WO2012124342A1 - ロボット、ロボットの制御装置、制御方法、及び制御プログラム - Google Patents
ロボット、ロボットの制御装置、制御方法、及び制御プログラム Download PDFInfo
- Publication number
- WO2012124342A1 WO2012124342A1 PCT/JP2012/001824 JP2012001824W WO2012124342A1 WO 2012124342 A1 WO2012124342 A1 WO 2012124342A1 JP 2012001824 W JP2012001824 W JP 2012001824W WO 2012124342 A1 WO2012124342 A1 WO 2012124342A1
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- Prior art keywords
- impedance
- robot arm
- hand
- viscosity
- articulated robot
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36429—Power assisted positioning
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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
- G05B2219/39342—Adaptive impedance control
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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
- G05B2219/39346—Workspace impedance control
Definitions
- the present invention relates to a robot that cooperates with humans, such as a robot having a robot arm that performs work support such as power assist in a factory, a home, or a nursing care site, a control device for a robot, a control method, and control. Regarding the program.
- Human cooperation robots can operate according to the force applied to the robot by using mainly impedance control, and its operability is determined by impedance parameters of inertia, viscosity, and rigidity. .
- impedance parameters of inertia, viscosity, and rigidity For example, when the viscosity is set low, the robot moves with a light force and is easy to move, but the stability is low and the characteristics are not suitable for precise operations such as positioning.
- the viscosity is set high, the resistance becomes large and the movement becomes difficult, but the stability becomes high and the characteristics suitable for precise operations such as positioning are obtained. As described above, it is not possible to achieve both ease of movement and easy positioning with a single fixed impedance parameter.
- Patent Document 1 discloses a work assistance device that obtains appropriate operability by changing an impedance parameter according to a work phase.
- Patent Document 2 Another conventional technique is a power assist that dynamically changes a predetermined vector field by determining an assist force based on a region segment where the object is located, an object position, a predetermined scalar field, or a predetermined vector field.
- An apparatus is disclosed (Patent Document 2).
- Patent Document 1 it is necessary to determine the work phase, and if the determination cannot be made accurately, there is a possibility that the appropriate impedance parameter is not set. Further, when the work content changes, it is necessary to find a new discrimination rule, and application to various work is not easy.
- Patent Document 2 discloses that the vector field is dynamically changed. Specifically, it is determined whether the positioning is performed by the convergence state determining means, and the minimum point is set in the potential. There is only disclosure of provision, and the effect can only be exhibited in improving the operability of the positioning operation. Moreover, it is difficult to realize further improvement in operability simply by providing a minimum point.
- An object of the present invention is to solve the above-described problems of the conventional control device and to set the optimum impedance parameter stably by a simple algorithm and improve the operability of the work, the robot control device, and the control A method and a control program are provided.
- the present invention is configured as follows.
- an articulated robot arm An external force acquisition unit disposed on the articulated robot arm to acquire external force;
- a reference distribution of impedance parameters associating each position of the hand of the articulated robot arm that moves in accordance with the operation of the articulated robot arm and impedance parameters including inertia, viscosity, and rigidity at each position.
- An impedance map storage unit for storing as an impedance map; Before or after the position of the hand performing the operation of the articulated robot arm with respect to a reference distribution of the impedance parameter in the impedance map according to information on the current position of the hand of the articulated robot arm An impedance map variable unit that changes the distribution of impedance parameters at the position of An impedance control unit for controlling impedance of the articulated robot arm based on the external force acquired by the external force acquisition unit and the distribution of the impedance parameter changed by the impedance map variable unit;
- a robot characterized by comprising:
- each of the positions of the hand of the articulated robot arm that moves in accordance with the operation of the articulated robot arm, and impedance parameters including inertia, viscosity, and rigidity at each position An impedance map storage unit that stores a reference distribution of impedance parameters as an impedance map, and Before or after the position of the hand performing the operation of the articulated robot arm with respect to a reference distribution of the impedance parameter in the impedance map according to information on the current position of the hand of the articulated robot arm
- An impedance map variable unit that changes the distribution of impedance parameters at the position of An impedance control unit for impedance control of the articulated robot arm based on an external force acquired by an external force acquisition unit arranged in the articulated robot arm and a distribution of the impedance parameter changed by the impedance map variable unit;
- a control apparatus for a robot is provided.
- the external force is acquired by the external force acquisition unit disposed in the articulated robot arm,
- a reference distribution of impedance parameters associating each position of the hand of the articulated robot arm that moves in accordance with the operation of the articulated robot arm and impedance parameters including inertia, viscosity, and rigidity at each position.
- Store the impedance map in the impedance map storage unit According to the information on the current position of the hand of the articulated robot arm, the position of the position where the articulated robot arm is operated with respect to the reference distribution of the impedance parameter in the impedance map is determined by the impedance map variable unit.
- a robot control method comprising: controlling impedance of the articulated robot arm by an impedance control unit based on an external force acquired by the external force acquisition unit and a distribution of the impedance parameter changed by the impedance map variable unit.
- a computer Impedance reference distribution of impedance parameters that associate each position of the hand of the articulated robot arm that moves with the movement of the articulated robot arm and impedance parameters including inertia, viscosity, and rigidity at each position.
- An impedance map storage unit for storing the map; Before or after the position of the hand performing the operation of the articulated robot arm with respect to a reference distribution of the impedance parameter in the impedance map according to information on the current position of the hand of the articulated robot arm An impedance map variable unit that changes the distribution of impedance parameters at the position of Functions as an impedance control unit for impedance control of the multi-joint robot arm based on the external force acquired by the external force acquisition unit disposed in the multi-joint robot arm and the distribution of the impedance parameter changed by the impedance map variable unit A robot control program is provided.
- the impedance map variable unit is included, the impedance map is updated based on the current position of the hand of the robot arm.
- FIG. 1 is a diagram showing an overall configuration of a robot according to a first embodiment of the present invention.
- FIG. 2 is a block diagram showing the configuration of the impedance control means of the robot in the first embodiment of the present invention
- FIG. 3 is a diagram for explaining cooperative transport work with a human by the robot according to the first embodiment of the present invention.
- FIG. 4 is a diagram for explaining a detailed procedure of cooperative transport work in the first embodiment of the present invention.
- FIG. 5 is a diagram for explaining an impedance map in the first embodiment of the present invention.
- FIG. 6A is a diagram for explaining a method of updating the distribution of the viscosity D by the impedance variable means according to the first embodiment of the present invention.
- FIG. 6B is a diagram for explaining a method of updating the distribution of the viscosity D by the impedance variable unit according to the first embodiment of the present invention.
- FIG. 7 is a flowchart showing overall operation steps of the impedance control means in the robot according to the first embodiment of the present invention.
- FIG. 8 is a diagram for explaining another update method of the distribution of the viscosity D by the impedance variable means in the first embodiment of the present invention,
- FIG. 9A is a diagram for explaining an impedance map in the second embodiment of the present invention.
- FIG. 9B is a diagram illustrating an impedance map according to the second embodiment of the present invention.
- FIG. 9C is a diagram illustrating an impedance map according to the second embodiment of the present invention.
- FIG. 9D is a diagram illustrating an impedance map according to the second embodiment of the present invention.
- FIG. 10A is a diagram illustrating an impedance map according to the third embodiment of the present invention.
- FIG. 10B is a diagram for explaining an impedance map in the third embodiment of the present invention;
- FIG. 11 is a diagram for explaining specific numerical values of impedance parameters in the first embodiment of the present invention.
- FIG. 12C is a
- FIG. 13 is a diagram for explaining a method of updating the distribution of the viscosity D by the impedance variable means in the combination of the first embodiment and the second embodiment of the present invention.
- FIG. 14A is a diagram for explaining a method of updating the distribution of inertia M by the impedance variable means in the fourth embodiment of the present invention;
- FIG. 14B is a diagram for explaining a method of updating the distribution of inertia M by the impedance variable means in the fourth embodiment of the present invention.
- an articulated robot arm An external force acquisition unit disposed on the articulated robot arm to acquire external force;
- a reference distribution of impedance parameters associating each position of the hand of the articulated robot arm that moves in accordance with the operation of the articulated robot arm and impedance parameters including inertia, viscosity, and rigidity at each position.
- An impedance map storage unit for storing as an impedance map; Before or after the position of the hand performing the operation of the articulated robot arm with respect to a reference distribution of the impedance parameter in the impedance map according to information on the current position of the hand of the articulated robot arm An impedance map variable unit that changes the distribution of impedance parameters at the position of An impedance control unit for controlling impedance of the articulated robot arm based on the external force acquired by the external force acquisition unit and the distribution of the impedance parameter changed by the impedance map variable unit;
- a robot characterized by comprising:
- the impedance map variable unit is configured to perform the articulated joint with respect to a reference distribution of impedance parameters in the impedance map according to information on a current position of the hand of the articulated robot arm and a speed acquired by the speed acquiring unit.
- the robot according to the first aspect is provided that changes the distribution of impedance parameters at a position before or after the position of the hand that is operating the robot arm.
- the impedance map variable unit may determine the viscosity of the impedance parameter at a position where the hand of the articulated robot arm passes before the hand of the articulated robot arm passes.
- the robot is changed so as to be higher after the hand has passed.
- the impedance map variable unit increases the viscosity at the position where the hand of the articulated robot arm has passed after the hand of the articulated robot arm has passed the position. Then, the robot according to the third aspect, wherein the viscosity at the position is lower than the increased viscosity value when the hand of the articulated robot arm leaves a certain distance from the position is provided. .
- the impedance map stored in the impedance map storage unit includes a first region having low viscosity for moving the hand of the articulated robot arm, and the articulated robot arm.
- the impedance map variable unit is configured to determine an area of the second region surrounded by the third region after the hand of the articulated robot arm enters the second region, and before the hand enters the second region.
- the robot according to the first aspect is provided, wherein the robot is changed so as to be smaller than the area.
- the impedance map variable unit is configured to determine the viscosity value of the second region after the hand of the articulated robot arm enters the second region, and the hand
- the robot according to the fifth aspect is provided in which the viscosity is changed to a value lower than the viscosity value before entering the second region.
- the impedance map stored in the impedance map storage unit positions the hand with a first region having a low viscosity for moving the hand of the articulated robot arm.
- the 4th field below the viscosity of the 2nd field is set.
- the impedance map variable unit changes the viscosity of the fourth region to be higher than the viscosity of the second region after the hand enters the fourth region.
- the apparatus further comprises a speed acquisition unit that obtains a speed by differentiating information on the position of the hand of the articulated robot arm
- the impedance map variable unit includes information on a current position of the hand of the articulated robot arm, a speed at which the hand of the articulated robot arm enters the fourth region, and a speed acquired by the speed acquisition unit.
- each of the positions of the hand of the articulated robot arm that moves in accordance with the operation of the articulated robot arm, and impedance parameters including inertia, viscosity, and rigidity at each position An impedance map storage unit that stores a reference distribution of impedance parameters as an impedance map, and Before or after the position of the hand performing the operation of the articulated robot arm with respect to a reference distribution of the impedance parameter in the impedance map according to information on the current position of the hand of the articulated robot arm
- An impedance map variable unit that changes the distribution of impedance parameters at the position of An impedance control unit for impedance control of the articulated robot arm based on an external force acquired by an external force acquisition unit arranged in the articulated robot arm and a distribution of the impedance parameter changed by the impedance map variable unit;
- a control apparatus for a robot is provided.
- the external force is acquired by the external force acquisition unit disposed in the articulated robot arm,
- a reference distribution of impedance parameters associating each position of the hand of the articulated robot arm that moves in accordance with the operation of the articulated robot arm and impedance parameters including inertia, viscosity, and rigidity at each position.
- Store the impedance map in the impedance map storage unit According to the information on the current position of the hand of the articulated robot arm, the position of the position where the articulated robot arm is operated with respect to the reference distribution of the impedance parameter in the impedance map is determined by the impedance map variable unit.
- a robot control method comprising: controlling impedance of the articulated robot arm by an impedance control unit based on an external force acquired by the external force acquisition unit and a distribution of the impedance parameter changed by the impedance map variable unit.
- a computer Impedance reference impedance distribution that correlates each hand position of the articulated robot arm that moves with the movement of the articulated robot arm and impedance parameters including inertia, viscosity, and rigidity at each position.
- An impedance map storage unit for storing the map; Before or after the position of the hand performing the operation of the articulated robot arm with respect to a reference distribution of the impedance parameter in the impedance map according to information on the current position of the hand of the articulated robot arm An impedance map variable section that changes the distribution of impedance parameters at the position of Functions as an impedance control unit for controlling the impedance of the multi-joint robot arm based on the external force acquired by the external force acquisition unit disposed in the multi-joint robot arm and the distribution of the impedance parameter changed by the impedance map variable unit A robot control program is provided.
- FIG. 1 shows a configuration of a robot 1 according to the first embodiment of the present invention.
- the robot 1 includes an articulated robot arm 5 and a control device 2 that controls the operation of the articulated robot arm 5.
- the control device 2 is configured by a general personal computer in terms of hardware. And the part except the input / output IF19 of the impedance control means (impedance control part) 4 of the control apparatus 2 is implement
- the input / output IF 19 includes a D / A board 20, an A / D board 21, and a counter board 22 connected to an expansion throttle such as a PCI bus of a personal computer.
- the control device 2 functions by executing a control program 17 for controlling the operation of the articulated robot arm 5 of the robot 1.
- the joint angle information output from each encoder 42 which is an example of the joint angle sensor of each joint 11, 12 (12a, 12b), 13, 14, 15 of the robot arm 5 is taken into the control device 2 through the counter board 22, respectively. It is.
- the control device 2 calculates control command values for the rotational motions at the joints 11, 12, 13, 14, and 15 based on the acquired joint angle information.
- the calculated control command values are given to the motor driver 18 through the D / A board 20, and the joints 11, 12, 13, 14, 15 of the robot arm 5 according to the control command values sent from the motor driver 18.
- Each of the motors 41 is driven.
- the robot arm 5 is a multi-link manipulator having 5 degrees of freedom, and includes a hand (an example of a hand of the articulated robot arm 5) 6 for grasping an object, a forearm link 8, an elbow block 16, and a pair of upper arm links. 9a, 9b, the 1st joint support
- the wrist arm 7 to which the hand 6 is attached is connected to the forearm link 8 so as to be rotatable around the joint axis of the fourth joint 14.
- the base end of the forearm link 8 is connected to one end of the elbow block 16 so as to be rotatable around the joint axis of the third joint 13.
- Each of the pair of upper arm links 9a and 9b has a parallel link structure in which one end thereof is connected to the other end of the elbow block 16 so as to be rotatable around the joint axes of the two joints 12c and 12d of the second joint. It is configured.
- the first joint column 24 is supported by the base 10 and the support member 124 so as to be positioned along the vertical direction and to be rotatable around the joint axis of the first joint 11.
- the other ends of the upper arm links 9a and 9b are connected to the vicinity of the upper end of the first joint support 24 so as to be rotatable around the joint axes of the two joints 12a and 12b of the second joint.
- the lower end of the first joint column 24 is supported by the platform 10 so as to be rotatable around the joint axis of the first joint 11, and the upper end of the first joint column 24 is a support member provided upright on the platform 10.
- the support member 124 extends from the upper end of the support portion 124 b and is supported by the upper end support portion 124 c of the support member 124 so as to be rotatable around the joint axis of the first joint 11.
- the elbow block 16 is connected to the second joint so that the joint axis of the third joint 13 is always parallel to the joint axis of the first joint 11 by the rotation of the second joints 12a, 12b, 12c, and 12d around the joint axis. 12a and the second joint 12b are rotated.
- the robot arm 5 constitutes the multi-link manipulator having 5 degrees of freedom so that it can rotate around a total of five axes.
- the wrist portion 7 includes a first bracket portion 7a having a square bracket (] shape) and a second bracket portion 7b including an inverted T-shaped upper portion and a pair of L-shaped lower portions, which are combined with each other. 6 is constituted. That is, the upper-end center portion of the first bracket portion 7 a is coupled to the tip of the forearm link 8 so as to be rotatable around the joint axis of the fourth joint 14. Inside the both ends of the first bracket part 7a, both ends of the upper part of the inverted T-shape of the second bracket part 7b are connected so as to be rotatable around the joint axis of the fifth joint 15.
- an operation handle 40 is attached to the central portion of the upper portion of the inverted T-shape of the second bracket portion 7b.
- the first bracket portion 7a and the second bracket portion 7b are provided with an engaging portion 7c that can engage with an object such as a panel such as a thin television, and a pair of upper ends of the inverted T-shaped upper portion and the vicinity of both ends.
- a total of five locations, including the lower end of the L-shaped lower part, are provided.
- the upper end of the rectangular bracket-like object such as a panel of a thin-screen television is formed by the engagement portion 7c at the upper end of the upper portion of the first bracket portion 7a and the engagement portion 7c in the vicinity of both ends.
- the second bracket portion 7b can support the lower end edge of a rectangular plate-like object such as a panel of a thin television or the like with a pair of L-shaped lower end engaging portions 7c. 6, a rectangular plate-like object such as a panel of a flat-screen television can be stably gripped. Therefore, the hand 6 has two rotation axes, that is, a fourth joint 14 that is orthogonal to each other and disposed along the vertical direction and a fifth joint 15 that is disposed along the lateral direction orthogonal to the vertical direction.
- the relative posture (orientation) of the hand 6 can be changed with respect to the platform 10, and the relative posture (orientation) of the object held by the hand 6 can be changed.
- the joints 11, 12 a, 13, 14, 15 constituting the rotating part of each shaft are provided with a rotational drive device (this first embodiment) provided on one member of each joint 11, 12 a, 13, 14, 15. Then, a motor 41) and an encoder 42 for detecting the rotational phase angle (that is, the joint angle) of the rotating shaft of the motor 41 are provided. Then, the rotation shaft of the motor 41 is connected to the other member of the joint and rotates the rotation shaft forward and backward, thereby enabling the other member to rotate around each joint shaft with respect to the one member.
- the rotation drive device is driven and controlled by a motor driver 18 described later.
- a motor 41 and an encoder 42 as an example of a rotary drive device are disposed inside each joint 11, 12 a, 13, 14, 15 of the robot arm 5.
- Reference numeral 35 in FIG. 1 is an absolute coordinate system in which the positional relationship relative to the platform 10 is fixed, and reference numeral 36 is a hand coordinate system in which the relative positional relationship to the hand 6 is fixed. is there.
- the origin position O e (x, y, z) of the hand coordinate system 36 viewed from the absolute coordinate system 35 is set as the hand position of the robot arm 5, and the posture of the hand coordinate system 36 viewed from the absolute coordinate system 35 is set to the roll angle and pitch.
- the operation handle 40 is connected to the hand 6 via a force sensor 3 that functions as an example of an external force acquisition means (an external force acquisition unit or an external force acquisition device), and an H-type whose center is fixed to the force sensor 3. It is composed of a pair of vertical grips 40a fixed to the support body 40b, and the person 39 can directly operate the robot 5 by gripping the pair of grips 40a of the operation handle 40 and applying force. it can.
- a force sensor 3 is disposed between the operation handle 40 and the robot arm 5, and the force when the person 39 operates can be detected by the force sensor 3.
- reference numeral 5 is the robot arm shown in FIG.
- the data is taken into the impedance control means 4 by the counter board 22.
- q 1 , q 2 , q 3 , q 4 , and q 5 are joint angles of the first joint 11, the second joint 12 a, the third joint 13, the fourth joint 14, and the fifth joint 15, respectively.
- the external force (measured value) measured by the force sensor 3 F S [f x, f y, f z, n x, n y, n z] T is outputted
- the A / D board 21 takes in the impedance control means 4.
- f x , f y , and f z are force components according to directions in three directions (x-axis, y-axis, and z-axis directions) orthogonal to each other in the hand coordinate system 36.
- nx , ny , and nz are rotational moments about three directions orthogonal to each other of the hand coordinate system 36.
- Target track generation unit (target trajectory generation unit) 23 outputs the tip unit position and orientation target vector r d for realizing the operation of the robot arm 5 to a target.
- Target trajectory generation section 23 uses a polynomial interpolation, to complement the trajectory between points, it generates a tip unit position and orientation target vector r d.
- the impedance map storage unit 48 is a reference distribution of impedance parameters M, D, and K (inertia M, viscosity D, and stiffness K) at a three-dimensional position in the work area of the robot arm 5 (reference before change or update). Or the distribution of the initial state) is stored and held as an impedance map database.
- the impedance map variable means (impedance map variable section) 50 calculates the reference distribution of the impedance parameters in the impedance map storage section 48 according to the current position of the hand 6 of the robot arm 5 from the forward kinematics calculation means 26. change.
- the impedance calculation means (impedance calculation unit) 25 is a part that performs a function of realizing control of the value of the mechanical impedance of the robot arm 5 to the mechanical impedance set value.
- the impedance calculation means 25 outputs 0 when the robot arm 5 operates independently by position control so as to follow the target trajectory generated by the target trajectory generation means 23.
- the impedance calculation unit 25 uses the impedance parameters M, D, and K (inertia M, viscosity D, and rigidity) set in the impedance map storage unit 48.
- the external force F input to the force conversion means (force converting unit) 30 to be described later [f x, f y, f z, n ⁇ , n ⁇ ] by a T
- the mechanical impedance to the robot arm 5 the hand position and orientation target correcting output [Delta] r d to be calculated by the following equation (1) outputs.
- Hand position and orientation target correcting output [Delta] r d is added by the first calculation unit 51 to the hand position and orientation target r d outputted from the target trajectory generation section 23, the tip unit position and orientation correction target vector r dm is generated.
- n ⁇ and n ⁇ are rotational moments about the roll axis and the yaw axis.
- the forward kinematics calculation means (forward kinematics calculation unit) 26 the joint angle vector q which is the current value q of each joint angle output from the encoder 42 of each joint axis of the robot arm 5 is passed through the counter board 22. Is input.
- the forward kinematics calculation means 26 performs geometric calculation of conversion from the joint angle vector q of the robot arm 5 to the hand position and posture vector r.
- the second calculation unit 52 calculates a tip unit position and orientation vectors r calculated by the forward kinematics calculation means 26, the error r e between the tip unit position and orientation correction target vector r dm generated by the first processing unit 51 , and it outputs an error r e determined the position error compensation means (positional error compensating unit) 27.
- Positional error compensating unit 27 obtains a positional error compensating output u rp based on the error r e obtained by the second arithmetic unit 52 calculates the position error compensating output u rp approximate inverse kinematic calculation means (approximate inverse motion Output to the academic calculation unit) 28.
- Approximate inverse kinematics calculation means 28 is an approximate expression
- a Jacobian matrix satisfying the relationship: u in is an input to the approximate inverse kinematics calculation means 28, and u out is an output from the approximate inverse kinematics calculation means 28.
- the joint angle error compensation output u qe is given as a voltage command value from the approximate inverse kinematics calculation means 28 to the motor driver 18 via the D / A board 20, and each motor 41 is driven by the motor driver 18.
- the joint axis is driven to rotate forward and reverse, and the robot arm 5 operates.
- the basic operation is the hand position and feedback control of the orientation error r e by the positional error compensating unit 27 (position control), is a portion surrounded by a dotted line in FIG. 2 has a position control system 29.
- position error compensation means 27 for example, using a PID compensator, that hand position and orientation error r e acts is controlled such that it converges to 0, the impedance control operation of the robot arm 5 to the target can be realized it can.
- the impedance calculation unit 25 When performing impedance control, the relative position control system 29 described, the impedance calculation unit 25 first operation on the hand position and orientation target r d hand position and orientation target correcting output [Delta] r d is the output of the target trajectory generation section 23 by The values are added by the unit 51 to correct the target values of the hand position and posture. For this reason, in the position control system 29 described above, the target values of the hand position and posture are slightly deviated from the original values, and as a result, mechanical impedance is realized.
- the impedance control unit 4 functions as an example of a control unit (control unit) (or operation control unit or operation control unit).
- m is the mass of the operating handle 40
- g is the gravitational acceleration
- 0 R e is the rotation matrix
- l se the force sensor from the origin O e of the hand coordinate system 36 which converts the posture from the hand coordinate system 36 to the absolute coordinate system 35 distance to 3 of the measurement surface 53
- l sh is the distance from the center of gravity of the operating handle 40 to the measuring surface 53 of the force sensor 3.
- control device 2 of the robot 1 of the first embodiment of the present invention has an impedance map storage unit 48 and an impedance map variable means 50 in addition to the basic configuration of the impedance control means 4 described above. Details will be described with reference to an example in which the work shown in FIG. 4 is performed.
- a thin television 46 is used as an example of the object 38.
- the flat TV 46 placed on the first workbench 31 on the right side of FIG. 4 is held by the hand 6, lifted, and rotated by 90 ° around the y direction around the y axis (see arrow A). Stand up and down.
- the flat TV 46 is horizontally moved by the hand 6 from the position above the first work table 31 to the second work table 32 (see arrow B), and the thin TV 46 held by the hand 6 is moved to the second work table. Alignment is made with the stand 33 arranged at 32.
- the impedance map storage unit 48 sets, for example, the distribution of the viscosity D shown in FIGS. 5 and 12A to 12G as the reference distribution in the initial state before the work starts. .
- the impedance map storage unit 48 sets the reference distribution to a constant value of 5 kg for inertia M and 0 N / m for stiffness k.
- the distribution of the viscosity D is a two-dimensional distribution in the x direction and the y direction. In the z direction, the viscosity D determined by the x direction and the y direction continues as it is.
- the value of the viscosity D is the value indicated by the arrow D.
- the viscosity D is set to a low value (for example, 10 Ns / m), the viscosity D increases before the second work table 32 in the movement area 43 of the hand 6,
- the viscosity D is set to a high value (for example, 60 Ns / m).
- the viscosity D of the outer regions 44 and 45 which are regions outside the work regions 34 and 37 is set to a higher value (for example, a maximum of 100 Ns / m).
- the person 39 can easily move the robot arm 5 with a light force.
- the resistance increases and the movement of the robot arm 5 becomes difficult, but the stability of the operation of the robot arm 5 is improved and the positioning work is performed with high accuracy. It is possible to provide the operability of enabling
- the initial distribution (reference distribution) of the viscosity D shown in FIG. 5 it is possible to move from the first work table 31 to the second work table 32 with a light force, and as it approaches the second work table 32.
- the viscosity D increases, the resistance increases, and the deceleration of the robot arm 5 is assisted.
- the viscosity D is high, so that the positioning operation is easy, and the insertion work to the stand 33 can be easily performed.
- the viscosity D is higher in the outer regions 44 and 45, the resistance to movement is further increased. In the outer region 44, the person 39 mistakenly moves in the direction opposite to the direction from the first work table 31 to the second work table 32. It is possible to prevent reverse running or to prevent the outer region 45 from going too far beyond the position of the stand 33.
- the viscosity D is lowered in an area where it is desired to move with a light force.
- the viscosity D may be set higher than the region where it is desired to move with the light force. Further, in the region where it is desired to avoid the movement of the hand 6 of the robot arm 5, the viscosity D may be made several times higher than the high viscosity D value.
- the impedance map variable means 50 changes the distribution of the viscosity D in the impedance map storage unit 48, thereby further improving the operability.
- the current hand position and posture vector r of the robot arm 5 are input from the forward kinematics calculation unit 26 to the impedance map variable unit 50.
- the impedance map changing unit 50 determines that the hand position of the robot arm 5 indicated by O e (the origin of the hand coordinate system 36) is an arrow V based on the input current hand position and posture vector r.
- the viscous wall 54 connected to the region having a high viscosity D is changed so as to follow the hand position of the robot arm 5 as indicated by the arrow W (from the dotted line position or the like, the arrow W Move to the left as indicated by).
- the position at which the hand of the robot arm 5 has passed due to movement increases in the viscosity D as the viscous wall 54 passes, so the hand of the robot arm 5 moves in the direction opposite to the arrow V.
- 100 Ns / m is mentioned as an example of the viscosity for producing the effect of difficult movement in the reverse direction as the region having a high viscosity D, for example, the wall 54.
- this numerical viscosity the person 39 feels heavy when actually trying to move the robot arm 5, and the person 39 feels an operational feeling that it cannot be easily moved.
- the person 39 can easily move the robot arm 5 with just the fingertip, and the person 39 feels an operational feeling that it can be easily moved. .
- the impedance map changing means 50 based on the inputted current hand position and posture vector r, the hand 6 of the robot arm 5 reaches above the second work table 32 and is gripped by the hand 6 of the robot arm 5.
- the viscosity D is changed so that a valley 55 of the viscosity D centering on the center of the stand 33 is formed as shown in FIG. 6B.
- the hand position of the robot arm 5 is restrained in the vicinity of the stand 33 by the valley 55 of the viscosity D so that the hand position of the robot arm 5 is hardly moved in the advancing and retreating direction with respect to the center of the stand 33. 6 positioning operation becomes easy.
- FIG. 7 is a flowchart for explaining operation steps during impedance control by a control program based on the above-described principle.
- step S1 joint angle data (joint angle vector q) measured by each encoder 42 is taken into the control device 2.
- step S 2 calculation of the Jacobian matrix J r and the like necessary for kinematic calculation of the robot arm 5 is performed by the approximate inverse kinematic calculation means 28.
- step S3 from the joint angle data (joint angle vector q) from the robot arm 5, the current hand position and posture vector r of the robot arm 5 are calculated by the forward kinematics calculation means 26 (forward kinematics calculation means 26). Processing).
- step S4 the current hand position and posture vector r are fetched from the forward kinematics calculation means 26 to the impedance map variable means 50, and the distribution of the viscosity D in the impedance map storage unit 48 is updated.
- step S ⁇ b> 5 the external force F s that is a measurement value of the force sensor 3 is taken into the force conversion unit 30, and the external force F is calculated by the force conversion unit 30 based on the external force F s and the equation (5). As a result, the external force F s which is a measurement value of the force sensor 3 is converted into the external force F by the force conversion means 30.
- step S6 the impedance parameters M, D, and K from the impedance map storage unit 48, the joint angle data (joint angle vector q) from each encoder 42, and the external force F converted by the force conversion means 30 from the hand position and orientation target correcting output [Delta] r d is calculated by the impedance calculation unit 25 (process in the impedance calculation unit 25).
- step S7 the sum of the tip unit position and orientation target correcting output [Delta] r d from the tip unit position and orientation target vector from the target trajectory generation section 23 r d and the impedance calculation unit 25 is calculated by the first calculation unit 51.
- Hand position / posture error which is the difference between the hand position / posture correction target vector rdm calculated by the first computing unit 51 and the current hand position / posture vector r from the forward kinematics calculation means 26.
- r e is calculated by the second calculation unit 52.
- position error compensation output u re is obtained (position error Processing in compensation means 27).
- a PID compensator can be considered. Control is performed so that the position error converges to 0 by appropriately adjusting three gains of proportionality, differentiation, and integration, which are constant diagonal matrices.
- step S8 by multiplying the inverse matrix of the Jacobian matrix J r calculated in step S2 in approximate inverse kinematic calculation means 28, the positional error compensating output u re from the positional error compensating unit 27, the hand position and orientation
- the approximate inverse kinematics calculation unit 28 converts the value related to the error into a joint angle error compensation output u qe which is a value related to the joint angle error (processing by the approximate inverse kinematics calculation unit 28).
- step S9 the joint angle error compensation output u qe is supplied from the approximate inverse kinematics calculation means 28 to the motor driver 18 through the D / A board 20, and the motor driver 18 changes the amount of current flowing through each motor 41.
- the rotational motion of the joint axis of each joint of the robot arm 5 occurs.
- Control of the operation of the robot arm 5 is realized by repeatedly executing the above steps S1 to S9 as a control calculation loop. Note that the order of the operations in steps S2 to S5 can be parallel processing, and does not necessarily have to be in this order.
- the robot arm 5 is operated with respect to the impedance parameter reference distribution in the impedance map in accordance with the current position information of the hand 6 of the robot arm 5.
- Impedance map variable means 50 for changing the distribution of impedance parameters at a position before or after the hand position is provided. Therefore, by changing the distribution of the impedance parameters M, D, and K in the impedance map storage unit 48 by the impedance map variable means 50 according to the position of the hand 6 of the robot arm 5, that is, the current hand position, It is possible to change the viscosity wall 54 connected to the region having a high viscosity D so as to follow the hand position of the robot arm 5.
- the position passed by the movement of the hand of the robot arm 5 increases in the viscosity D, so that it is difficult to reverse, and the effect of preventing the erroneous operation of the person 39 is exhibited and the work procedure is not mistaken. It can be a robot.
- the impedance map varying means 50 forms a viscous valley 55 in the vicinity of the stand 33 according to the current hand position.
- the position of the hand of the robot arm 5 is constrained in the vicinity of the stand 33, and the effect of facilitating the positioning operation can be achieved more than when the viscosity D is merely high.
- the impedance map variable means 50 increases the viscosity D at the position where the hand of the robot arm 5 has passed by movement.
- a peak 56 of viscosity D in FIG. 8 an update method is possible in which the viscosity D is increased again by the impedance map variable means 50 and then the viscosity D is decreased again.
- the viscosity D may be returned to the viscosity D before the viscosity D is increased, or may be lowered to some extent from the value obtained by increasing the viscosity D.
- the initial state of the impedance map storage unit 48 that is, the reference of the impedance parameters M, D, and K (inertia M, viscosity D, and stiffness K) stored in the impedance map storage unit 48.
- the impedance map of the distribution includes the first region 101 having a low viscosity for moving the hand of the robot arm 5.
- the robot arm 5 In order to position the robot arm 5 so as to surround the periphery of the second region 102 having a higher viscosity than the first region 101 and the second region 102 having a higher viscosity for positioning.
- first region 101 and the third region 103 having a higher viscosity than the viscosity of the second region.
- Valleys 55 of sexual D is set. That is, the first area 101 is set because it is the start position of the work, the third area 103 is set around the second work bench 32, and the viscosity D centered on the center of the stand 33 of the second work bench 32 is set.
- a valley 55 is set in the second region 102. Accordingly, when viewed at the position in the y direction, the top of the mountain of the third region 103 is set near the boundary between the moving region 43 and the second work table region 37, and the second work table region 37 has the second peak.
- An area 102 is set.
- the third area 103 is also set in the outer area 45.
- FIG. 9A there is a transition region between the first region 101 and the third region 103, and there is also a transition region between the third region 103 and the second region 102.
- the reason why the transition region is arranged in this way is that if the impedance parameter changes stepwise, the control changes abruptly when the boundary is crossed, so if a person feels an impact or the condition is bad This is to prevent the control system from becoming unstable and oscillating.
- the transition region is eliminated and the third region 103 is adjacent to the first region 101 and the second region 102 is adjacent to the third region 103, the periphery of each region is prevented in order to prevent the above problem.
- the value may be changed gradually so as to be connected smoothly.
- the impedance map changing means 50 reduces the width of the valley D of the viscosity D (in other words, the valley 55 of the viscosity D in a plan view).
- the parameters of the impedance map storage unit 48 are gradually updated in the direction of decreasing the area of a certain second region 102 (see arrow W1) and in the direction of increasing the depth of the valley 55 of the viscosity D (see arrow W2). .
- the ratio of updating in the direction of narrowing the width of the valley D of the viscosity D and the ratio of updating in the direction of increasing the depth of the valley 55 of the viscosity D are set in advance in the impedance map variable unit 50, respectively. Can do.
- the hand position of the robot arm 5 is made viscous by narrowing the width of the valley 55 of the viscosity D and increasing the depth by the impedance map variable means 50.
- the effect of being guided while being constrained to the valley bottom of D is enhanced, and positioning to the stand 33 can be performed more easily and accurately.
- the initial state of the impedance map storage unit 48 is a second wall 54A having a viscosity set high in the vicinity of the stand 33 of the second work table 32.
- the fourth region 104 is formed. More specifically, the initial state of the impedance map storage unit 48, that is, the reference distribution (change) of the impedance parameters M, D, and K (inertia M, viscosity D, and stiffness K) stored in the impedance map storage unit 48. Or, the impedance map of the distribution before the update or the distribution of the initial state) includes a first region 101 having a low viscosity for moving the hand 6 of the robot arm 5 and a first region for positioning the hand 6.
- a second region 102 higher than the viscosity of 101 is higher than the viscosity of the first region 101 and lower than the viscosity of the second region 102 (for example, in FIG. A fourth region 104 having the same viscosity as that of the second region 102 is set.
- the impedance map variable unit 50 is set so that the viscosity of the fourth area 104 can be changed larger than the initial state. Strictly speaking, in FIG. 10A, there is a transition region between the first region 101 and the fourth region 104.
- the transition region is arranged in this way. if the impedance parameter changes stepwise, the control changes abruptly when the boundary is crossed, so if a person feels an impact or the condition is bad This is to prevent the control system from becoming unstable and oscillating.
- the fourth region 104 is adjacent to the first region 101 without the transition region, the value gradually changes at the peripheral edge of each region so as to prevent the above problem. You can do it.
- the impedance map variable unit 50 changes the viscosity of the fourth region 104 so as to be higher than the viscosity of the second region 102 after the hand 6 enters the fourth region 104 to facilitate positioning of the hand 6. Yes.
- the impedance map changing means 50 determines the height of the second wall 54A of the viscosity D (that corresponds to the viscosity of the fourth region 104) based on the following formula (6).
- the parameter of the impedance map storage unit 48 is updated so as to increase the viscosity of the fourth region 104 in proportion to the moving speed so as to increase the viscosity of the fourth region 104 (see arrow W).
- the movement speed of the hand can be obtained by differentiating information on the position of the hand of the robot arm 5 by the speed acquisition unit 60.
- the speed acquisition part 60 is arrange
- the speed acquisition unit 60 receives the current hand position and posture vector r of the robot arm 5 from the forward kinematics calculation unit 26, and inputs the speed obtained by the speed acquisition unit 60 to the impedance map variable unit 50.
- the information on the current position of the hand of the robot arm 5 and the speed acquisition unit 60 are acquired by the impedance map variable unit 50.
- the height of the second wall 54A of viscosity D (viscosity of the fourth region 104) is increased in proportion to the moving speed of the hand of the robot arm 5, thereby The speed is appropriately reduced and positioning on the stand 33 becomes easier.
- the work content in the fourth embodiment is the work shown in FIG. 4 of the first embodiment, and after inserting the stand 33 of the second work table 32 into the insertion port 47 of the thin television 46 held by the hand 6, 6 is released, and the hand 6 returns to the upper side of the first work table 31 again.
- the inertia M is changed by the impedance map variable means 50.
- the inertia M is set as high as 20 kg in the vicinity of the stand 33 (the second work table area 37 and the outer area 45 of the second work table area 37). In other areas, it is set as low as 5 kg, for example.
- the inertia M depends on how the person feels the absolute value. The value of inertia corresponds to mass.
- the person 39 feels that a person moves an object weighing 5 kg, and the person 39 feels an operation feeling that it can be easily moved.
- the inertia value is set to 100 kg, since it is difficult for a person to move an object weighing 100 kg, the person 39 feels that the operation is difficult.
- inertia M when moving from the first work table 31 toward the second work table 32 (see arrows A and B in FIG. 4), the value of the inertia M is Since it is small, the robot arm 5 operates with a small force. For this reason, a feeling of operation becomes light and the movement of the robot arm 5 becomes easy. Further, when positioning the second workbench 32 on the stand 33, the inertia M is increased, so that the operation of the robot arm 5 is stabilized and the positioning work is facilitated.
- the inertia M in the vicinity of the stand 33 is reduced from 20 kg to 5 kg, for example (see the downward arrow).
- the operation of returning from the second work table 32 to the first work table 31 can be performed with a small force, and the operability is improved.
- the impedance map of the impedance map storage unit 48 is determined based on the current hand position of the robot arm 5 by the impedance map variable means 50. Since there is no need for complicated processing like the judgment algorithm of the work phase, and there are few mistakes in discrimination, it is set to the optimum impedance parameter stably by a simple algorithm. It is possible to improve the property.
- the resistance to the reversing operation is increased by dynamically moving the viscous walls 54 and 54A in addition to merely providing the minimum viscosity point (viscous valley 55).
- the viscosity minimum point (viscosity valley 55) is not simply provided, but the characteristics such as the width or depth of the viscosity minimum point (viscosity valley 55) according to the current position of the hand of the robot arm 5 are also determined. Since it can be changed, the operability of the positioning operation can be further improved.
- the impedance map changing unit 50 reduces the width of the valley 55 of the viscosity D (see the arrow W ⁇ b> 1) and the depth of the valley 55 of the viscosity D. It is also possible to change the distribution of the viscosity D in the direction of deepening (see arrow W2).
- Each of the control devices is specifically a computer system including a microprocessor, ROM, RAM, a hard disk unit, a display unit, a keyboard, a mouse, and the like.
- a computer program is stored in the RAM or hard disk unit.
- Each device achieves its functions by the microprocessor operating according to the computer program.
- the computer program is configured by combining a plurality of instruction codes indicating instructions for the computer in order to achieve a predetermined function.
- each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.
- the software that realizes the control device in the embodiment is the following program.
- this program is Impedance reference distribution of impedance parameters that associate each position of the hand of the articulated robot arm that moves with the movement of the articulated robot arm and impedance parameters including inertia, viscosity, and rigidity at each position.
- An impedance map storage unit for storing the map; Before or after the position of the hand performing the operation of the articulated robot arm with respect to a reference distribution of the impedance parameter in the impedance map according to information on the current position of the hand of the articulated robot arm
- An impedance map variable unit that changes the distribution of impedance parameters at the position of Functions as an impedance control unit for controlling the impedance of the articulated robot arm based on the external force acquired by the external force acquisition unit disposed in the articulated robot arm and the distribution of the impedance parameter changed by the impedance map variable unit It is a robot control program for making it happen.
- the program may be executed by being downloaded from a server or the like, and a program recorded on a predetermined recording medium (for example, an optical disk such as a CD-ROM, a magnetic disk, or a semiconductor memory) is read out. May be executed.
- a predetermined recording medium for example, an optical disk such as a CD-ROM, a magnetic disk, or a semiconductor memory
- the computer that executes this program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.
- the robot, the robot control apparatus, the control method, and the control program of the present invention can be stably set to an optimum impedance parameter by a simple algorithm and can improve the operability of work, Alternatively, it is useful as a robot that cooperates with humans, such as a robot that performs work support such as power assist at a nursing care site or the like, a robot control device, a control method, and a control program.
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Abstract
Description
前記多関節ロボットアームに配設されて外力を取得する外力取得部と、
前記多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記外力取得部が取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部と、
を有することを特徴とするロボットを提供する。
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記多関節ロボットアームに配設された外力取得部で取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部と、
を備えることを特徴とするロボットの制御装置を提供する。
前記多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとしてインピーダンスマップ記憶部に記憶し、
インピーダンスマップ可変部により、前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている位置の前又は後の位置でのインピーダンスパラメータの分布を変化させ、
前記外力取得部が取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御部によりインピーダンス制御することを特徴とするロボットの制御方法を提供する。
多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記多関節ロボットアームに配設された外力取得部で取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部として機能させるためのロボットの制御プログラムを提供する。
前記多関節ロボットアームに配設されて外力を取得する外力取得部と、
前記多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記外力取得部が取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部と、
を有することを特徴とするロボットを提供する。
前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先の現在の位置の情報と前記速度取得部で取得した速度とに応じて、前記インピーダンスマップにおけるインピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させる、第1の態様に記載のロボットを提供する。
前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先が前記第2領域に入った後に、前記第3領域が囲う前記第2領域の面積を、前記手先が前記第2領域に入る前の面積よりも小さくなるように変化させることを特徴とする第1の態様に記載のロボットを提供する。
前記インピーダンスマップ可変部は、前記手先が前記第4領域に入った後に、前記第4領域の粘性を前記第2領域の粘性よりも高くするように変化させることを特徴とする第1の態様に記載のロボットを提供する。
前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先の現在の位置の情報と、前記多関節ロボットアームの前記手先が前記第4領域に入る速度であって前記速度取得部で取得した速度に応じて、前記第4領域の粘性の高さを設定することを特徴とする第7の態様に記載のロボットを提供する。
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記多関節ロボットアームに配設された外力取得部で取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部と、
を備えることを特徴とするロボットの制御装置を提供する。
前記多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとしてインピーダンスマップ記憶部に記憶し、
インピーダンスマップ可変部により、前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている位置の前又は後の位置でのインピーダンスパラメータの分布を変化させ、
前記外力取得部が取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御部によりインピーダンス制御することを特徴とするロボットの制御方法を提供する。
多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記多関節ロボットアームに配設された外力取得部で取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部として機能させるためのロボットの制御プログラムを提供する。
図1は本発明の第1実施形態におけるロボット1の構成を示す。ロボット1は、多関節ロボットアーム5と、多関節ロボットアーム5の動作を制御する制御装置2とを備えている。
第2関節のうちの2つの関節12c、12dの関節軸周りに回転可能に接続された平行リンク構造で構成されている。
また、nx、ny,nzは手先座標系36の互いに直交する3方向まわりの回転モーメントである。
(位置誤差補償手段27での処理)。位置誤差補償手段27の具体例としてはPID補償器が考えられる。定数の対角行列である比例、微分、積分の3つのゲインを適切に調整することにより、位置誤差が0に収束するように制御が働く。
本発明の第2実施形態におけるロボット1の基本的な構成は、図1及び図2に示した第1実施形態の場合と同様であるので、共通部分の説明は省略し、異なる部分についてのみ以下、詳細に説明する。
本発明の第3実施形態におけるロボット1の基本的な構成は、図1及び図2に示した第1実施形態の場合と同様であるので、共通部分の説明は省略し、異なる部分についてのみ以下、詳細に説明する。
本発明の第4実施形態におけるロボット1の基本的な構成は、図1及び図2に示した第1実施形態の場合と同様であるので、共通部分の説明は省略し、異なる部分についてのみ以下、詳細に説明する。
多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記多関節ロボットアームに配設された外力取得部で取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部
として機能させるためのロボットの制御プログラムである。
Claims (11)
- 多関節ロボットアームと、
前記多関節ロボットアームに配設されて外力を取得する外力取得部と、
前記多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記外力取得部が取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部と、
を有するロボット。 - 前記多関節ロボットアームの前記手先の位置の情報を微分して速度を求める速度取得部をさらに備え、
前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先の現在の位置の情報と前記速度取得部で取得した速度とに応じて、前記インピーダンスマップにおけるインピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させる、請求項1に記載のロボット。 - 前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先が通過する位置での前記インピーダンスパラメータの粘性を、前記多関節ロボットアームの前記手先が通過する前よりも前記手先が通過した後に、高くなるように変化させる請求項1に記載のロボット。
- 前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先が通過した位置での粘性を、前記多関節ロボットアームの前記手先が前記位置を通過した後に高くした後、前記多関節ロボットアームの前記手先が前記位置から一定距離を離れたときに前記位置での粘性を、前記高くした粘性の値よりも低くする請求項3に記載のロボット。
- 前記インピーダンスマップ記憶部に記憶された前記インピーダンスマップが、前記多関節ロボットアームの前記手先を移動するための粘性の低い第1領域と、前記多関節ロボットアームの前記手先を位置決めするための前記第1領域よりも高い粘性の第2領域と、さらに前記第2領域の周辺を囲うように配置されかつ前記第2領域よりも高い粘性の第3領域とを有し、
前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先が前記第2領域に入った後に、前記第3領域が囲う前記第2領域の面積を、前記手先が前記第2領域に入る前の面積よりも小さくなるように変化させる請求項1に記載のロボット。 - 前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先が前記第2領域に入った後に、前記第2領域の粘性の値を、前記手先が前記第2領域に入る前の粘性の値よりも低い方へ変化させる請求項5に記載のロボット。
- 前記インピーダンスマップ記憶部に記憶された前記インピーダンスマップは、前記多関節ロボットアームの前記手先を移動するための粘性の低い第1領域と、前記手先を位置決めするための、前記第1領域の粘性よりも高い第2領域とを有するとともに、前記第2領域と前記第1領域との間に、前記手先を位置決めするための、第1領域の粘性よりも高くかつ第2領域の粘性以下の第4領域を設定し、
前記インピーダンスマップ可変部は、前記手先が前記第4領域に入った後に、前記第4領域の粘性を前記第2領域の粘性よりも高くするように変化させる請求項1に記載のロボット。 - 前記多関節ロボットアームの前記手先の位置の情報を微分して速度を求める速度取得部をさらに備え、
前記インピーダンスマップ可変部は、前記多関節ロボットアームの前記手先の現在の位置の情報と、前記多関節ロボットアームの前記手先が前記第4領域に入る速度であって前記速度取得部で取得した速度に応じて、前記第4領域の粘性の高さを設定する請求項7に記載のロボット。 - 多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記多関節ロボットアームに配設された外力取得部で取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部と、
を備えるロボットの制御装置。 - 多関節ロボットアームに配設された外力取得部で外力を取得し、
前記多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとしてインピーダンスマップ記憶部に記憶し、
インピーダンスマップ可変部により、前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている位置の前又は後の位置でのインピーダンスパラメータの分布を変化させ、
前記外力取得部が取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御部によりインピーダンス制御するロボットの制御方法。 - コンピューターを、
多関節ロボットアームの動作に伴って移動する前記多関節ロボットアームの手先のそれぞれの位置と、前記それぞれの位置における慣性、粘性、及び、剛性を含むインピーダンスパラメータとを対応付けるインピーダンスパラメータの基準分布をインピーダンスマップとして記憶するインピーダンスマップ記憶部と、
前記多関節ロボットアームの前記手先の現在の位置の情報に応じて、前記インピーダンスマップにおける前記インピーダンスパラメータの基準分布に対して前記多関節ロボットアームの動作を行っている前記手先の位置の前又は後の位置でのインピーダンスパラメータの分布を変化させるインピーダンスマップ可変部と、
前記多関節ロボットアームに配設された外力取得部で取得した外力及び前記インピーダンスマップ可変部により変化させられた前記インピーダンスパラメータの分布とに基づき前記多関節ロボットアームをインピーダンス制御するインピーダンス制御部として機能させるためのロボットの制御プログラム。
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- 2012-03-15 CN CN201280002896.6A patent/CN103118842A/zh active Pending
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JP2016068169A (ja) * | 2014-09-29 | 2016-05-09 | セイコーエプソン株式会社 | ロボット、ロボットシステム、制御装置、及び制御方法 |
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CN111730599A (zh) * | 2020-07-08 | 2020-10-02 | 深圳市优必选科技股份有限公司 | 阻抗控制方法、装置、阻抗控制器和机器人 |
CN111730599B (zh) * | 2020-07-08 | 2021-09-07 | 深圳市优必选科技股份有限公司 | 阻抗控制方法、装置、阻抗控制器和机器人 |
Also Published As
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JPWO2012124342A1 (ja) | 2014-07-17 |
US20130151009A1 (en) | 2013-06-13 |
CN103118842A (zh) | 2013-05-22 |
US8725295B2 (en) | 2014-05-13 |
JP5129415B2 (ja) | 2013-01-30 |
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