JPH0466674B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot teaching device that generates teaching position information for controlling the pairs of robots by driving and controlling pairs of pairs that make up the robot by operating a switch.

Although conventional robot control devices have the function of driving the robot in a predetermined direction, they are not suitable for complex teaching. Conventionally, in order to perform such complicated teaching, it was necessary to press multiple switches in sequence and visually judge the movement of the robot, which took a lot of time to operate the robot.

The purpose of the present invention is to manually configure and specify
The robot can be maneuvered to move straight forward and backward along any direction of motion vector, and rotate in forward and reverse directions around any direction of motion vector, making it easy to realize complex teaching. The purpose of the present invention is to provide a teaching device for a robot that has the following features.

The gist of the present invention is to provide a motion direction vector setting unit that arbitrarily manually sets three components along the orthogonal coordinates of a vector representing the direction of movement and rotation direction of a hand or tool;
and four direction designation switches for manually designating forward and reverse rotation, and by operating the desired switches, the movement direction vector is changed from the current position indicated by three vectors for each sampling. and a manipulated variable calculating means for calculating forward and backward linear movements along a motion direction vector arbitrarily set by the setting section and forward and reverse rotation amounts around the motion direction vector, the manipulated variable calculating means The hand or tool is guided to the target position by driving and controlling the pairs that make up the robot so that the amount of forward and backward movement and the amount of rotation in the forward and reverse directions are calculated for each sampling. The goal is to generate teaching position information for control.

Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIG. 1 is a diagram showing an embodiment of a robot control device according to the present invention. The console device 1 includes a movement direction instruction section 1
0, manual switch 11, selector 12, coordinate setters 13, 14, 15, display control unit 16, display 1
7. Consists of CRT18. Needless to say, it has other functions that a general console device has.

The microcomputer 2 performs man-machine communication with the console device 1, and also performs predetermined processing and sends out robot system control data. The predetermined process is to create control data based on instructions from the console device 1. The robot system 3 consists of a control circuit, a drive device, and a robot, and the control circuit receives various information from a microcomputer and transmits drive information to the drive device.
The drive circuit mechanically drives the robot. Necessary information about the movement of the robot and the drive device is fed back to the microcomputer 2 and used for feedback control.

Give a detailed explanation.

The movement direction instruction section 10 has four direction specification modes. The four direction designation modes refer to four instruction modes: a straight forward instruction, a straight backward instruction, a right rotation instruction, and a left rotation instruction. The designation of such mode is done manually. The mode designation switch 11 consists of four switches 11A, 11B, 1
1C and 11D, and these four switches correspond to the four direction designation modes mentioned above. Therefore, at the time of operation, the operator issues a direction instruction using the switch 11.
The direction instruction mode is instructed by turning on the corresponding switches A, 11B, 11C, and 11D.

Coordinate setter (movement direction vector setting unit) 13,
14 and 15, the three components of x, y, and z along the orthogonal coordinates of the vector representing the direction of movement and direction of rotation of the hand or tool of the robot can be arbitrarily set manually. . These settings are made by the operator.

The selector switch 12 is connected to the movement direction instruction section 10.
selection of four instruction modes and coordinate setter 13;
The coordinate values of 14 and 15 are taken in. Each of the switches 12A to 12G of the selector switch 12 has its role. This selection is done by automatic scanning. Therefore, the microcomputer 2 takes in various designation information from the console device 1 in a time-sharing manner.

The microcomputer 2 calculates a vector indicating the direction of hand movement, three vectors p→, f→, g→ indicating the current position of the hand, and a target value after one sampling period according to the direction specification mode. p→ _f , f→ _f ,
Calculate g → _f and calculate the pairwise displacement. The calculation of the pairwise displacement is performed after calculating p→ _f , f→ _f , and g→ _f . The pairwise displacement becomes the operating amount of the robot.

The vector is calculated using the following formula.

Here, i→, j→, k→ are base vectors of orthogonal coordinates, and x, y, and z are values given from coordinate setters 13, 14, and 15. Naturally, x, y, and z form an orthogonal coordinate system, and the vector in equation (1) is a vector in orthogonal coordinates where the direction of movement of the hand of the operator is stationary or in orthogonal coordinates fixed to the hand.

Three vectors p indicating the current position of the hand →,
The calculation of g→, f→ is as follows. For this calculation,
The displacement of each pair is read from a detector attached to the drive shaft of the robot system 3. Based on this read value, vectors p→, f→, g→ that indicate the current position of the hand
Calculate. Here, p → is as shown in Figure 2,
This is a vector indicating the position of the hand 4, and f→ and g→ are direction cosines of two axes fixed to the hand 4, and indicate the posture of the hand 4.

The calculation of the target values p→ _f , f→ _f , and g→ _f after one sampling differs depending on each direction designation mode. When the forward forward switch is set by the setting device 10, the following calculation is performed.

p→ _f =p→+Δpe→ ...(2) f→ _f =f→ ...(3) g→ _f =g→ ...(4) Here, Δp is the value of the hand during sampling time T. This is the amount of movement, and if the pre-given movement speed is v, then Δp=vT...(5). Next, in order to make the hand position p→ _f , g→ _f , f→ _f , the pairwise displacement 0 _fi (i=1 to 6) is calculated by coordinate transformation, and this calculated value is applied to each pairwise The actuator (not shown) of the robot system 3 is controlled so that the robot system 3 moves. Here, the sampling time T is the even displacement 0 _fi (i
=
This refers to the time required to calculate 1 to 6).

When the operator sets the switch for straight forward movement in the reverse direction using the setting device 10, the following calculation is performed.

p→ _f =p→−Δpe→ ...(6) f→ _f =f→ ...(7) g→ _f =g→ ...(8) The difference from when moving forward in the forward direction is the amount of movement Δpe It is at the point where → is subtracted. The calculation of the pairwise displacement 0 _fi (i=1 to 6) to achieve such p→ _f , f→ _f , g→ _f is the same as in the case of the forward forward mode described above.

If the operator presses the forward rotation switch,
The target vectors p→ _f , f→ _f , and g→ _f are calculated as follows.

p→ _f = p→ ...(9) f→ _f = cosΔpf→+(1−cosΔp)(e→
・f→)e→+sinΔpe→×f→……(10) g→ _f =cosΔpg→+(1−cosΔp)(e→
・g→)e→+sinΔpe→×f→……(11) Couple displacement 0 _fi (i=
The calculations 1 to 6) are approximately the same.

If the operator presses the switch for reverse rotation,
The target vectors p→ _f , f→ _f , and g→ _f are calculated as follows.

p→ _f = p→ ...(12) f→ _f = cosΔpf→+(1−cosΔp)(e→
・f→)e→−sinΔpe→×f→……(13) g→ _f =cosΔpg→+(1−cosΔp)(e→
・g→)e→−sinΔpe→×f→……(14) Similarly, in order to achieve this target vector, couple displacement
0 _fi (i=1 to 6) is determined by calculation.

The microcomputer may directly output the pairwise displacement (target value) 0 _fi (i=1 to 6) obtained from the target vectors p→ _f , f→ _f , g→ _f to the robot system 3 as the manipulated variable. In order to improve accuracy, the robot's current position 0 _i is fed back, the deviation (0 _fi −0 _i ) is calculated, and k ₍ 0 _fi −0 _i ) is calculated as gain adjustment.
−0 _i ) is output to the robot system 3.

The robot system 3 takes k(0 _fi -0 _i ) and converges it to the target values p→ _f , g→ _f , f→ _f of the hand. At this time of convergence, p→=p→ _f , f→=f→ _f , g→=g→ _f .

The display control unit 16 is located inside the console device 1 and takes in the output of the selector 12 and the output of the microcomputer 2 to create necessary display information. Display 1
7. The CRT18 selectively displays display information,
Have the operator observe. The displayed information mainly includes hand movements, target values, and the like. The operator performs man-machine communication.

FIG. 3 shows the overall processing flow. Setting device 1
If the direction designation mode switch 0 is turned on and x, y, and z are set by the setters 13, 14, and 15, vectors are calculated and stored in the memory of the microcomputer 2. Next, the pair displacement 0 _fi (i=1 to 6) corresponding to each direction is calculated. Based on the current position 0 _i , the microcomputer 2 calculates k (0 _fi -0 _i ) (k is a constant), outputs it to the robot system, and controls the robot.

According to this embodiment, the operator can drive the hand in any direction. Furthermore, if the driving direction is limited to a plurality of directions, or if a frequently used direction can be determined in advance depending on the work, the vector indicating this direction is numbered and stored in the memory in the microcomputer 2. , when the operator specifies a corresponding number from the console device 1, the vector can be called and the robot can then be controlled in accordance with the operator's instructions.

As explained above, according to the present invention, each of the three components along the orthogonal coordinates of the vector representing the direction of movement and rotation direction of the robot's hand or tool can be arbitrarily set manually, and Since the direction of straight movement and forward and reverse rotation can be specified manually, the robot can be moved forward and backward along any direction of motion vector, and forward and reverse around any direction of motion vector. The robot can be operated so as to perform direction rotation, and as a result, it is possible to easily realize complicated teaching.

[Brief explanation of drawings]

FIG. 1 is an embodiment of the present invention, FIG. 2 is an explanatory diagram of the coordinate system of the hand, and FIG. 3 is a flowchart. DESCRIPTION OF SYMBOLS 1...console device, 2...microcomputer, 3...robot system, 10...movement direction instruction part, 11...manual switch, 18...CRT.

Claims (1)

[Claims] 1. A current position calculation means that detects the displacement of pairs constituting the robot for each sampling and calculates the current position of the hand or tool using three vectors based on an orthogonal coordinate system; A motion direction vector setting section for arbitrarily manually setting each of the three components along the orthogonal coordinates of the vector representing the rotation direction, and for manually specifying forward and backward straight forward movement, and forward and reverse rotation. By operating the four direction designation switches and the desired switch, the motion direction vector setting unit selects an arbitrary value from the current position indicated by the three vectors calculated by the current position calculation means for each sampling. and a manipulated variable calculating means for calculating the amount of forward and backward straight movement along the motion direction vector set to , and the amount of rotation in the forward and reverse directions around the motion direction vector, and the manipulated variable calculating means calculates each sampling. drive-controls the pair of pairs making up the robot to guide the hand or tool to a target position so that the amount of forward and backward translation and the amount of rotation in the forward and reverse directions is controlled; A robot teaching device characterized by generating teaching position information.