WO2012121124A1 - 多関節型ロボットの制御装置,制御方法及び制御プログラム - Google Patents
多関節型ロボットの制御装置,制御方法及び制御プログラム Download PDFInfo
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- WO2012121124A1 WO2012121124A1 PCT/JP2012/055313 JP2012055313W WO2012121124A1 WO 2012121124 A1 WO2012121124 A1 WO 2012121124A1 JP 2012055313 W JP2012055313 W JP 2012055313W WO 2012121124 A1 WO2012121124 A1 WO 2012121124A1
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- angle
- drive system
- joint drive
- joint
- end point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39527—Workpiece detector, sensor mounted in, near hand, gripper
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40333—Singularity, at least one movement not possible, kinematic redundancy
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40354—Singularity detection
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42207—Generate points between start and end position, linear interpolation
Definitions
- the present invention provides a first joint drive system having three drive shafts for changing the posture of a working unit provided at the tip, and a second joint drive having at least three drive shafts for changing the position of the first joint drive system.
- the present invention relates to a control technology for an articulated robot including a system.
- a six-axis manipulator which is a kind of articulated robot shown in FIG. 23 includes a first joint drive system having a J4 axis, a J5 axis, and a J6 axis for changing the posture of an end effector (working unit) provided at the tip, And a second joint drive system having a J1 axis, a J2 axis, and a J3 axis for changing the position of the first joint drive system.
- the control device for the six-axis manipulator changes the position and posture of the end effector by controlling the J1 to J6 axes based on the preset positions and postures of the work start point and work end point.
- a plurality of interpolation points for interpolating the teaching path connecting the work start point and the work end point are calculated, and the J1 axis to J6 axis are driven according to the interpolation points.
- the joint angles ⁇ 1 to ⁇ 6 of the J1 axis to the J6 axis are obtained by finding the solution of the inverse kinematics problem. be able to.
- there are two solutions for the joint angles ⁇ 1 to ⁇ 6 obtained as a solution to the inverse kinematics problem at this time.
- Patent Document 1 it is disclosed to shift to the other solution of the inverse kinematics problem when it is detected that the position is close to a singular posture. According to such a configuration, even when the sign of the angle of the J5 axis at the work start point and the work end point is different, the angle of the J5 axis can be made to reach the angle at the work end point.
- the detection of the singular posture is performed on condition that the angle of the J5 axis reaches near 0 degrees or that the angles of the J4 axis and the J6 axis change rapidly.
- the angles of the J4 axis to the J6 axis cannot reach the correct angle of the work end point. Therefore, for example, when the robot moves toward the teaching point next to the work end point, the angles of the J4 axis to the J6 axis may reach the outside of the operating range.
- the present invention has been made in view of the above circumstances, and the object of the present invention is to ensure that the angle of each drive shaft of the first joint drive system is maintained while maintaining the position and moving speed of the working portion.
- An object of the present invention is to provide a control device, a control method, and a control program for an articulated robot capable of reaching an end point angle.
- the present invention provides a first joint drive system having three drive shafts for changing the posture of a working unit provided at the tip and at least three drives for changing the positions of the first joint drive system.
- the present invention is applied to a controller for an articulated robot that controls an articulated robot including a second joint drive system having an axis, and includes the following (1) to (4): It is configured as a feature.
- Interpolation points for calculating a plurality of interpolation points for moving the position of the working unit at a predetermined speed on the teaching path connecting the positions and postures of the preset work start point and work end point.
- Calculation means Calculation means.
- Drive control means for driving the first joint drive system and the second joint drive system in accordance with the interpolation points calculated by the interpolation point calculation means.
- a preset exceptional condition that is different from a condition for detecting a specific posture of the first joint drive system when the first joint drive system and the second joint drive system are driven by the drive control means.
- Exception condition determination means for determining whether or not is satisfied.
- each of the drive shafts of the first joint drive system is finished with the work until the working unit reaches the work end point.
- the angle of each drive shaft of the first joint drive system for linearly changing the point angle as a target is calculated, and the calculated angle of each drive shaft of the first joint drive system and the interpolation point calculating means
- the angle of each drive shaft of the second joint drive system is calculated based on the position of the working unit at the interpolation point calculated by the step, and the first joint drive system and the second joint drive system are calculated according to the calculation result. Exceptional operation means for driving each drive shaft.
- the position of the working unit at the interpolation point calculated by the interpolation point calculating means regardless of the difference in the sign of the central drive shaft of the first joint drive system at the work start point and the work end point.
- the angle of each drive shaft of the first joint drive system can surely reach the angle of the work end point while maintaining the moving speed.
- the exceptional condition is that the angle of each drive shaft of the first joint drive system reaches the angle at the work end point during the remaining moving time or moving distance of the working unit from the next interpolation point. In this case, the speed of at least one drive shaft of the first joint drive system exceeds a preset allowable range.
- the exceptional condition may be that the remaining moving time or moving distance of the working unit reaches a predetermined value or less.
- the exceptional condition is that the angle of at least one drive shaft of the first joint drive system at the next interpolation point is a predetermined angle set in advance from a reference angle determined based on the work start point and the work end point. It may be separated as described above. As a result, for example, it is possible to prevent the speed of each of the drive shafts of the first joint drive system from being too far from the reference angle and reaching the angle of the work end point, and the first joint drive system. Each of the drive shafts of the system can surely arrive at the work end point.
- the exceptional condition may be that an angle of at least one drive shaft of the first joint drive system at the next interpolation point exceeds a preset operation range. Accordingly, each of the drive shafts of the first joint drive system can be driven within the range not exceeding the operation range to reach the angle of the work end point.
- a deviation amount detecting means for detecting a deviation amount between the working portion and the machining line of the workpiece, and the working portion is moved along the machining line based on the deviation amount detected by the deviation amount detecting means. In the configuration including the copying control means to be performed, the position of the work end point changes.
- the apparatus further comprises work end point update means for adding the amount of deviation detected by the deviation amount detection means to the work end point to update the work end point, the exception condition determining means and the exception operation means.
- the processing is executed based on the work end point updated by the work end point updating means.
- the exceptional operation means can cause each of the drive shafts to reach the work end point after the update by the work end point update means even when the copy control by the copy control means is executed.
- the determination of the exception condition by the exception condition determination unit can be appropriately performed based on the work end point updated by the work end point update unit.
- the angle candidates of the drive shafts are within a range of angles closer to the target.
- a plurality of angle candidate calculating means for calculating a plurality of angle candidates, and three candidates in the work coordinate system as viewed from the working portion of the next interpolation point when each of the candidates is adopted from the angle candidates calculated by the angle candidate calculating means. It is also conceivable to include angle selection means for selecting an angle candidate that most suppresses the fluctuation of one or two preset specific components among the components of the posture angle.
- each of the drive shafts of the first joint drive system can surely reach the angle at the work end point while suppressing fluctuations in the specific component.
- the present invention can also be understood as an invention of a control method and control program for an articulated robot. That is, an interpolation point calculation for calculating a plurality of interpolation points for moving the position of the working unit at a predetermined speed on the teaching path connecting the positions and postures of the preset work start point and work end point.
- a method of controlling an articulated robot that performs an exceptional operation step of linearly changing the angle of a work end point as a target and driving the position of the working unit to move at a predetermined speed; You may catch as invention of the control program which makes a processor perform a process.
- the work at the interpolation point calculated by the interpolation point calculation means is performed regardless of the difference in the sign of the central drive shaft of the first joint drive system at the work start point and the work end point.
- the angle of each drive shaft of the first joint drive system can surely reach the angle of the work end point while maintaining the position and the moving speed of the part.
- FIG. 1 is a block diagram showing a schematic configuration of an articulated robot control device 1 and an articulated robot 2 according to an embodiment of the present invention.
- FIG. 3 is a model diagram showing a joint drive system of the articulated robot 2.
- the flowchart which shows an example of the procedure of the robot control process which the control apparatus 1 of the articulated robot which concerns on embodiment of this invention performs.
- FIG. 6 is a diagram illustrating an operation example of the drive shafts 34 to 36 when the robot control process according to the first embodiment is executed.
- FIG. 10 is a flowchart illustrating an example of a procedure of robot control processing according to the second embodiment.
- FIG. 10 is a diagram illustrating an operation example of the drive shafts 34 to 36 when the robot control process according to the second embodiment is executed.
- the flowchart which shows an example of the procedure of a specific component suppression process.
- the figure for demonstrating the weld line coordinate system (SIGMA) line The figure for demonstrating the execution result of a specific component suppression process. The figure for demonstrating the execution result of a specific component suppression process. The figure for demonstrating the execution result of a specific component suppression process. The figure for demonstrating the execution result of a specific component suppression process. The figure for demonstrating the execution result of a specific component suppression process. The figure for demonstrating the execution result of a specific component suppression process. The model figure which shows the joint drive system of a general articulated robot. The figure which shows the example of an operation
- SIGMA weld line coordinate system
- an articulated robot control device 1 includes an articulated robot 3 provided with an end effector 2 at its tip.
- the operation unit 11, the storage unit 12, the operation unit 13 and the like are provided.
- the end effector 2 is, for example, a welder (torch), a painter, a tool, a catcher or the like that gives an action such as welding or painting to a workpiece.
- the storage unit 12 includes a ROM, HDD, and the like in which predetermined control programs and parameter information to be referred to in various processes are stored in advance, and a work area (temporary storage area) when the calculation unit 11 executes various processes. ) And a volatile memory such as an EEPROM.
- the operation unit 13 is a user interface having sheet keys, operation buttons, operation levers, and the like. The operation unit 13 inputs an operation signal corresponding to a user operation to the calculation unit 11. Specifically, when the operation unit 13 is operated by the user, various processing parameters such as a work start point, a work end point, a work time, and a moving speed of the articulated robot 3 are set.
- the computing unit 11 is a processor such as a CPU that executes various processes such as a robot control process (see FIG. 3) described later in accordance with the control program stored in the storage unit 12.
- the present invention may be understood as an invention of a control program for causing the arithmetic unit 11 to execute a robot control process described later.
- FIG. 2 is a model diagram showing a joint drive system of the articulated robot 3.
- the articulated robot 3 includes a first joint drive system having three drive shafts 34 to 36 for changing the posture of the end effector 2, and a rear end of the first joint drive system. And a second joint drive system having three drive shafts 31 to 33 which are connected to the drive shaft 34 and change the position of the first joint drive system.
- Each of the drive shafts 31 to 36 is individually rotated and driven in a range of ⁇ 180 degrees, for example, by a drive means such as an electric motor.
- the second joint drive system may have four or more drive shafts.
- the position / posture of the end effector 2 in the articulated robot 3 is represented by position coordinates XYZ and a posture angle ⁇ in the base coordinate system ⁇ base of the articulated robot 3.
- the posture angle ⁇ is represented by Euler angle, roll pitch pitch, yaw angle or the like.
- the second joint drive system uses the position coordinates XYZ of the end effector 2 in the base coordinate system ⁇ base of the articulated robot 3 regardless of the operation of the drive shafts 34 to 36 of the first joint drive system. Can be produced freely.
- the angles ⁇ 1 to ⁇ 6 of the drive shafts 31 to 36 in the articulated robot 3 are obtained by solving the inverse kinematics problem from the position coordinates XYZ and the posture angle ⁇ in the base coordinate system ⁇ base of the articulated robot 3. It can be calculated by obtaining.
- S1, S2,... Shown in FIG. 3 represent processing procedure (step) numbers. Note that the present invention may be understood as an invention of a control method for an articulated robot that executes each step of the following processing procedure.
- the control device 1 controls the articulated robot 3 based on the work start point and work end point set in advance by the operation unit 13 by executing the robot control process.
- the position / posture ⁇ Xs, Ys, Zs, ⁇ s, ⁇ s, ⁇ s ⁇ of the work start point Q1 and the position / posture ⁇ Xe, Ye, Ze, ⁇ e, ⁇ e of the work end point Q2 by the operation of the operation unit 13 are described.
- ⁇ e ⁇ is set in advance.
- ⁇ P the amount of movement of the position of the end effector 2 per unit time (1 msec)
- t the control time [msec] measured from the work start point Q1.
- the interpolation point calculated by the path equation P (t) is expressed by the position / posture XYZ ⁇ (t) in the base coordinate system ⁇ base of the articulated robot 3.
- step S2 the control device 1 obtains a solution to the inverse kinematics problem of the position / posture ⁇ Xe, Ye, Ze, ⁇ e, ⁇ e, ⁇ e ⁇ of the end effector 2 at the work end point Q2.
- the angles ⁇ 1e, ⁇ 2e, ⁇ 3e, ⁇ 4e, ⁇ 5e, ⁇ 6e ⁇ of the drive shafts 31 to 36 at the work end point Q2 are calculated.
- the angles ⁇ 1e to ⁇ 6e of the drive shafts 31 to 36 at the work end point Q2 may be directly set during teaching by the operation unit 13.
- step S3 the control device 1 initializes the control time t and the control start flag F to zero.
- the control start flag F is information indicating whether or not an exception condition (S61) to be described later has already been satisfied, and is set to 1 in step S62 to be described later.
- ⁇ t is a control cycle (sample cycle) of the articulated robot 3 by the control device 1 and is, for example, 10 [msec] or 100 [msec].
- step S5 the control device 1 calculates angles ⁇ 1 (t) to ⁇ 6 (t) of the drive shafts 31 to 36 at the next interpolation point based on the path equation P (t).
- control device 1 obtains the solution of the inverse kinematic problem of the position / posture XYZ ⁇ (t), thereby obtaining the angles ⁇ 1 (t), ⁇ 2 (t) of the drive shafts 31 to 36 at the next interpolation point. ), ⁇ 3 (t), ⁇ 4 (t), ⁇ 5 (t), and ⁇ 6 (t) are calculated. Note that after the control start flag F is set to 1, the angles ⁇ 1 (t) to ⁇ 6 (t) are not used, and therefore the processing in step S5 may be omitted.
- step S6 the control device 1 determines whether or not the control start flag F is 1. If it is determined that the control start flag F is 1 (Yes in S6), the process proceeds to step S7, and if it is determined that the control start flag F is 0 (No in S6). Side), the process proceeds to step S61.
- step S61 the control device 1 determines whether or not a preset exceptional condition different from the condition for detecting the specific posture of the first joint drive system is satisfied.
- each of the drive shafts 31 to 36 of the first joint drive system and the second joint drive system in step S64 which will be described later, is calculated from the angles ⁇ 1 (t) to ⁇ 6 (t ) Is executed when driven based on.
- the said control apparatus 1 when performing the determination process which concerns here corresponds to an exceptional condition determination means.
- the condition for detecting the specific posture of the first joint drive system is, for example, that the angle of the drive shaft 35 has approached 0 or that the angles of the drive shafts 34 and 36 have changed abruptly.
- the angles of the drive shafts 34 to 36 of the first joint drive system are set at the work end point Q2.
- the angles ⁇ 4e to ⁇ 6e it is preset as the exceptional condition that the speed of at least one of the drive shafts 34 to 36 of the first joint drive system exceeds a preset allowable range
- the control device 1 sets the speed of each of the drive shafts 34 to 36 to the work end point Q2 while maintaining the speed of each of the drive shafts 34 to 36 during the remaining movement time of the end effector 2. It is determined whether or not it can be reached.
- control device 1 can determine that the exceptional condition is satisfied when any of the following equations (11) to (13) is satisfied.
- T (t) is the remaining moving time at the next interpolation point
- ⁇ 4d, ⁇ 5d, and ⁇ 6d are upper limits of the allowable range of the speed of the drive shafts 34 to 36.
- step S61 if it is determined that the exceptional condition is not satisfied (No in S61), the process proceeds to step S64, and if it is determined that the exceptional condition is satisfied (Yes in S61). Side), the process proceeds to step S62.
- step S64 the control device 1 determines that each of the drive shafts 31 to 36 has the angles ⁇ 1 (t), ⁇ 2 (t), ⁇ 3 (t), ⁇ 4 (t), ⁇ 5 (t) calculated in step S5. , ⁇ 6 (t), and the process proceeds to step S12. Note that the processing in step S64 is the same as that in the prior art, and detailed description thereof is omitted.
- the said control apparatus 1 when performing the drive process which concerns here corresponds to a drive control means.
- Steps S62 to S63 On the other hand, when the exceptional condition is satisfied, the control device 1 sets the control start flag F to 1 in subsequent step S62. As a result, it is determined that the control start flag F is 1 in step S6 in the future, and the process proceeds to step S7 described later without going through steps S61 to S63.
- Step S7 to S8 the control device 1 sets the angle of each of the drive shafts 34 to 36 to the angle of the work end point Q2 during the remaining movement time T (t ⁇ t) from the current interpolation point.
- the speeds V ⁇ 4, V ⁇ 5, V ⁇ 6 per unit time (1 msec) of each of the drive shafts 34 to 36 necessary for reaching the above are calculated.
- the speeds V ⁇ 4, V ⁇ 5, V ⁇ 6 are used to linearly change the current angles ⁇ 4 OLD , ⁇ 5 OLD , ⁇ 6 OLD of the respective drive shafts 34 to 36 to the angles ⁇ 4e, ⁇ 5e, ⁇ 6e at the work end point Q2. Is speed.
- the speeds V ⁇ 4, V ⁇ 5, V ⁇ 6 can be calculated by the following equations (21) to (23).
- V ⁇ 4 ( ⁇ 4e- ⁇ 4 OLD) / T (t- ⁇ t) ...
- step S8 the control device 1 determines the angles ⁇ 4 NOW , ⁇ 5 NOW , ⁇ 6 of the drive shafts 34 to 36 at the next interpolation point based on the speeds V ⁇ 4, V ⁇ 5, V ⁇ 6 calculated in step S7. Calculate NOW .
- the angles ⁇ 4 NOW , ⁇ 5 NOW , and ⁇ 6 NOW can be calculated by the following equations (31) to (33).
- step S9 the control device 1, the angle .theta.4 the NOW of the next interpolation point calculated in step S8, ⁇ 5 NOW, ⁇ 6 NOW and position coordinates XYZ of the next interpolation point calculated in step S5 Based on (t), the angles ⁇ 1 NOW , ⁇ 2 NOW , and ⁇ 3 NOW at the next interpolation point of each of the drive shafts 31 to 33 of the second joint drive system are calculated.
- the calculated angles ⁇ 1 NOW , ⁇ 2 NOW , and ⁇ 3 NOW of the drive shafts 31 to 33 maintain the position coordinates XYZ (t) of the next interpolation point calculated in step S5.
- the position and moving speed of the effector 2 are the same as the position and moving speed of the end effector 2 during the drive control in step S64.
- Step S11 the control device 1 determines the angles ⁇ 4 NOW , ⁇ 5 NOW , ⁇ 6 NOW of the drive shafts 34 to 36 at the next interpolation point calculated in step S8, and the next calculated in step S9.
- the drive shafts 31 to 36 are driven based on the angles ⁇ 1 NOW , ⁇ 2 NOW , and ⁇ 3 NOW of the drive shafts 31 to 33 at the interpolation point.
- the drive control in step S11 is executed instead of the drive control in step S64.
- step S12 the control device 1 determines whether or not the end effector 2 has arrived at the work end point Q2, and until the end effector 2 arrives at the work end point Q2 (S12). No), the process after step S4 is repeatedly executed. On the other hand, when the end effector 2 arrives at the work end point Q2 (Yes in S12), the robot control process is ended.
- the control device 1 after it is determined that the exceptional condition is satisfied, until the end effector 2 reaches the work end point Q2. Calculating an angle of each of the drive shafts 34 to 36 of the first joint drive system for linearly changing each of the drive shafts 34 to 36 of the first joint drive system with the angle of the work end point Q2 as a target; Based on the calculated angles of the drive shafts 34 to 36 of the first joint drive system and the position of the end effector 2 at the interpolation point calculated in step S5, the drive shafts 31 to 33 of the second joint drive system. Each angle is calculated, and the drive shafts of the first joint drive system and the second joint drive system are driven according to the calculation result.
- the said control apparatus 1 when performing the process which concerns here corresponds to an exceptional operation
- the angles of the drive shafts 34 to 36 of the first joint drive system are set to the angle of the work end point Q2. It can be surely reached. As a result, for example, the drive shafts 34 to 36 can be prevented from exceeding the operating range when operating from the work end point Q2 toward the next teaching point.
- the control device 1 has different signs of the angles of the drive shaft 35 at the work start point Q1 and the work end point Q2, and the unique posture of the first joint drive system (the angle of the drive shaft 35 is This is suitable when the angle of the drive shaft 35 cannot reach the angle of the work end point Q2 without passing through 0 degree).
- FIGS. FIG. 4 and FIG. 5 show an example of operation when the signs of the drive shaft 35 at the work start point Q1 and the work end point Q2 are different signs, and FIG. 4 shows a conventional example.
- FIG. 5 shows an execution result of the robot control process (FIG. 3).
- the angle ⁇ 5s of the drive shaft 35 at the work start point Q1 is +65 degrees
- the angle ⁇ 5e of the drive shaft 35 at the work end point Q2 is ⁇ 65 degrees.
- the control device 1 determines that the angle at the next interpolation point of at least one of the drive shafts 34 to 36 exceeds the preset operation range in step S61. Then, it is determined that the exceptional condition is satisfied.
- the control device 1 is configured such that the positive operating range of each of the drive shafts 34 to 36 is ⁇ 4 + L, ⁇ 5 + L, ⁇ 6 + L, and the negative operation of each of the drive shafts 34 to 36 is preset.
- each of the drive shafts 34 to 36 is, for example, an allowable operation range of the drive motor of the drive shafts 34 to 36.
- FIG. 7 show an example of operation when the signs of the drive shaft 35 at the work start point Q1 and the work end point Q2 are different signs, and FIG. 6 shows a conventional example.
- FIG. 7 shows an execution result of the robot control process according to the first embodiment.
- the angle ⁇ 5s of the drive shaft 35 at the work start point Q1 is ⁇ 10 degrees
- the angle ⁇ 5e of the drive shaft 35 at the work end point Q2 is +10 degrees.
- the operating range of the angle of the drive shafts 34 to 36 is assumed to be ⁇ 180 degrees to +180 degrees.
- the sign of the drive shaft 35 at the work start point Q1 is maintained even though the sign of the drive shaft 35 at the work start point Q1 and the work end point Q2 is different. If the end effector 2 is moved while the solution is still open, the angle of the drive shafts 34, 36 may exceed the operating range ( ⁇ 180 degrees) of the drive shafts 34, 36, causing an abnormal stop.
- an angle at the next interpolation point of at least one of the drive axes 34 to 36 is set in advance. If it is determined that the exceptional condition of exceeding the specified operating range is satisfied, the drive shaft 34 to 36 changes linearly toward the angle of the work end point Q2 from that time L2. 31 to 36 are driven.
- the control device 1 can set the work end point Q2 only within the operating range of the angles of the drive shafts 34-36. Therefore, it is possible to reliably reach the angle of the work start point Q2 while driving each of the drive shafts 34 to 36 within an allowable range.
- the angles of the drive shafts 34 to 36 reach the vicinity of the work end point Q2 at a time slightly before the work end point Q2, and then the work end point. It is operating at a moderate speed towards the angle at Q2. In this way, if the speed of each of the drive shafts 34 to 36 is gradually reduced and the operation is stopped gently at the work end point Q2, vibrations at the time of stop can be suppressed.
- the control device 1 adjusts the speed of each of the drive shafts 34 to 36 so that each of the drive shafts 34 to 36 reaches the angle at the work end position Q2 and stops.
- vibrations generated when the drive motors are stopped can be suppressed as compared with the case where the drive motors of the drive shafts 34 to 36 are individually stopped.
- FIG. 8 shows an example of change in the angle of the drive shaft 36 before and after the exceptional condition is satisfied. As shown by the solid line in FIG.
- control method for preventing the sudden stop and rapid acceleration of the drive shafts 34 to 36 in this way is the same when other exceptional conditions such as the above-described embodiment and Example 2 described later are used. Can be applied to.
- FIG. 9 is a flowchart illustrating an example of the procedure of the robot control process according to the second embodiment.
- symbol is attached
- step S21 the control device 1 determines the angles ⁇ 4s, ⁇ 5s, ⁇ 6s of the drive shafts 34-36 at the work start point Q1 together with the angles ⁇ 4e, ⁇ 5e, ⁇ 6e of the drive shafts 34-36 at the work end point Q2. Is calculated.
- step S21 the control device 1 moves the drive shafts 34 to 36 linearly at a constant speed from the work start point Q1 to the work end point Q2 per unit time (1 msec).
- the angle fluctuations ⁇ 4, ⁇ 5, ⁇ 6 of the drive shafts 34 to 36 are also calculated.
- the angle fluctuations ⁇ 4, ⁇ 5, and ⁇ 6 are obtained by the following (51) to (53), where T (s) is the remaining moving time of the end effector 2 at the work start point Q1.
- ⁇ 5k ⁇ 5k + ⁇ 5 ⁇ ⁇ t
- ⁇ 6k ⁇ 6k + ⁇ 6 ⁇ ⁇ t. That is, the reference angle ⁇ k (t) is determined on the basis of the work start point Q1 and the work end point Q2, and is always set to a value on a straight line connecting the work start point Q1 and the work end point Q2. Updated.
- the reference angle ⁇ k (t) may be an angle of the drive shafts 34 to 36 at the work start point Q1 or the work end point Q2.
- the control device 1 determines the angle ⁇ 4 (the angle ⁇ 4 of the drive shafts 34 to 36 of the first joint drive system at the next interpolation point). It is determined whether or not a separation angle between at least one of t), ⁇ 5 (t), and ⁇ 6 (t) and the reference angles ⁇ 4k, ⁇ 5k, and ⁇ 6k exceeds predetermined angles ⁇ 4w, ⁇ 5w, and ⁇ 6w set in advance.
- the predetermined angles ⁇ 4w, ⁇ 5w, and ⁇ 6w are set so that the angles ⁇ 4 (t), ⁇ 5 (t), and ⁇ 6 (t) of the drive shafts 34 to 36 are too far from the reference angles ⁇ 4k, ⁇ 5k, and ⁇ 6k. Is set in advance in order to estimate in advance that there is a high possibility that abrupt changes in the angles of the drive shafts 34 to 36 will occur in order to reach .about.36 to the work end point Q2.
- the predetermined angles ⁇ 4w, ⁇ 5w, and ⁇ 6w may be set to 90 degrees, 180 degrees, and 90 degrees, respectively.
- the control device 1 determines that the exceptional condition is satisfied when any of the following formulas (61) to (63) is satisfied.
- FIG. 10 shows an operation example when the signs of the drive shaft 35 at the work start point Q1 and the work end point Q2 are different signs, and the robot control according to the second embodiment. The execution result of a process is shown.
- the angle ⁇ 5s of the drive shaft 35 at the work start point Q1 is +10 degrees
- the angle ⁇ 5e of the drive shaft 35 at the work end point Q2 is ⁇ 10 degrees.
- the predetermined angle ⁇ 6w is set to 90 degrees
- the case where the angle ⁇ 6 (t) of the drive shaft 36 is 90 degrees away from the reference angle ⁇ 6k (t) will be described as an example.
- the angle ⁇ 6 (t) of the next interpolation point of the drive shaft 36 is 90 degrees from the reference angle ⁇ 6k (t). Since the drive shafts 31 to 36 are driven so that the drive shafts 34 to 36 change linearly toward the angle of the work end point Q2 from the time point L3 at which it is determined that they are separated from each other, the drive shafts 34 to 36 are driven. Each of the 36 can reliably reach the angle at the work start point Q2. In particular, according to the robot control process according to the second embodiment, the drive shafts 34 to 36 are moved at the early stage before the angles of the drive shafts 34 to 36 are too far from the reference angle ⁇ k (t). A linear operation can be performed toward the work end point Q2, and abrupt angular fluctuations of the drive shafts 34 to 36 can be prevented.
- control device 1 may be any device that determines whether at least one of the plurality of exceptional conditions described in the embodiment, the first example, and the second example is satisfied. It is also conceivable to monitor whether or not an exceptional condition is satisfied at the same time, and when any one of the exceptional conditions is satisfied, the linear operation processing after step S7 is executed. Accordingly, it is possible to implement a configuration that exhibits the effects obtained in the embodiment, the first example, and the second example.
- the control device 1 performs a copying control for controlling the articulated robot 3 so that the end effector 2 moves along a machining line of a workpiece.
- the articulated robot 3 is provided with a sensor (corresponding to a deviation amount detecting means) for detecting a deviation amount ⁇ XYZ ⁇ (t) between the end effector 2 and the processing line.
- the deviation amount ⁇ XYZ ⁇ (t) detected by the sensor at each time point is a value expressed with reference to the interpolation point at that time point calculated by the path equation P (t).
- the control device 1 executes the scanning control for moving the end effector 2 along the machining line based on the detection result by the sensor.
- the control device 1 when executing the copying control corresponds to copying control means.
- the control device 1 uses the amount of deviation ⁇ XYZ ⁇ (t) currently detected by the sensor as the path equation. Add to P (t). Further, the control device 1 obtains a solution of the inverse kinematics problem from the position / posture X′Y′Z′ ⁇ ′ ⁇ ′ ⁇ ′ (t) of the interpolation point after the addition, so that The angles ⁇ 1 ′ (t) to ⁇ 6 ′ (t) of the drive shafts 31 to 36 are calculated.
- control device 1 sets the angle ⁇ 1 ′ (t) to ⁇ 6 ′ (t) after being corrected with the deviation amount ⁇ XYZ ⁇ (t) in the step S64. Based on this, the drive shafts 31 to 36 are driven.
- step S5 the control device 1 updates the work end point Q2 to a value obtained by adding the shift amount ⁇ XYZ ⁇ (t) to the work end point Q2.
- the angles of the drive shafts 34 to 36 at the updated work end point Q2 are ⁇ 4e (t), ⁇ 5e (t), and ⁇ 6e (t).
- the said control apparatus 1 when performing the process which concerns here corresponds to a work end point update means.
- the exception condition determination process it is determined whether the exception condition is satisfied based on the updated work end point Q2.
- the above formulas (11) to (13) which are the determination criteria for the exceptional condition in step S61 in the above embodiment, are the following formulas (11 ′) to (13 ′).
- the equations (21) to (23) for calculating the speeds V ⁇ 4, V ⁇ 5, and V ⁇ 6 in step S7 are the following equations (21 ′) to (23 ′). That is, in the driving process in step S11, linear operation processing of the drive shafts 34 to 36 is performed with the updated work end point Q2 as a target.
- V ⁇ 4 ( ⁇ 4e (t) - ⁇ 4 OLD) / T (t- ⁇ t) ... (21 ')
- V ⁇ 5 ( ⁇ 5e (t) - ⁇ 5 OLD) / T (t- ⁇ t) ... (22 ')
- V ⁇ 6 ( ⁇ 6e (t) - ⁇ 6 OLD) / T (t- ⁇ t) ... (23 ')
- the end effector 2 moves from the work start point Q1 toward the work end point Q2, and the deviation amount ⁇ XYZ ⁇ (t ) Is corrected, the work end point Q2 is updated to the work end point Q2 (t) by adding the deviation amount ⁇ XYZ ⁇ (t).
- the angles of the drive shafts 34 to 36 can reach the work end point Q2 (t).
- the control device 1 performs a specific component suppression process (see FIG. 12) described later between the steps S8 and S9 of the robot control process (see FIG. 3). Execute.
- the robot control process is not limited to the one described in the above embodiment, and the contents described in any of Examples 1 to 3 may be adopted.
- step S81 the control device 1 uses the X axis as the axis in the direction (traveling direction) in which the end effector 2 moves as shown in FIG.
- the axis represented by the outer product (X axis ⁇ gravity direction) is the Y axis
- the axis in the direction represented by the outer product (X axis ⁇ Y axis) of the X axis and the Y axis is the Z axis.
- the attitude angle in the coordinate system (hereinafter referred to as “weld line coordinate system ⁇ line”) is obtained.
- the attitude angle of the end effector 2 in the weld line coordinate system ⁇ line is, as shown in FIGS. 14 to 16, the torch inclination angle Rx, which is a rotation angle around the axis of the X axis, and the axis of the Y axis.
- a torch advance angle Ry that is a rotation angle around
- a torch rotation angle Rz that is a rotation angle around the Z axis.
- the control device 1 uses the position / posture XYZ ⁇ (t) in the base coordinate system ⁇ base of the next interpolation point calculated in step S5 as the posture angle (torch tilt angle) in the weld line coordinate system ⁇ line.
- Rx, torch advance angle Ry, torch rotation angle Rz For example, conversion from the base coordinate system ⁇ base to the weld line coordinate system ⁇ line is performed according to the following equations (101) to (107).
- the unit vectors of the X axis, Y axis, and Z axis in the weld line coordinate system ⁇ line are Xm, Ym, and Zm.
- step S82 the control device 1 generates a plurality of speed candidates at the next interpolation point of each of the drive shafts 34 to 36 with reference to the speed of the drive shafts 34 to 36 in the previous control cycle. .
- the said control apparatus 1 when performing the process which concerns here corresponds to an angle candidate calculation means.
- V ⁇ 4 OLD V ⁇ 5 OLD , V ⁇ 6 OLD
- V ⁇ 4m V ⁇ 4 OLD ⁇ F as candidates for the speed of the drive shaft 34.
- V ⁇ 4n V ⁇ 4 OLD
- V ⁇ 4p V ⁇ 4 OLD + F.
- V ⁇ 5m V ⁇ 5 OLD -G
- V ⁇ 5n V ⁇ 5 OLD
- V ⁇ 5p V ⁇ 5 OLD + G
- V ⁇ 6m V ⁇ 6 OLD ⁇ H
- V ⁇ 6n V ⁇ 6 OLD
- each of the constants F, G, and H is determined in advance with a limit value of acceleration per sample period and a value within a range in which vibration does not occur.
- step S84 the control device 1 determines that the drive shafts 34 to 36 at the next interpolation point when each of the three speed candidates V ⁇ a (t), V ⁇ b (t), and V ⁇ c (t) is adopted.
- Angle candidates ⁇ a (t), ⁇ b (t), and ⁇ c (t) are generated.
- three speed candidates and angle candidates are generated here, but the number of candidates is required for the articulated robot 3 according to the calculation performance of the control device 1. What is necessary is just to set arbitrarily in the range with which operation
- the angle candidates ⁇ a (t), ⁇ b (t), and ⁇ c (t) are generated as shown in the following (304) to (306).
- step S85 the control device 1 causes the drive shafts 34 to 36 of the first joint drive system to move within a range of angles closer to the target than when the drive shafts 34 to 36 are linearly operated with the angle of the work end point Q2 as a target.
- each of the angle candidates ⁇ a (t), ⁇ b (t), ⁇ c (t) calculated in step S84 is converted into the angles ⁇ 4 NOW , ⁇ 5 NOW , ⁇ 6 NOW calculated in step S8 and in step S2. It is determined whether the angle is between the calculated angles ⁇ 4e, ⁇ 5e, and ⁇ 6e.
- each of the angle candidates ⁇ a (t), ⁇ b (t), and ⁇ c (t) is an angle between the angles ⁇ 4 NOW , ⁇ 5 NOW , and ⁇ 6 NOW and the angles ⁇ 4e, ⁇ 5e, and ⁇ 6e. If it is determined (Yes in S85), the process proceeds to step S86. However, if it is determined that this is not the case (No in S85), the process returns to step S83 to select a different combination, and the candidate ⁇ a (t), ⁇ b (t), ⁇ c (t) is generated again.
- the angle candidates for each of the drive shafts 34 to 36 are always limited to the range of angles between the angles ⁇ 4 NOW , ⁇ 5 NOW , ⁇ 6 NOW and the angles ⁇ 4e, ⁇ 5e, ⁇ 6e.
- the angle of each of the drive shafts 34 to 36 can surely reach the angle at the work end position Q2. Note that it is conceivable that the angle of each of the drive shafts 34 to 36 reaches the angle at the work end position Q2 before the work end position Q2. In this case, however, the drive shafts 34 to 36 are thereafter driven.
- control device 1 for calculating a plurality of angle candidates in the steps S82 to S85 corresponds to an angle candidate calculating means.
- Step S86 the control device 1 viewed each of the angle candidates ⁇ a (t), ⁇ b (t), and ⁇ c (t) generated in step S84 from the weld line coordinate system ⁇ line. A posture angle of the end effector 2 is obtained.
- step S87 the control device 1 determines that the posture angle obtained in step S86 is the closest to the posture angle obtained in step S81 among the angle candidates ⁇ a (t) to ⁇ c (t).
- the control device 1 determines in advance among the three components (the torch inclination angle Rx, the torch advance angle Ry, and the torch rotation angle Rz) of the attitude angle of the end effector 2 viewed from the weld line coordinate system ⁇ line.
- the control apparatus 1 when performing the process which concerns here corresponds to an angle selection means.
- the specific component is set in advance by the control device 1 according to the operation by the operation unit 13 or according to the processing content of the articulated robot 3.
- the control device 1 varies the posture angle when the angle candidates ⁇ a (t), ⁇ b (t), and ⁇ c (t) are employed and the posture angle obtained in step S81.
- Ua, Ub and Uc are obtained according to the following (331) to (333).
- Ua D ⁇ (Rx-Rxa) 2 + E ⁇ (Ry-Rya) 2 + F ⁇ (Rz-Rza) 2 (331)
- Ub D ⁇ (Rx-Rxb) 2 + E ⁇ (Ry-Ryb) 2 + F ⁇ (Rz-Rzb) 2 (332)
- Uc D ⁇ (Rx-Rxc) 2 + E ⁇ (Ry-Ryc) 2 + F ⁇ (Rz-Rzc) 2 (333)
- the control device 1 sets the fluctuation amount Ua, Ub, Uc to the smallest value, that is, the fluctuation amount of the specific component that is smallest with respect to the attitude angle obtained in step S81. Corresponding angle candidates ⁇ a (t), ⁇ b (t), ⁇ c (t) are selected.
- FIG. 17 shows the drive locus of the drive shafts 34 to 36 when the specific component suppression process is executed in the robot control process (FIG. 3) in the embodiment. Note that the broken line in FIG. 17 indicates a drive locus when the drive shafts 34 to 36 are linearly operated without executing the specific component suppressing process.
- the processing content of the articulated robot 3 is welding, and among the posture angles (torch inclination angle Rx, torch advance angle Ry, torch rotation angle Rz) of the end effector 2 in the weld line coordinate system ⁇ line. It is particularly important to suppress fluctuations in the torch inclination angle Rx and the torch advance angle Ry, and the torch inclination angle Rx and the torch advance angle Ry are set in advance as the specific component.
- the torch inclination angle Rx and the torch advance angle Ry that are important for the welding operation are sacrificed at the expense of the fluctuation of the torch rotation angle Rz that is not important for the welding operation (small weighting). And fluctuations can be suppressed.
- the broken line in FIG. 18 indicates the amount of fluctuation when the drive shafts 34 to 36 are linearly operated without executing the specific component suppression process.
- FIG. 19 shows drive loci of the drive shafts 34 to 36 when the specific component suppression process is executed in the robot control process (FIG. 9) in the second embodiment.
- a broken line in FIG. 19 shows a drive locus when the drive shafts 34 to 36 are linearly operated without executing the specific component suppressing process.
- the machining content of the articulated robot 3 is welding, and the torch inclination angle Rx and the torch advance angle Ry are preset as the specific components.
- step S64 the control device 1 detects whether or not the first joint drive system has approached a singular posture (singular point), and if it has approached a singular posture, it is calculated in step S5.
- a process for smoothly shifting to the other solution among the solutions of the inverse kinematics problem may be executed.
- the attitude angle of the end effector 2 in the weld line coordinate system ⁇ line (torch inclination angle Rx, torch forward angle)
- the angle of the drive shafts 34 to 36 is selected while selecting one candidate from a plurality of candidates so as to suppress the fluctuation of one or two specific components set in advance among the angle Ry and the torch rotation angle Rz). It is desirable to smoothly transition from one solution of the inverse kinematic problem to the other solution.
- the operator can know whether the articulated robot 3 is in the state of avoiding the singular point or not in the state of singular point avoidance during welding. can do. Therefore, for example, when a quality inspection is performed after welding of a work object (material), it is possible to inspect and inspect a place welded in a state where a singularity is being avoided. In addition, for example, the entire movement of the articulated robot 3 in a state in which a singular point is being avoided can be visually monitored by an operator. When moving the robot 3, it is possible to review the entire operation of the articulated robot 3.
- the contents of the processing program are displayed on the display screen M so that the processing program can be understood, and the time during which the processing program is executed (Reproduction time) and movement of the end effector (for example, linear movement) may be displayed on the display screen M.
- torch information for example, torch tilt angle, torch advance angle, torch rotation angle, etc.
- current torch information may be displayed on the display screen M.
- the display screen M displays that singularity avoidance processing is being performed, but instead of this, the singularity avoidance may be notified by a speaker or the like. In addition, it may be notified by light such as lighting or flashing of a lamp.
- the fact that singularity avoidance may be performed may be displayed on an external display device different from the teaching pendant 13 of the articulated robot.
- the time “under singularity avoidance” may be stored as a log in the storage unit 12 of the control unit 10 or the like.
- the time history during singularity avoidance may be displayed on the display screen M of the operation unit 13 (teaching pendant) after the end of welding so that the operator or the like can check the time history during singularity avoidance.
- controller for articulated robot 11 arithmetic unit 12: storage unit 13: operation unit 2: end effector 3: articulated robots 31 to 36: drive shaft
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Abstract
Description
具体的に,図24は,作業開始点及び作業終了点におけるJ5軸の角度の符号が異符号であるが,J5軸の角度が0度近傍に到達せず,J4軸やJ6軸の角度も急激に変化することなく動作する場合の軌跡を示している。この場合,特異姿勢近傍に近づいたことを検出することができない。そのため,J5軸の角度が作業開始点における符号のまま移動するため,J4軸~J6軸の角度を作業終了点の正しい角度に到達させることができない。そのため,例えば作業終了点の次の教示点に向けて動作する場合にJ4軸~J6軸の角度が作動範囲外に到達するおそれがある。
(2)前記補間点算出手段により算出された前記補間点に従って前記第1関節駆動系及び前記第2関節駆動系を駆動させる駆動制御手段。
(4)前記例外条件判定手段により前記例外条件が充足したと判定された後,前記作業部が前記作業終了点に到達するまでの間,前記第1関節駆動系の駆動軸各々を前記作業終了点の角度を目標として線形に変化させるための該第1関節駆動系の駆動軸各々の角度を算出すると共に,該算出された第1関節駆動系の駆動軸各々の角度と前記補間点算出手段によって算出された前記補間点における前記作業部の位置とに基づいて前記第2関節駆動系の駆動軸各々の角度を算出し,該算出結果に従って前記第1関節駆動系及び前記第2関節駆動系の駆動軸各々を駆動させる例外動作手段。
例えば,前記例外条件は,次の前記補間点からの前記作業部の残りの移動時間又は移動距離の間に前記第1関節駆動系の駆動軸各々の角度を前記作業終了点における角度に到達させる場合に前記第1関節駆動系の少なくとも一つの駆動軸の速度が予め設定された許容範囲を超えることである。これにより,前記第1関節駆動系の駆動軸各々の速度を前記許容範囲に抑えつつ該第1関節駆動系の駆動軸各々の角度を前記作業終了点の角度に確実に到達させることができる。また,前記例外条件が,前記作業部の残りの移動時間又は移動距離が予め設定された所定値以下に達することであってもよい。
ところで,前記作業部と加工対象物の加工線とのズレ量を検出するズレ量検出手段と,前記ズレ量検出手段により検出されたズレ量に基づいて前記作業部を前記加工線に倣って移動させる倣い制御手段とを備える構成では,前記作業終了点の位置が変化することになる。
また,本発明は,多関節型ロボットの制御方法や制御プログラムの発明として捉えることも可能である。
即ち,予め設定される作業開始点及び作業終了点各々の位置及び姿勢を結ぶ教示経路上で前記作業部の位置を予め定められた速度で移動させるための複数の補間点を算出する補間点算出工程と,前記補間点算出工程により算出された前記補間点に従って前記第1関節駆動系及び前記第2関節駆動系を駆動させる駆動制御工程と,前記駆動制御工程により前記第1関節駆動系及び前記第2関節駆動系が駆動されているときに,前記第1関節駆動系の駆動軸各々が前記作業終了点の角度に到達するまでの間に該第1関節駆動系の少なくとも一つの駆動軸の速度又は角度が予め設定された所定範囲を超えることを,前記第1関節駆動系の特異姿勢の検出条件とは異なる予め設定された例外条件により判定する例外条件判定工程と,前記例外条件判定工程により前記例外条件が充足したと判定された場合に,前記駆動制御工程に代わって,前記第1関節駆動系及び前記第2関節駆動系を,前記第1関節駆動系の駆動軸各々が前記作業終了点の角度を目標として線形に変化し,且つ前記作業部の位置が予め定められた速度で移動するように駆動させる例外動作工程とを実行する多関節型ロボットの制御方法や,前記各工程をプロセッサに実行させる制御プログラムの発明として捉えてもよい。
図1に示すように,本発明の実施の形態に係る多関節型ロボットの制御装置1(以下「制御装置1」と略称する)は,先端にエンドエフェクタ2が設けられた多関節型ロボット3の動作を制御するものであって,演算部11,記憶部12,操作部13などを備えている。前記エンドエフェクタ2は,加工対象物に対して,例えば溶接や塗装などの作用を与える溶接器(トーチ),塗装器,工具,捕獲器などである。
前記操作部13は,シートキーや操作ボタン,操作レバー等を有するユーザインターフェースである。前記操作部13は,ユーザ操作に対応する操作信号を前記演算部11に入力する。具体的に,ユーザによって前記操作部13が操作されることにより,前記多関節型ロボット3の作業開始点,作業終了点,作業時間,移動速度などの各種加工パラメータが設定される。
ここに,図2は前記多関節型ロボット3の関節駆動系を示すモデル図である。
以下,図3のフローチャートに従って,前記制御装置1により実行されるロボット制御処理の手順の一例について説明する。ここに,図3に示すS1,S2,…は処理手順(ステップ)番号を表す。なお,本発明は,以下の処理手順の各工程を実行する多関節型ロボットの制御方法の発明として捉えてもよい。
(ステップS1)
まず,ステップS1において,前記制御装置1は,前記作業開始点Q1及び前記作業終了点Q2各々の位置及び姿勢を結ぶ教示経路を補間する複数の補間点を算出するための経路方程式P(t)=Q1+ΔP・tを求める。ここに,ΔPは単位時間(1msec)あたりの前記エンドエフェクタ2の位置の移動量,tは前記作業開始点Q1から計時される制御時間[msec]を示している。なお,前記経路方程式P(t)で算出される補間点は,前記多関節型ロボット3のベース座標系Σbaseにおける位置・姿勢XYZαβγ(t)より表されるものである。
(ステップS2~S3)
続いて,ステップS2において,前記制御装置1は,前記作業終了点Q2における前記エンドエフェクタ2の位置・姿勢{Xe,Ye,Ze,αe,βe,γe}の逆運動学問題の解を求めることにより,該作業終了点Q2における前記駆動軸31~36の角度{θ1e,θ2e,θ3e,θ4e,θ5e,θ6e}を算出する。なお,前記操作部13による教示時に前記作業終了点Q2における前記駆動軸31~36の角度θ1e~θ6eが直接設定されてもよい。
(ステップS4~S6)
次に,ステップS4において,前記制御装置1は前記制御時間tを更新する(t=t+Δt)。ここに,Δtは,前記制御装置1による前記多関節型ロボット3の制御周期(サンプル周期)であって,例えば10[msec]や100[msec]である。
具体的に,まず前記制御装置1は,次の補間点の位置・姿勢XYZαβγ(t)={Xs+ΔX・t,Ys+ΔY・t,Zs+ΔZ・t,αs+Δα・t,βs+Δβ・t,γs+Δγ・t}を算出する。そして,前記制御装置1は,前記位置・姿勢XYZαβγ(t)の逆運動学問題の解を求めることにより,次の補間点における前記駆動軸31~36各々の角度θ1(t),θ2(t),θ3(t),θ4(t),θ5(t),θ6(t)を算出する。なお,前記制御開始フラグFが1に設定された後は,前記角度θ1(t)~θ6(t)を用いないため,当該ステップS5の処理は省略してもよい。
(ステップS61)
ステップS61において,前記制御装置1は,前記第1関節駆動系の特異姿勢の検出条件とは異なる予め設定された例外条件が充足したか否かを判定する。ここに,当該ステップS61は,後述のステップS64において前記第1関節駆動系及び前記第2関節駆動系の駆動軸31~36各々が前記ステップS5で算出された角度θ1(t)~θ6(t)に基づいて駆動されているときに実行される。ここに,係る判定処理を実行するときの前記制御装置1が例外条件判定手段に相当する。前記第1関節駆動系の特異姿勢の検出条件とは,例えば前記駆動軸35の角度が0に近づいたことや前記駆動軸34,36の角度が急激に変化したことである。
|(θ4e-θ4(t))/T(t)|>θ4d…(11)
|(θ5e-θ5(t))/T(t)|>θ5d…(12)
|(θ6e-θ6(t))/T(t)|>θ6d…(13)
なお,前記エンドエフェクタ2の残りの移動時間に限らず,該エンドエフェクタ2の残りの移動距離(=残りの移動時間×移動速度)の間に,前記駆動軸34~36各々の速度を許容範囲内に維持しつつ,前記エンドエフェクタ2を前記作業終了点Q2に到達させることができるか否かを判定してもよい。また,単に前記エンドエフェクタ2の残りの移動時間や残りの移動距離が予め設定された所定値以下に達することを前記例外条件として用いることも他の実施例として考えられる。
(ステップS64)
ステップS64において,前記制御装置1は,前記駆動軸31~36各々を前記ステップS5で算出された角度θ1(t),θ2(t),θ3(t),θ4(t),θ5(t),θ6(t)に基づいて駆動させ,処理をステップS12に移行させる。なお,当該ステップS64における処理は従来と同様であるため,詳細な説明は省略する。ここに,係る駆動処理を実行するときの前記制御装置1が駆動制御手段に相当する。
(ステップS62~S63)
一方,前記例外条件が充足すると,続くステップS62において,前記制御装置1は,前記制御開始フラグFを1に設定する。これにより,今後,前記ステップS6においては,前記制御開始フラグFが1であると判断され,処理は前記ステップS61~S63を経由することなく後述のステップS7に移行することとなる。
(ステップS7~S8)
そして,ステップS7において,前記制御装置1は,現在の補間点からの残りの移動時間T(t-Δt)の間に,前記駆動軸34~36各々の角度を前記作業終了点Q2の角度に到達させるために必要な前記駆動軸34~36各々の単位時間(1msec)あたりの速度Vθ4,Vθ5,Vθ6を算出する。ここに,速度Vθ4,Vθ5,Vθ6は,現在の前記駆動軸34~36各々の角度θ4OLD ,θ5OLD ,θ6OLD を前記作業終了点Q2における角度θ4e,θ5e,θ6eに線形に変化させるための速度である。具体的に,速度Vθ4,Vθ5,Vθ6は,以下の(21)式~(23)式により算出可能である。
Vθ4=(θ4e-θ4OLD )/T(t-Δt) …(21)
Vθ5=(θ5e-θ5OLD )/T(t-Δt) …(22)
Vθ6=(θ6e-θ6OLD )/T(t-Δt) …(23)
次に,ステップS8において,前記制御装置1は,前記ステップS7で算出された速度Vθ4,Vθ5,Vθ6に基づいて,次の補間点の前記駆動軸34~36の角度θ4NOW,θ5NOW ,θ6NOW を算出する。ここに,角度θ4NOW ,θ5NOW ,θ6NOW は,以下の(31)式~(33)式により算出可能である。
θ4NOW =θ4OLD +Vθ4・Δt …(31)
θ5NOW =θ5OLD +Vθ5・Δt …(32)
θ6NOW =θ6OLD +Vθ6・Δt …(33)
(ステップS9~S10)
そして,ステップS9において,前記制御装置1は,前記ステップS8で算出された次の補間点の角度θ4NOW ,θ5NOW ,θ6NOW と,前記ステップS5で算出された次の補間点の位置座標XYZ(t)とに基づいて,前記第2関節駆動系の駆動軸31~33各々の次の補間点における角度θ1NOW ,θ2NOW ,θ3NOW を算出する。
なお,前記制御装置1は,ステップS10において,前記駆動軸34~36各々の角度θ4NOW ,θ5NOW ,θ6NOW を,次の制御周期で使用するためにθ4OLD ,θ5OLD ,θ6OLD として記憶する(θ4OLD =θ4NOW ,θ5OLD =θ5NOW ,θ6OLD =θ6NOW )。
(ステップS11~S12)
その後,ステップS11において,前記制御装置1は,前記ステップS8で算出された次の補間点における前記駆動軸34~36の角度θ4NOW ,θ5NOW ,θ6NOW と,前記ステップS9で算出された次の補間点における前記駆動軸31~33の角度θ1NOW ,θ2NOW ,θ3NOW とに基づいて前記駆動軸31~36を駆動させる。このように,当該ロボット制御処理では,前記例外条件が充足した後は,前記ステップS64における駆動制御に代えて,前記ステップS11における駆動制御が実行される。
具体的に,本実施例1では,前記制御装置1が,前記ステップS61において,前記駆動軸34~36の少なくとも一つの駆動軸の次の補間点における角度が予め設定された作動範囲を超える場合に,前記例外条件が充足したと判定する。例えば,前記制御装置1は,予め設定された前記駆動軸34~36各々のプラス側の作動範囲がθ4+L ,θ5+L ,θ6+L ,前記駆動軸34~36各々のマイナス側の作動範囲がθ4-L ,θ5-L ,θ6-L であるとき,以下の(41)~(46)の少なくとも一つが成立した場合に前記例外条件が充足したと判定する。なお,前記駆動軸34~36各々の作動範囲とは,例えば前記駆動軸34~36の駆動モータの許容動作範囲である。
θ4(t)>θ4+L …(41)
θ4(t)<θ4-L …(42)
θ5(t)>θ5+L …(43)
θ5(t)<θ5-L …(44)
θ6(t)>θ6+L …(45)
θ6(t)<θ6-L …(46)
ここに,図6及び図7は,前記作業開始点Q1及び前記作業終了点Q2における前記駆動軸35の符号が異符号である場合の動作例を示すものであって,図6は従来例を示すものであり,図7は本実施例1に係るロボット制御処理の実行結果を示すものである。具体的に,前記作業開始点Q1における前記駆動軸35の角度θ5sが-10度,前記作業終了点Q2における前記駆動軸35の角度θ5eが+10度である。なお,前記駆動軸34~36の角度の作動範囲は-180度~+180度であるものとする。
ここに,図9は,本実施例2に係るロボット制御処理の手順の一例を示すフローチャートである。なお,前記ロボット制御処理(図3参照)と同様の処理手順については同じ符号を付してその説明を省略する。
(ステップS21,S31,S41)
ステップS21において,前記制御装置1は,前記作業終了点Q2における前記駆動軸34~36の角度θ4e,θ5e,θ6eと共に,前記作業開始点Q1における前記駆動軸34~36の角度θ4s,θ5s,θ6sを算出する。
Δθ4=(θ4e-θ4s)/T(s)…(51)
Δθ5=(θ5e-θ5s)/T(s)…(52)
Δθ6=(θ6e-θ6s)/T(s)…(53)
次に,ステップS31において,前記制御装置1は,制御時間t及び制御開始フラグFを0に初期設定すると共に,前記駆動軸34~36に対応する基準角度θk(t)={θ4k,θ5k,θ6k}の初期設定を行う。前記基準角度θk(t)は,後述のステップS611において例外条件の判断で参照されるものであって,その初期値θk(0)は,{θ4k,θ5k,θ6k}={θ4s,θ5s,θ6s}に設定される。
即ち,前記基準角度θk(t)は,前記作業開始点Q1及び前記作業終了点Q2に基づいて定まるものであって,前記作業開始点Q1及び前記作業終了点Q2を結ぶ直線上の値に随時更新される。なお,前記基準角度θk(t)が前記作業開始点Q1や前記作業終了点Q2における前記駆動軸34~36の角度であることも他の実施例として考えられる。(ステップS611)
そして,本実施例2に係るロボット制御処理では,ステップS611の例外条件の判定処理において,前記制御装置1は,次の補間点における前記第1関節駆動系の駆動軸34~36の角度θ4(t),θ5(t),θ6(t)の少なくとも一つと前記基準角度θ4k,θ5k,θ6kとの離間角度が予め設定された所定角度θ4w,θ5w,θ6wを超えるか否かを判断する。前記所定角度θ4w,θ5w,θ6wは,前記駆動軸34~36の角度θ4(t),θ5(t),θ6(t)が前記基準角度θ4k,θ5k,θ6kから離れすぎて,該駆動軸34~36を前記作業終了点Q2に到達させるために該駆動軸34~36の角度の急激な変化を伴う可能性が高いことを事前に推定するために予め設定されたものである。例えば,前記所定角度θ4w,θ5w,θ6w各々は,90度,180度,90度に設定しておくことが考えられる。
|θ4(t)-θ4k|>θ4w…(61)
|θ5(t)-θ5k|>θ5w…(62)
|θ6(t)-θ6k|>θ6w…(63)
ここに,図10は,前記作業開始点Q1及び前記作業終了点Q2における前記駆動軸35の符号が異符号である場合の動作例を示すものであって,本実施例2に係る前記ロボット制御処理の実行結果を示すものである。具体的に,前記作業開始点Q1における前記駆動軸35の角度θ5sが+10度,前記作業終了点Q2における前記駆動軸35の角度θ5eが-10度である。また,ここでは前記所定角度θ6wが90度に設定されているものとし,前記駆動軸36の角度θ6(t)が前記基準角度θ6k(t)から90度離れる場合を例に挙げて説明する。もちろん,前記駆動軸34,35についても同様である。
ここに,各時点において前記センサで検出される前記ズレ量ΔXYZαβγ(t)は,前記経路方程式P(t)により算出されたその時点における補間点を基準として表した値である。そして,前記制御装置1は,前記センサによる検出結果に基づいて前記エンドエフェクタ2を前記加工線に倣って移動させる前記倣い制御を実行する。ここに,係る倣い制御を実行するときの前記制御装置1が倣い制御手段に相当する。
|(θ4e(t)-θ4(t))/T(t)|>θ4d…(11’)
|(θ5e(t)-θ5(t))/T(t)|>θ5d…(12’)
|(θ6e(t)-θ6(t))/T(t)|>θ6d…(13’)
また,前記ステップS7において前記速度Vθ4,Vθ5,Vθ6を算出するための上記(21)式~(23)式は,以下の(21’)式~(23’)式となる。即ち,前記ステップS11における前記駆動処理では,前記更新後の前記作業終了点Q2を目標として前記駆動軸34~36の線形動作処理が行われる。
Vθ4=(θ4e(t)-θ4OLD )/T(t-Δt) …(21’)
Vθ5=(θ5e(t)-θ5OLD )/T(t-Δt) …(22’)
Vθ6=(θ6e(t)-θ6OLD )/T(t-Δt) …(23’)
これにより,前記センサで検出されるズレ量に基づいて前記倣い制御が実行される場合であっても,前記駆動軸34~36各々の角度を前記倣い制御で修正された後の作業終了点Q2に確実に到達させることができる。
具体的に,図11(a)~(c)に示すように,前記エンドエフェクタ2が前記作業開始点Q1から前記作業終了点Q2に向けて移動し,前記倣い制御により前記ズレ量ΔXYZαβγ(t)が修正されるとき,前記作業終了点Q2は,前記ズレ量ΔXYZαβγ(t)が加算されて作業終了点Q2(t)に更新される。これにより,前記駆動軸34~36各々の角度を前記作業終了点Q2(t)に到達させることができる。
具体的に,本実施例4において,前記制御装置1は,前記ロボット制御処理(図3参照)の前記ステップS8と前記ステップS9との間において,後述の特定成分抑制処理(図12参照)を実行する。なお,前記ロボット制御処理については,前記実施の形態で説明したものに限らず,前記実施例1~3のいずれかに記載された内容を採用すればよい。
(ステップS81)
まず,ステップS81において,前記制御装置1は,次の補間点について,図13に示すように,前記エンドエフェクタ2が移動する方向(進行方向)の軸をX軸とし,該X軸と重力方向との外積(X軸×重力方向)によって表される軸をY軸とし,該X軸と該Y軸との外積(X軸×Y軸)によって表される方向の軸をZ軸とする作業座標系(以下,「溶接線座標系Σline」という)における姿勢角度を求める。ここに,前記溶接線座標系Σlineにおける前記エンドエフェクタ2の姿勢角度は,図14~図16に示すように,前記X軸の軸周りの回転角であるトーチ傾斜角Rx,前記Y軸の軸周りの回転角であるトーチ前進角Ry,前記Z軸の軸周りの回転角であるトーチ回転角Rzで表される。
例えば,前記ベース座標系Σbaseから前記溶接線座標系Σlineへの変換は,以下の(101)式~(107)式に従って行われる。なお,前記溶接線座標系ΣlineにおけるX軸,Y軸,Z軸の単位ベクトルをXm,Ym,Zmとする。
Ry=asin(Rm13)…(106)
Rz=atan(Rm12/Rm11)…(107)
(ステップS82)
次に,ステップS82において,前記制御装置1は,前回の制御周期における前記駆動軸34~36の速度を基準として,該駆動軸34~36各々の次の補間点における速度の候補を複数生成する。ここに,係る処理を実行するときの前記制御装置1が角度候補算出手段に相当する。
(201):Vθ4m,Vθ5m,Vθ6m
(202):Vθ4m,Vθ5m,Vθ6n
(203):Vθ4m,Vθ5m,Vθ6p
(204):Vθ4m,Vθ5n,Vθ6m
(205):Vθ4m,Vθ5n,Vθ6n
(206):Vθ4m,Vθ5n,Vθ6p
(207):Vθ4m,Vθ5p,Vθ6m
(208):Vθ4m,Vθ5p,Vθ6n
(209):Vθ4m,Vθ5p,Vθ6p
(210):Vθ4n,Vθ5m,Vθ6m
(211):Vθ4n,Vθ5m,Vθ6n
(212):Vθ4n,Vθ5m,Vθ6p
(213):Vθ4n,Vθ5n,Vθ6m
(214):Vθ4n,Vθ5n,Vθ6n
(215):Vθ4n,Vθ5n,Vθ6p
(216):Vθ4n,Vθ5p,Vθ6m
(217):Vθ4n,Vθ5p,Vθ6n
(218):Vθ4n,Vθ5p,Vθ6p
(219):Vθ4p,Vθ5m,Vθ6m
(220):Vθ4p,Vθ5m,Vθ6n
(221):Vθ4p,Vθ5m,Vθ6p
(222):Vθ4p,Vθ5n,Vθ6m
(223):Vθ4p,Vθ5n,Vθ6n
(224):Vθ4p,Vθ5n,Vθ6p
(225):Vθ4p,Vθ5p,Vθ6m
(226):Vθ4p,Vθ5p,Vθ6n
(227):Vθ4p,Vθ5p,Vθ6p
(ステップS83~S84)
次に,ステップS83において,前記制御装置1は,前記組み合わせ(201)~(227)のうち,ランダムに或いは予め設定された規則に基づいて3つの組み合わせを選択する。このとき選択された3つの速度の候補をVθa(t),Vθb(t),Vθc(t)とする。
Vθa(t)=Vθ4a(t),Vθ5a(t),Vθ6a(t)=Vθ4m,Vθ5m,Vθ6m…(301)
Vθb(t)=Vθ4b(t),Vθ5b(t),Vθ6b(t)=Vθ4m,Vθ5m,Vθ6n…(302)
Vθc(t)=Vθ4c(t),Vθ5c(t),Vθ6c(t)=Vθ4m,Vθ5m,Vθ6p…(303)
θa(t)=θ4a(t),θ5a(t),θ6a(t)=θ4OLD +Vθ4a(t)・Δt,θ5OLD +Vθ5a(t)・Δt,θ6OLD +Vθ6a(t)・Δt …(304)
θb(t)=θ4b(t),θ5b(t),θ6b(t)=θ4OLD +Vθ4b(t)・Δt,θ5OLD +Vθ5b(t)・Δt,θ6OLD +Vθ6b(t)・Δt …(305)
θc(t)=θ4c(t),θ5c(t),θ6c(t)=θ4OLD +Vθ4c(t)・Δt,θ5OLD +Vθ5c(t)・Δt,θ6OLD +Vθ6c(t)・Δt …(306)
また,次のサンプル周期においても同様に,以下の(311)~(313)に示すように前記速度の候補Vθa(t),Vθb(t),Vθc(t)として前記組み合わせ(203),(206),(209)が選択された場合も,前記角度の候補θa(t),θb(t),θc(t)が生成される。
Vθa(t)=Vθ4a(t),Vθ5a(t),Vθ6a(t)=Vθ4m,Vθ5m,Vθ6p…(311)
Vθb(t)=Vθ4b(t),Vθ5b(t),Vθ6b(t)=Vθ4m,Vθ5n,Vθ6p…(312)
Vθc(t)=Vθ4c(t),Vθ5c(t),Vθ6c(t)=Vθ4m,Vθ5p,Vθ6p…(313)
その後,さらに次のサンプル周期においても同様に,以下の(321)~(323)に示すように前記速度の候補Vθa(t),Vθb(t),Vθc(t)として前記組み合わせ(209),(218),(227)が選択された場合も,前記角度の候補θa(t),θb(t),θc(t)が生成される。
Vθa(t)=Vθ4a(t),Vθ5a(t),Vθ6a(t)=Vθ4m,Vθ5p,Vθ6p…(321)
Vθb(t)=Vθ4b(t),Vθ5b(t),Vθ6b(t)=Vθ4n,Vθ5p,Vθ6p…(322)
Vθc(t)=Vθ4c(t),Vθ5c(t),Vθ6c(t)=Vθ4p,Vθ5p,Vθ6p…(323)
(ステップS85)
そして,ステップS85において,前記制御装置1は,前記第1関節駆動系の駆動軸34~36各々を前記作業終了点Q2の角度を目標として線形動作させる場合より該目標に近い角度の範囲内であるか否かを判断する。即ち,前記ステップS84で算出された角度の候補θa(t),θb(t),θc(t)各々が,前記ステップS8で算出された角度θ4NOW ,θ5NOW ,θ6NOW と前記ステップS2で算出された角度θ4e,θ5e,θ6eとの間の角度であるか否かが判断される。
(ステップS86)
次に,ステップS86において,前記制御装置1は,前記ステップS84で生成された角度の候補θa(t),θb(t),θc(t)のそれぞれについて,前記溶接線座標系Σlineから見た前記エンドエフェクタ2の姿勢角度を求める。
(ステップS87~S88)
そして,ステップS87において,前記制御装置1は,前記角度の候補θa(t)~θc(t)のうち,前記ステップS86で求められた姿勢角度が前記ステップS81で求められた姿勢角度に最も近い角度の候補を選択する。このとき,前記制御装置1は,前記溶接線座標系Σlineから見た前記エンドエフェクタ2の姿勢角度の3つの成分(トーチ傾斜角Rx,トーチ前進角Ry,トーチ回転角Rz)のうち,予め定められた一つ又は二つの特定成分の変動を抑制したときに,前記ステップS81で求められた姿勢角度に最も近いものを選択する。ここに,係る処理を実行するときの前記制御装置1が角度選択手段に相当する。なお,前記特定成分は,前記操作部13による操作に応じて,或いは前記多関節型ロボット3の加工内容に応じて前記制御装置1によって予め設定される。
Ua=D・(Rx-Rxa)2 + E・(Ry-Rya)2 + F・(Rz-Rza)2 (331)
Ub=D・(Rx-Rxb)2 + E・(Ry-Ryb)2 + F・(Rz-Rzb)2 (332)
Uc=D・(Rx-Rxc)2 + E・(Ry-Ryc)2 + F・(Rz-Rzc)2 (333)
そして,前記制御装置1は,前記変動量Ua,Ub,Ucのうちその値が最も小さいもの,即ち前記ステップS81で求められた姿勢角度との間で前記特定成分の変動量が最も小さいものに対応する前記角度の候補θa(t),θb(t),θc(t)を選択する。
ここに,図17は,前記実施の形態における前記ロボット制御処理(図3)において,前記特定成分抑制処理を実行した場合の前記駆動軸34~36の駆動軌跡を示している。
なお,図17における破線は,前記特定成分抑制処理を実行せずに前記駆動軸34~36を線形動作させた場合の駆動軌跡を示している。
ここでも,前記多関節型ロボット3の加工内容が溶接であって,前記トーチ傾斜角Rx,トーチ前進角Ryが前記特定成分として予め設定されているものとする。
さらに,前記逆運動学問題の一方の解から他方の解に移行するとき,前記実施例4のように,前記エンドエフェクタ2の前記溶接線座標系Σlineにおける姿勢角度(トーチ傾斜角Rx,トーチ前進角Ry,トーチ回転角Rz)のうち予め設定された一つ又は二つの特定成分の変動を抑制するように複数の候補から一つの候補を選択しながら,前記駆動軸34~36の角度を,前記逆運動学問題の一方の解から他方の解に滑らかに移行させることが望ましい。
具体的には、図25に示すように、特異姿勢を回避中であることを示す「特異点回避中」を、操作部13(教示ペンダント)の表示画面Mに表示する。なお、特異姿勢を回避中であることを示す表示は、「特異点回避中」という表現に限定されず、特異姿勢を回避していることが分かる表現であればどのような表現であってもよい。
また、例えば、特異点回避中の状態における多関節型ロボット3の全体の動きを、オペレータが目視などで監視することもでき、この監視に基づいて、次の溶接作業などで、再度、多関節型ロボット3を動かすときに、多関節型ロボット3の全体の動作を見直すこともできる。
上述した例では、特異点回避の処理を行っていることを表示画面Mに表示させているが、これに代えて、特異点回避を行っていることをスピーカ等によって音で知らせてもよいし、ランプなどの点灯や点滅など光で知らせてもよい。特異点回避を行っていることは、多関節型ロボットの教示ペンダント13とは別の外部の表示装置に表示してもよい。
11:演算部
12:記憶部
13:操作部
2 :エンドエフェクタ
3 :多関節型ロボット
31~36:駆動軸
Claims (9)
- 先端に設けられた作業部の姿勢を変化させる3つの駆動軸を有する第1関節駆動系と前記第1関節駆動系の位置を変化させる少なくとも3つの駆動軸を有する第2関節駆動系とを備えてなる多関節型ロボットを制御する多関節型ロボットの制御装置であって,
予め設定される作業開始点及び作業終了点各々の位置及び姿勢を結ぶ教示経路上で前記作業部の位置を予め定められた速度で移動させるための複数の補間点を算出する補間点算出手段と,
前記補間点算出手段により算出された前記補間点に従って前記第1関節駆動系及び前記第2関節駆動系を駆動させる駆動制御手段と,
前記駆動制御手段により前記第1関節駆動系及び前記第2関節駆動系が駆動されているときに,前記第1関節駆動系の特異姿勢の検出条件とは異なる予め設定された例外条件が充足したか否かを判定する例外条件判定手段と,
前記例外条件判定手段により前記例外条件が充足したと判定された後,前記作業部が前記作業終了点に到達するまでの間,前記第1関節駆動系の駆動軸各々を前記作業終了点の角度を目標として線形に変化させるための該第1関節駆動系の駆動軸各々の角度を算出すると共に,該算出された第1関節駆動系の駆動軸各々の角度と前記補間点算出手段によって算出された前記補間点における前記作業部の位置とに基づいて前記第2関節駆動系の駆動軸各々の角度を算出し,該算出結果に従って前記第1関節駆動系及び前記第2関節駆動系の駆動軸各々を駆動させる例外動作手段と,
を備えてなることを特徴とする多関節型ロボットの制御装置。 - 前記例外条件が,次の前記補間点からの前記作業部の残りの移動時間又は移動距離の間に前記第1関節駆動系の駆動軸各々の角度を前記作業終了点における角度に到達させる場合に前記第1関節駆動系の少なくとも一つの駆動軸の速度が予め設定された許容範囲を超えることである請求項1に記載の多関節型ロボットの制御装置。
- 前記例外条件が,前記作業部の残りの移動時間又は移動距離が予め設定された所定値以下に達することである請求項1又は2のいずれかに記載の多関節型ロボットの制御装置。
- 前記例外条件が,次の前記補間点における前記第1関節駆動系の少なくとも一つの駆動軸の角度が前記作業開始点及び/又は前記作業終了点に基づいて定まる基準角度から予め設定された所定角度以上離間することである請求項1~3のいずれかに記載の多関節型ロボットの制御装置。
- 前記例外条件が,次の前記補間点における前記第1関節駆動系の少なくとも一つの駆動軸の角度が予め設定された作動範囲を超えることである請求項1~4のいずれかに記載の多関節型ロボットの制御装置。
- 前記作業部と加工対象物の加工線とのズレ量を検出するズレ量検出手段と,前記ズレ量検出手段により検出されたズレ量に基づいて前記作業部を前記加工線に倣って移動させる倣い制御手段と,前記ズレ量検出手段により検出されたズレ量を前記作業終了点に加算して該作業終了点を更新する作業終了点更新手段とを更に備えてなり,
前記例外条件判定手段及び/又は前記例外動作手段が,前記作業終了点更新手段による更新後の前記作業終了点に基づいて処理を実行するものである請求項1~5のいずれかに記載の多関節型ロボットの制御装置。 - 前記例外動作手段が,
前記第1関節駆動系の駆動軸各々を前記作業終了点の角度を目標として線形動作させる場合より該目標に近い角度の範囲内において該駆動軸各々の角度の候補を複数算出する角度候補算出手段と,
前記角度候補算出手段により算出された角度の候補から,該候補各々を採用したときの次の前記補間点の前記作業部から見た作業座標系における3つの姿勢角度の成分のうち予め設定された一つ又は二つの特定成分の変動が最も抑制される角度の候補を選択する角度選択手段と,
を備えてなる請求項1~6のいずれかに記載の多関節型ロボットの制御装置。 - 先端に設けられた作業部の姿勢を変化させる3つの駆動軸を有する第1関節駆動系と前記第1関節駆動系の位置を変化させる少なくとも3つの駆動軸を有する第2関節駆動系とを備えてなる多関節型ロボットを制御する多関節型ロボットの制御方法であって,
予め設定される作業開始点及び作業終了点各々の位置及び姿勢を結ぶ教示経路上で前記作業部の位置を予め定められた速度で移動させるための複数の補間点を算出する補間点算出工程と,
前記補間点算出工程により算出された前記補間点に従って前記第1関節駆動系及び前記第2関節駆動系を駆動させる駆動制御工程と,
前記駆動制御工程により前記第1関節駆動系及び前記第2関節駆動系が駆動されているときに,前記第1関節駆動系の特異姿勢の検出条件とは異なる予め設定された例外条件が充足したか否かを判定する例外条件判定工程と,
前記例外条件判定工程により前記例外条件が充足したと判定された後,前記作業部が前記作業終了点に到達するまでの間,前記第1関節駆動系の駆動軸各々を前記作業終了点の角度を目標として線形に変化させるための該第1関節駆動系の駆動軸各々の角度を算出すると共に,該算出された第1関節駆動系の駆動軸各々の角度と前記補間点算出工程によって算出された前記補間点における前記作業部の位置とに基づいて前記第2関節駆動系の駆動軸各々の角度を算出し,該算出結果に従って前記第1関節駆動系及び前記第2関節駆動系の駆動軸各々を駆動させる例外動作工程と,
を実行することを特徴とする多関節型ロボットの制御方法。 - 先端に設けられた作業部の姿勢を変化させる3つの駆動軸を有する第1関節駆動系と前記第1関節駆動系の位置を変化させる少なくとも3つの駆動軸を有する第2関節駆動系とを備えてなる多関節型ロボットを制御するための多関節型ロボットの制御プログラムであって,
予め設定される作業開始点及び作業終了点各々の位置及び姿勢を結ぶ教示経路上で前記作業部の位置を予め定められた速度で移動させるための複数の補間点を算出する補間点算出工程と,
前記補間点算出工程により算出された前記補間点に従って前記第1関節駆動系及び前記第2関節駆動系を駆動させる駆動制御工程と,
前記駆動制御工程により前記第1関節駆動系及び前記第2関節駆動系が駆動されているときに,前記第1関節駆動系の特異姿勢の検出条件とは異なる予め設定された例外条件が充足したか否かを判定する例外条件判定工程と,
前記例外条件判定工程により前記例外条件が充足したと判定された後,前記作業部が前記作業終了点に到達するまでの間,前記第1関節駆動系の駆動軸各々を前記作業終了点の角度を目標として線形に変化させるための該第1関節駆動系の駆動軸各々の角度を算出すると共に,該算出された第1関節駆動系の駆動軸各々の角度と前記補間点算出工程によって算出された前記補間点における前記作業部の位置とに基づいて前記第2関節駆動系の駆動軸各々の角度を算出し,該算出結果に従って前記第1関節駆動系及び前記第2関節駆動系の駆動軸各々を駆動させる例外動作工程と,
をプロセッサに実行させることを特徴とする多関節型ロボットの制御プログラム。
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JP2012196754A (ja) | 2012-10-18 |
US9242373B2 (en) | 2016-01-26 |
JP5730179B2 (ja) | 2015-06-03 |
EP2684648B1 (en) | 2021-02-24 |
KR20130122969A (ko) | 2013-11-11 |
CN103429397B (zh) | 2016-04-06 |
US20130345868A1 (en) | 2013-12-26 |
EP2684648A4 (en) | 2016-09-07 |
CN103429397A (zh) | 2013-12-04 |
KR101581095B1 (ko) | 2015-12-29 |
EP2684648A1 (en) | 2014-01-15 |
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