JPS63100510A - Robot control method - Google Patents
Robot control methodInfo
- Publication number
- JPS63100510A JPS63100510A JP24669886A JP24669886A JPS63100510A JP S63100510 A JPS63100510 A JP S63100510A JP 24669886 A JP24669886 A JP 24669886A JP 24669886 A JP24669886 A JP 24669886A JP S63100510 A JPS63100510 A JP S63100510A
- Authority
- JP
- Japan
- Prior art keywords
- robot arm
- speed
- robot
- detecting part
- danger
- 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
- 238000000034 method Methods 0.000 title claims description 3
- 238000013459 approach Methods 0.000 claims abstract 2
- 230000002093 peripheral effect Effects 0.000 abstract description 2
- 238000013016 damping Methods 0.000 abstract 2
- 230000006378 damage Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Numerical Control (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は産業用ロボット等のＮＣ機器（以下ロボットと
総称する）の動作を制御するための制御方法の改良に関
する。DETAILED DESCRIPTION OF THE INVENTION <Field of Industrial Application> The present invention relates to an improvement in a control method for controlling the operation of NC equipment (hereinafter collectively referred to as a robot) such as an industrial robot.
〈従来技術〉
近年、産業用ロボット等のロボット関連技術は急速な発
展を見せ、あらゆる業種の生産工程でロボットが用いら
れるようになった。<Prior Art> In recent years, robot-related technologies such as industrial robots have shown rapid development, and robots have come to be used in production processes in all industries.
しかし、ロボットの動作が複雑化するにつれ、各種事故
の増加現象が見られ、これに対処するべく種々の対策が
講じられている。However, as the operations of robots become more complex, various accidents are increasing, and various measures have been taken to deal with this.
例えばロボットアームが予め定めた動作範囲の限界を超
えオーバランする危険に対しては動作範囲の限界外にエ
ンドセンサーを設置し、該センサーの検出信号に基いて
ロボットアームに制動を加えていた。For example, in order to prevent a robot arm from exceeding a predetermined operating range limit and overrunning, an end sensor is installed outside the operating range limit, and braking is applied to the robot arm based on a detection signal from the sensor.
〈発明が解決しようとする問題点〉
しかし、上記従来の方法ではロボットアームが動作範囲
外に至ってから制動を加えるものである為、場合によっ
ては慣性によってロボットアームが大幅にオーバランし
機械的な動作範囲限界点以上に達してロボット本体を破
壊する可能性があった。又、ロボット周辺に設置される
各種装置に対してもロボットアームが衝突して破壊する
可能性があった。<Problems to be Solved by the Invention> However, in the conventional method described above, braking is applied after the robot arm is out of the operating range, so in some cases, the robot arm may significantly overrun due to inertia, causing mechanical movement. There was a possibility that it would reach beyond the range limit and destroy the robot body. Furthermore, there is a possibility that the robot arm may collide with and destroy various devices installed around the robot.
く問題点を解決するための手段〉
本発明は上記問題点を解決するために、ロボットアーム
の動作範囲を予め規定し、上記動作範囲の位置情報を記
憶し、上記ロボットアームが上記動作範囲の限界に接近
した際に、その直後に正常な減速を開始しても上記動作
範囲を超えるか否かを判断し、超える場合はロボットア
ームに制動を加え、上記ロボットアームが上記動作範囲
を超えることがないように制御することを特徴とする。Means for Solving the Problems> In order to solve the above problems, the present invention defines the movement range of the robot arm in advance, stores position information of the movement range, and allows the robot arm to move within the movement range. When approaching the limit, it is determined whether or not the above operating range will be exceeded even if normal deceleration is started immediately thereafter, and if it is exceeded, braking is applied to the robot arm and the robot arm is forced to exceed the above operating range. It is characterized by being controlled so that there is no
〈実施例〉 以下、本発明に係る一実施例につき説明を行なう０ 第１図にロボットの動作範囲と移動速度の関係を示す。<Example> Hereinafter, one embodiment of the present invention will be explained. Figure 1 shows the relationship between the robot's operating range and moving speed.
同図でＰｏ及びＰｏは夫々ｅ方向及びｅ方向のロボット
アームの動作範囲の限界点である。In the figure, Po and Po are the limit points of the movement range of the robot arm in the e direction and the e direction, respectively.
又、ｐＭ、ｐＰは減速動作直前の移動速度Ｖｍにおいて
、各々ｅ方向及びｅ方向に徐々に正常に減速させた時に
動作範囲限界点で停止する限界の減速動作開始点である
。ここで上記移動速度Ｖｍが大きくなれば当然慣性力も
大きくなり、停止する迄に長くかかるので上記限界の減
速動作開始点は更に中央に寄ることになる。ここでロボ
ットの制御回路はロボットアームの移動速度Ｖｍの検出
によって、該移動速度ＶｍをパラメータとしてＰＭ、
Ｐｐを求め、その値とその時点でのロボットアームの位
置データと比較する。この比較の結果ロボットアームの
動きにオーバランの危険ありと認識しだ時ロボットの制
御回路はロボットに対して制動を加える。Moreover, pM and pP are the limit deceleration operation start points at which the movement speed Vm immediately before the deceleration operation is gradually and normally decelerated in the e direction and the e direction, respectively, and then stopped at the operating range limit point. Here, as the moving speed Vm increases, the inertial force naturally increases, and it takes a longer time to stop, so the starting point of the limit deceleration operation will move closer to the center. Here, the control circuit of the robot detects the moving speed Vm of the robot arm, uses the moving speed Vm as a parameter, PM,
Pp is determined and compared with the position data of the robot arm at that time. As a result of this comparison, when it is recognized that there is a risk of overrun in the movement of the robot arm, the robot's control circuit applies braking to the robot.
第２図に上記制御回路の構成図を示す。同図で移動方向
検出部はロボットアームの移動方向（ｅ方向、θ方向）
を検出し方向データを出力する。FIG. 2 shows a configuration diagram of the control circuit. In the figure, the movement direction detection unit is the movement direction of the robot arm (e direction, θ direction).
Detects and outputs direction data.
位置検出部はロボットアームの現在位置を検出し位置デ
ータを出力する。移動速度検出部はロボットアームの現
在速度を検出し速度データＶｍを出力する。危険判断部
内のメモリにはロボットアームの速度に応じた限界の減
速動作開始点ＰＭ、 ＰＰの位置情報が格納されており
、移動速度検出部から送られる速度データＶｍを基に該
速度Ｖｍ時でのｐＭ、ｐｐを求めると共に、位置検出部
から送られる位置データとＰＭ、ＰＰとの比較を実行す
る。The position detection unit detects the current position of the robot arm and outputs position data. The movement speed detection section detects the current speed of the robot arm and outputs speed data Vm. The memory in the danger judgment unit stores the position information of the limit deceleration start points PM and PP according to the speed of the robot arm, and based on the speed data Vm sent from the movement speed detection unit, the robot arm is determined at the speed Vm based on the speed data Vm sent from the movement speed detection unit. pM and pp are calculated, and the position data sent from the position detection section is compared with PM and PP.
この比較は移動方向検出部から送られる方向データに基
いて行なわれる。この危険判断部からオーバランの危険
ありという意味の危険信号が上記比較の基に出力された
時、制動装置はこれを受けてロボットアームに対し制動
を加える。これによりロボットアームは最悪でもロボッ
トアームの動作範囲の限界点近傍で停止する。This comparison is performed based on direction data sent from the moving direction detection section. When a danger signal meaning that there is a risk of overrun is output from the danger judgment section based on the above comparison, the braking device receives this and applies braking to the robot arm. As a result, at worst, the robot arm will stop near the limit of the robot arm's operating range.
く効 果〉
以上の本発明によればロボットアームのオーバーランに
よるロボット本体及びその周辺機器の破壊を防止し得る
。Effects> According to the present invention described above, it is possible to prevent the robot main body and its peripheral equipment from being destroyed due to overrun of the robot arm.
第１図はロボットアームの動作範囲と移動速度の関係図
、第２図は制御回路の構成図を示す。
代理人 弁理士 杉 山 毅 至（他１名）第 １ 区FIG. 1 is a diagram showing the relationship between the operating range and moving speed of the robot arm, and FIG. 2 is a diagram showing the configuration of the control circuit. Agent Patent Attorney Takeshi Sugiyama (and 1 other person) District 1
Claims (1)
範囲の位置情報を記憶し、上記ロボットアームが上記動
作範囲の限界に接近した際に、その直後に正常な減速を
開始しても上記動作範囲を超えるか否かを判断し、超え
る場合はロボットアームに制動を加え、上記ロボットア
ームが上記動作範囲を超えることがないように制御する
ことを特徴とするロボットの制御方法。1. The operating range of the robot arm is defined in advance, and the position information of the operating range is memorized. When the robot arm approaches the limit of the operating range, even if normal deceleration is started immediately thereafter, the above operation will not occur. A method for controlling a robot, comprising: determining whether or not the range is exceeded; and if the range is exceeded, braking is applied to the robot arm so that the robot arm does not exceed the range of motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24669886A JPS63100510A (en) | 1986-10-16 | 1986-10-16 | Robot control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24669886A JPS63100510A (en) | 1986-10-16 | 1986-10-16 | Robot control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63100510A true JPS63100510A (en) | 1988-05-02 |
Family
ID=17152300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24669886A Pending JPS63100510A (en) | 1986-10-16 | 1986-10-16 | Robot control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63100510A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03296805A (en) * | 1990-04-16 | 1991-12-27 | Mitsubishi Electric Corp | Method for detecting overrun of motor |
| JPH04171504A (en) * | 1990-11-06 | 1992-06-18 | Mitsubishi Electric Corp | Industrial robot device |
-
1986
- 1986-10-16 JP JP24669886A patent/JPS63100510A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03296805A (en) * | 1990-04-16 | 1991-12-27 | Mitsubishi Electric Corp | Method for detecting overrun of motor |
| JPH04171504A (en) * | 1990-11-06 | 1992-06-18 | Mitsubishi Electric Corp | Industrial robot device |
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