KR950011071A - Linear interpolation method of articulated robot - Google Patents

Linear interpolation method of articulated robot Download PDF

Info

Publication number
KR950011071A
KR950011071A KR1019930021025A KR930021025A KR950011071A KR 950011071 A KR950011071 A KR 950011071A KR 1019930021025 A KR1019930021025 A KR 1019930021025A KR 930021025 A KR930021025 A KR 930021025A KR 950011071 A KR950011071 A KR 950011071A
Authority
KR
South Korea
Prior art keywords
torque
speed
calculated
linear interpolation
motor
Prior art date
Application number
KR1019930021025A
Other languages
Korean (ko)
Other versions
KR0155281B1 (en
Inventor
홍용준
Original Assignee
김광호
삼성전자 주식회사
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 김광호, 삼성전자 주식회사 filed Critical 김광호
Priority to KR1019930021025A priority Critical patent/KR0155281B1/en
Publication of KR950011071A publication Critical patent/KR950011071A/en
Application granted granted Critical
Publication of KR0155281B1 publication Critical patent/KR0155281B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 다관절 로보트의 직선보간 방법에 관한 것으로, 특히 6관절 로보트의 3축의 관절좌표계상의 각도가 0인 경우 기구적인 특이성을 갖는데, 이러한 특이성을 갖는 위치에서 위치로 직선보간이동을 하는 경우에 관절의 변화율이 모터의 최대속도를 벗어나게 되는데, 상기와 같은 문제점을 해결하기 위하여 속도제한방법과 가·감속방법을 사용하여 직선보간 경유점을 보정함으로써 기구적 특이성이 존재하는 위치, 즉 자코비안(Jacobian)이 0이되는 위치에서도 직선보간이동이 이루어질 뿐만 아니라 직선보간 이동시 모터의 최대속도와 최대토크를 벗어나지 않으므로 소음이나 진동이 발생하지 않는 효과가 있다.The present invention relates to a linear interpolation method of a multi-joint robot, in particular, when the angle on the joint coordinate system of the three-axis joint of the six joint robot has a mechanical specificity, when the linear interpolation movement from the position having such a specificity to the position The rate of change of the joint is out of the maximum speed of the motor. In order to solve the above problems, the position where the mechanical specificity exists, that is, the Jacobian (by using the speed limit method and the acceleration / deceleration method) is corrected. Jacobian) not only does linear interpolation move but also does not deviate from maximum speed and maximum torque of motor during linear interpolation, so noise or vibration does not occur.

Description

다관절 로보트의 직선보간방법Linear interpolation method of articulated robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 5관절 로보트의 좌표계를 도시한 사시도이고,1 is a perspective view showing the coordinate system of a five-joint robot,

제2도는 제1도 5관절 로보트의 작업공간을 도시한 설명도로 (a)는 X-Y 평면상에 나타낸 설명도이고, (b)는 Y-Z 평면상에 나타낸 설명도이며,FIG. 2 is an explanatory diagram showing a working space of the robot of FIG. 5 joint (a) is an explanatory diagram shown on the X-Y plane, (b) is an explanatory diagram shown on the Y-Z plane,

제3도는 종래의 직선보간방법을 설명하기 위한 설명도로 (a)는 샘플링시간에 따른 직선보간 경유점을 나타낸 설명도이고, (b)는 (a)를 샘플링시간에 따른 상대거리값으로 나타낸 설명도이며,3 is an explanatory diagram for explaining a conventional linear interpolation method (a) is an explanatory diagram showing the way through the linear interpolation according to the sampling time, (b) is a description showing (a) as a relative distance value according to the sampling time Degrees,

제4도는 본 발명의 구성도이고,4 is a block diagram of the present invention,

제5도는 본 발명에 의한 직선보간방법을 설명하기 위한 설명도로 (a)는 A, B 두점사이의 등간격으로 설정된 직선보간 경유점을 나타낸 설명도이고, (b)는 (c)에 속도제한을 가한 후의 새로운 직선보간 경유점을 나타낸 설명도이며, (c)는 (b)에 가·감속을 가한 후의 새로운 직선보간 경유점을 나타낸 설명도이고,5 is an explanatory diagram for explaining the linear interpolation method according to the present invention (a) is an explanatory diagram showing a way through the linear interpolation set at equal intervals between the A, B points, (b) is a speed limit to (c) Is an explanatory diagram showing a new linear interpolation waypoint after adding, (c) is an explanatory diagram showing a new linear interpolation waypoint after applying acceleration and deceleration to (b),

제7도는 본 발명에 의한 동작흐름도이다.7 is a flowchart of operation according to the present invention.

Claims (1)

출발위치와 목표위치의 위치데이타를 입력하는 위치데이타 입력단계와, 이 단계에서 입력받은 위치데이타를 통해 일정한 직선보간 속도에 따른 등간격의 직선보간 경유점을 산출하는 직선보간경유점 산출단계와, 이 단계에서 산출된 직선보간 경유점에 따른 관절의 변화율을 산출하는 관절의 변화율 산출단계와, 이 단계에서 산출된 관절의 변화율에 따라 산출된 모터속도가 제한속도를 초과하는 가를 판단하는 속도판단단계와, 이 단계에서 모터의 산출속도가 제한속도를 초과하는 경우에 속도제한을 가하는 속도제한단계와, 상기 속도판단단계에서 산출된 모터속도가 제한속도를 초과하지 않거나 속도제한을 가하여 제한속도를 초과하지 않으면 산출된 모터의 토크가 제한토크를 초과하는 가를 판단하는 토크판단단계와, 이 단계에서 산출된 모터의 토크가 제한토크를 초과하는 경우에는 토크를 제한하는 토크제한단계와, 상기 토크판단단계에서 산출된 모터의 토크가 제한토크를 초과하지 않거나 토크제한단계를 통해 제한토크를 초과하지 않으면 산출된 현재의 위치로 로보트를 구동하는 로보트 구동단계와, 이 단계에서 로보트 구동에 따른 현재위치와 목표위치가 일치하는가를 판단하는 위치판단단계로 구성된 것을 특징으로 하는 다관절 로보트의 직선보간 방법.A position data input step of inputting position data of a starting position and a target position, and a step of calculating a linear interpolation route point for calculating an interpolation point of equal intervals according to a constant linear interpolation speed through the position data input in this step; Calculation rate of joints for calculating the rate of change of joints according to the waypoints of straight interpolation calculated in this step, and speed judging step for judging whether the motor speed calculated according to the rate of change of joints calculated in this step exceeds the speed limit And a speed limit step for applying a speed limit when the output speed of the motor exceeds the speed limit in this step, and the motor speed calculated in the speed determination step does not exceed the speed limit or exceeds the speed limit. If not, the torque judging step of judging whether the calculated torque of the motor exceeds the limit torque, and the motor calculated in this step The torque limiting step of limiting the torque when the torque exceeds the limiting torque and the current calculated when the torque of the motor calculated in the torque determining step does not exceed the limiting torque or does not exceed the limiting torque through the torque limiting step. Robot interpolation method for driving the robot to the position of the linear interpolation method of the joint comprising a position determination step for determining whether the current position and the target position according to the robot drive in this step. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019930021025A 1993-10-11 1993-10-11 Interpolation method of multi-robot KR0155281B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019930021025A KR0155281B1 (en) 1993-10-11 1993-10-11 Interpolation method of multi-robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019930021025A KR0155281B1 (en) 1993-10-11 1993-10-11 Interpolation method of multi-robot

Publications (2)

Publication Number Publication Date
KR950011071A true KR950011071A (en) 1995-05-15
KR0155281B1 KR0155281B1 (en) 1998-12-15

Family

ID=19365619

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019930021025A KR0155281B1 (en) 1993-10-11 1993-10-11 Interpolation method of multi-robot

Country Status (1)

Country Link
KR (1) KR0155281B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130122969A (en) * 2011-03-08 2013-11-11 가부시키가이샤 고베 세이코쇼 Control device, control method and control program for articulated robot

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102502058B1 (en) 2020-08-13 2023-02-21 베름주식회사 Composition for preventing, improving or treating benign prostatic hyperplasia or alopecia comprising heat-killed probiotics as an effective ingredient

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130122969A (en) * 2011-03-08 2013-11-11 가부시키가이샤 고베 세이코쇼 Control device, control method and control program for articulated robot
US9242373B2 (en) 2011-03-08 2016-01-26 Kobe Steel, Ltd. Control device, control method, and control program for articulated robot

Also Published As

Publication number Publication date
KR0155281B1 (en) 1998-12-15

Similar Documents

Publication Publication Date Title
JP4736607B2 (en) Robot controller
KR970058856A (en) Speed Computing Device of Robot and Speed Computing Method of Robot
KR900700244A (en) Robot posture control method
KR940007207B1 (en) Route interpolation method of robot
Chen et al. Analysis of traveling wave locomotion of snake robot
JPH079374A (en) Control method for articulated robot and articulated robot
KR950011071A (en) Linear interpolation method of articulated robot
JP2507891B2 (en) Manipulator impedance control system
JP3300144B2 (en) Weaving control method for multi-axis robot
JPH1069310A (en) Track generating device for robot
JPH06332535A (en) Robot controller
JPH03245209A (en) Teaching method and control method for continuous route of robot
KR20040034167A (en) The method of control- ling straight-line movement of vertical multi-joint six-axis manipulator
JPH058187A (en) Robot
JPH07129237A (en) Method for recognizing in-environment position of mobile robot
KR950005077B1 (en) Compensating method of robot
JP2592636B2 (en) Copying teaching control method
JPS6010309A (en) Method for interpolating path of robot hand
JP3244761B2 (en) Method of generating interpolation between teaching points of PTP type robot
JP2601433B2 (en) Interpolation control method and apparatus for industrial robot
JPH02269586A (en) Manipulator drive control device
JPH04306712A (en) Controller for manipulator
JPH0713642A (en) Compliance controller for manipulator
Cuesta et al. Stability analysis of fuzzy reactive navigation
JPS63155203A (en) Speed control system for robot

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20100629

Year of fee payment: 13

LAPS Lapse due to unpaid annual fee