controlled to be constant.
２次元受元素子１０．１１とは、受光面に光スポットが
照射されると、受光面の端に取シっけられた電極から、
その照射位置に応じた光電流を住じるもので、信号処理
回路１２，１３によってその光電流はロボット７の先端
位置の座標に変換される◎さらにこのロボット７の先端
位置の目標位置、または目標軌道からの偏差を、座標変
換部１４によってロボットγの各関節位置の偏差に変換
し、各関節の指令値をサーボ回路１５に出力する。Two-dimensional receiving element 10.11 means that when a light spot is irradiated onto the light receiving surface, an electrode placed on the edge of the light receiving surface
It emits a photocurrent corresponding to the irradiation position, and the photocurrent is converted into the coordinates of the tip position of the robot 7 by the signal processing circuits 12 and 13. Furthermore, the target position of the tip position of the robot 7, or The coordinate conversion unit 14 converts the deviation from the target trajectory into a deviation of each joint position of the robot γ, and outputs a command value for each joint to the servo circuit 15.
現在、開発されている２次元受光素子は、受光面が１０
ｍｍ角で、分解能は２μｍであるので、以６、 −・
上のような構成によって、ある任意に設定された１０ｍ
ｍ角の立方体の領域の中で、ロボットの先端位置を高精
度で位置制御できることになる。また、２次元受光素子
の信号処理も簡単な回路によって行なえるので、コスト
的にも安くすることができる。そして、テレビカメラの
場合と違い、走査時、 間を必要とせず、信号処理を高
速に行なえるという利点がある。The two-dimensional light-receiving element currently being developed has a light-receiving surface of 10
mm square, and the resolution is 2 μm, so by using the above configuration, a certain arbitrarily set 10 m
This means that the position of the robot's tip can be controlled with high precision within an m-square cubic area. Further, since signal processing of the two-dimensional light receiving element can be performed using a simple circuit, the cost can also be reduced. Another advantage is that, unlike in the case of television cameras, there is no need for time-lapse during scanning, and signal processing can be performed at high speed.
発明の効果
このように本発明によれば、コスト的に有利で、高精度
、かつ高速の位置制御を実行できる工業用ロボットを提
供できるもので、その効果は顕著なものである。Effects of the Invention As described above, according to the present invention, it is possible to provide an industrial robot that is cost-effective and capable of performing highly accurate and high-speed position control, and its effects are remarkable.
第１図は従来のテレビカメラを天井に据え付けた位置認
識方法を示した概略図、第２図は従来のテレビカメラを
ロボットの先端部につけた方法を示した概略図、第３図
は本発明の一実施例における工業用ロボットの構成図、
第４図は同実施例における２次元受光素子の信号の処理
を示したプロ７／−二・
ツク図である。
１．４・・・・・・カメラ、２，６・旧・・ロボット、
３゜６・・・・・・ワーク、７・・・・・・ロボット、
８，９・旧・・レーザー投光器、１０．１１・・・・・
・二次元受光素子、１２゜１３・・・・・・信号処理回
路、１４・・・・・・座標変換部、１６・・・・・・サ
ーボ回路。
代理人の氏名 弁理士 中 尾 敏 男 ほか１名第１
図
第２図Fig. 1 is a schematic diagram showing a conventional position recognition method in which a television camera is installed on the ceiling, Fig. 2 is a schematic diagram showing a conventional method in which a television camera is attached to the tip of a robot, and Fig. 3 is a schematic diagram showing the method according to the present invention. A configuration diagram of an industrial robot in an embodiment of
FIG. 4 is a 7/-2 block diagram showing signal processing of the two-dimensional light-receiving element in the same embodiment. 1.4...camera, 2,6.old...robot,
3゜6...Work, 7...Robot,
8, 9. Old... Laser projector, 10.11...
- Two-dimensional light receiving element, 12° 13... Signal processing circuit, 14... Coordinate conversion unit, 16... Servo circuit. Name of agent: Patent attorney Toshio Nakao and 1 other person 1st
Figure 2
Claims (1)
ト先端部にあって前記レーザー光線を受光する２次元受
光素子とからなるロボット先端部位置検出手段と、前記
２次元受光素子の出力によりロボットの駆動制御量を算
出する演算手段と、前記駆動制御量に従ってロボット各
関節の移動方向と移動量を制御するサーボ制御手段とを
備えた工業用ロボット。A robot tip position detection means consisting of a laser projecting device disposed around the robot, a two-dimensional light receiving element located at the robot tip that receives the laser beam, and a robot driving device based on the output of the two-dimensional light receiving element. An industrial robot comprising a calculation means for calculating a control amount, and a servo control means for controlling the moving direction and amount of movement of each joint of the robot according to the drive control amount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4178383A JPS59169793A (en) | 1983-03-14 | 1983-03-14 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4178383A JPS59169793A (en) | 1983-03-14 | 1983-03-14 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59169793A true JPS59169793A (en) | 1984-09-25 |
Family
ID=12617953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4178383A Pending JPS59169793A (en) | 1983-03-14 | 1983-03-14 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59169793A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62274318A (en) * | 1986-05-22 | 1987-11-28 | Daihatsu Motor Co Ltd | Original position detecting device |
| JPS6316986A (en) * | 1986-07-07 | 1988-01-23 | 神鋼電機株式会社 | Method of positioning and compensating robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5750008A (en) * | 1980-09-08 | 1982-03-24 | Hitachi Ltd | Sequence generator |
| JPS5810477A (en) * | 1981-07-02 | 1983-01-21 | 新明和工業株式会社 | Industrial robot |
-
1983
- 1983-03-14 JP JP4178383A patent/JPS59169793A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5750008A (en) * | 1980-09-08 | 1982-03-24 | Hitachi Ltd | Sequence generator |
| JPS5810477A (en) * | 1981-07-02 | 1983-01-21 | 新明和工業株式会社 | Industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62274318A (en) * | 1986-05-22 | 1987-11-28 | Daihatsu Motor Co Ltd | Original position detecting device |
| JPS6316986A (en) * | 1986-07-07 | 1988-01-23 | 神鋼電機株式会社 | Method of positioning and compensating robot |
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