JPH0623925B2 - Robot controller - Google Patents

Description

TECHNICAL FIELD The present invention relates to a control device for a robot.

[Prior art]

Conventionally, control of a robot has been performed by a set of motion element vectors obtained by decomposing the motion trajectory of the robot.

That is, the control amount of each drive axis of the robot is calculated based on the moving direction that defines the disassembled minute section and the moving amount, and the robot is driven based on this control amount.
However, even when a series of similar movements are continuously performed and a series of movements is composed of a set of similar movement loci like a painting robot, the movement element vector is calculated for each similar movement locus. It was necessary to control each drive axis of the robot based on this data.

Therefore, there is a drawback in that the amount of data to be instructed increases and the storage unit of the robot control device is not effectively used.

[Object of the Invention]

Therefore, the present invention has been made in order to improve such drawbacks of the prior art, eliminates the need for storing data when driving the robot controller, and effectively utilizes the storage capacity, and By sharing instruction data,
An object of the present invention is to provide a robot control device that simplifies a control program and can easily obtain a similar movement locus.

[Structure of Invention]

The present invention relates to a robot control device for controlling a drive device for driving each drive axis of a robot, wherein the robot control device corresponds to a motion element vector sequence forming a motion trajectory of the robot, A unit vector sequence storage unit that stores unit vectors in accordance with the operation order, a sequence of vector sizes of the operation element vector sequence is input, and a size sequence input unit of the operation element vector sequence that stores the input unit vector, and the unit vector A combining unit that combines each operation element vector from each unit vector stored in the column storage unit and each size input to the size column input unit at each operation based on each operation element vector; According to each motion element vector obtained by the control unit, a motion based on each motion element vector is set by using the driving amount of each drive axis of the robot as a control signal. A control signal generator for outputting to the drive unit for each time, a robot control apparatus characterized in that it consists of.

FIG. 1 is a block diagram showing the concept of the present invention.

The robot controller comprises a unit vector sequence storage unit 2, a magnitude sequence input unit 4, a synthesis unit 6, and a control signal generation unit 8.
The unit vector sequence storage unit 2 stores a unit vector corresponding to a motion element vector sequence obtained by decomposing a motion trajectory of a robot. The order of the unit vector sequence corresponds to the operation order. The size sequence input unit 4 is a unit for externally inputting the size sequence of the motion element vector sequence as data corresponding to the unit vector sequence. The synthesizing unit 6 has a function of synthesizing the motion element vector sequence from the unit vector sequence storage unit 2 and the size sequence input unit 4. The control signal generation unit 8 outputs to the drive device 10 a control signal for driving each drive shaft so as to be in a position corresponding to each motion element vector corresponding to these motion element vector sequences. The drive device 10 is the robot 1.
It is possible to drive each of the two drive shafts and control the robot by a predetermined amount.

Here, the motion locus is defined as the motion locus of the center point of the grip of the robot. FIG. 6 is an explanatory diagram showing a method of giving a motion element vector for controlling the motion trace of the robot. Of these, in FIG. 6 (a), the motion element vector is the displacement vector between the motion points (P0, P1, P2, etc.) (▲).
▼, ▲ ▼, ▲ ▼, etc.).
That is, ▲ ▼ = ▲ ▼, ▲ ▼ = ▲
▼, ▲ ▼ = ▲ ▼. Where p0, p1, p2
Coordinates of (x0, y0, z0), (x1, y1, z1), (x2, y
2, z2). Therefore, if the displacement vector is expressed by coordinates, ▲ ▼ ＝ (x1-x0, y1-y0, z1-x0) ▲ ▼ ＝ (x2-x1, y2-y1, z2-z1) ▲ ▼ ＝ (x3-x2, y3 -Z2, z3-z2). In the conventional control method, the coordinate component of the displacement vector is given, and the drive amount of the drive axis of the robot is calculated based on the coordinate component to control the robot.

In the present invention, the following unit vector sequence is given.

▲ ▼ ＝ ▲ ▼ / ｜ ▲ ▼ ｜ ＝ (ux0, uy0, uz
0) ▲ ▼ ＝ ▲ ▼ / ｜ ▲ ▼ ｜ ＝ (ux1, uy1, uz
1) ▲ ▼ ＝ ▲ ▼ / ｜ ▲ ▼ ｜ ＝ (ux2, uy2, uz
2) In addition, give the size sequence corresponding to the unit vector.

The unit vector sequence has an operation sequence and displacement magnitude 1
Gives a basic motion trajectory consisting of. Therefore, if this unit vector sequence is stored for each basic motion module, by giving a size sequence | ▲ ▼ |, | ▲ ▼ |, | ▲ ▼ | etc., a motion having a fixed relationship with the basic motion locus can be obtained. Can be done. The fixed relationship means, for example, a relationship as shown in FIG. 6 (b). That is, when a constant size string having the same value is given to the basic motion locus 50, a similar motion locus 51 is obtained with the mechanical origin p0 of the robot as the center. In addition, if a sequence of arbitrary size is given, a similar locus 52 in a broad sense that is similar to the trace of the basic motion locus can be obtained in the corresponding section.

In this way, once the unit vector sequence corresponding to the basic motion locus is modularized and stored, the motion locus that has a certain correlation with the basic motion locus can be easily obtained by giving the size sequence. can get. Therefore, less instruction data is required, the control program can be simplified, and the storage device can be effectively used.

As the motion element vector, as shown in FIG. 6 (c), a position vector ▲ ▼ based on the coordinate origin O,
▲ ▼, ▲ ▼, etc. may be used.

Also in this case, the motion locus having a fixed relationship can be obtained by giving the magnitude sequence to the basic motion locus 60 defined by the unit vector sequence.

Further, when the drive amount of the drive shaft of the robot is directly instructed, the motion element vector may be given as a vector having the motion amount of each drive axis as each component. For example, the r-axis,
In the case of three-axis control of the cylindrical coordinate system of the θ axis and the z axis, the drive amount of each axis is given by a three-dimensional vector. Also in this case, the unit vector sequence can be defined as the unit position vector sequence in the cylindrical coordinate system as described above.

The present robot controller has such a configuration, the unit vector sequence storage unit 2 and the size sequence input unit 4 are configured separately, and only the size data is input to the size sequence input unit 4 according to the operation order. By doing so, it is possible to perform an operation along a predetermined operation locus.

FIG. 2 is a block diagram showing the configuration of the second invention. .

In the second aspect of the present invention, the robot controller of the first aspect of the present invention is provided with size sequence data in the size sequence input unit 4 for selecting a module of the basic motion locus stored in the unit vector sequence storage unit 2. The feature is that one control device 20 is added. The first controller 20 can be generally composed of a host computer or the like. The first controller 20 outputs data and control signals to the second controller 30. The unit vector sequence storage unit 2 of the second control device 30 stores a unit vector sequence module modularized for each basic motion locus. . This unit vector sequence module can be selected and designated from the first controller 20. Further, the magnitude sequence that gives the magnitude of each motion amount of each unit vector sequence is completed by outputting data to the size sequence input unit 4.

〔Example〕

Hereinafter, the present invention will be described in more detail based on specific examples.

FIG. 3 is a block diagram showing the configuration of a robot controller according to a specific embodiment of the present invention. The first controller 20 has a storage unit 201 that stores a magnitude sequence of motion element vectors for each module for causing the robot to perform each motion and an execution order of the motion modules. The arithmetic processing unit 202 transmits the module selection signal and the size column corresponding thereto according to the stored execution order to the second control device 30 via the data communication signal 203.

The second control device 30 has a data communication unit 301, and has a storage unit 302 that stores a unit vector sequence for each module and the transmitted data. . Arithmetic processing unit 30
3 synthesizes motion element vectors based on the data transmitted from the first control device 20, and outputs a control signal to the position command unit 304. The position command unit 304 is a drive device 10a, 10b, 10c for driving the drive shaft of each robot.
Output a signal to.

FIG. 4 is a flow chart for explaining the operation of the first control device 20, and FIG. 5 is a flow chart for explaining the operation of the second control device. The first control device starts execution from step 100, and outputs a module selection signal indicating that the operation module (a) is selected according to the table storing the execution order of predetermined operation modules.
Further, subsequently, in step 102, a size string (a0) giving the size of the motion element vector string of the motion module (a) is output. At this time, the second control device is in a state where execution can be started from step 200, and when data is transmitted from the first control device 20 in step 200, the process proceeds to step 202. In step 202, it is judged whether or not it is a module selection signal. If it is a module selection signal, the process proceeds to step 204, and the operation sequence of the module selected by the module selection signal,
And a unit vector sequence representing the motion direction is read.

When the size string data is received in step 202, the process proceeds to step 205 and the size string data is stored. Next, the process proceeds to step 206, and the transmitted size sequence and the unit vector sequence stored in advance are combined to obtain the motion element vector.

Next, in step 208, a pulse distribution command for driving the drive axis of each robot is performed so as to enable movement corresponding to the motion element vector sequence.

Next, in step 210, the robot moves a predetermined amount,
When the operation is completed, a signal to that effect is input. In step 212, a signal indicating that the operation is completed is transmitted to the first control device.

In this way, the grip portion of the robot draws a motion trajectory corresponding to the motion module (a).

Next, the first control device receives the operation completion signal in step 104, moves to step 106 when it is determined that the operation is completed, and selects the operation module (b) as a module selection signal. Is output and step 10
At 8, the size column data (b0) for performing the operation corresponding to the operation module (b) is output.

In this way, the same operation as described above can be performed.
When the operation corresponding to the operation module (b) is completed in step 110, the process proceeds to step 110 and the next operation module is executed.

The next operation module is to select the same operation module as the above-mentioned operation module (a). Step 1
Although the operation module (a) is selected in 14, the size column is different from the size column described above. Therefore, the second control device can cause the robot to perform the same motion as the basic motion specified by the motion module (a). Therefore, with respect to the motion executed in step 102, it is possible to draw a motion trace having a similar relationship in which the trace is enlarged or reduced.

Next, the process proceeds to step 116, it is determined whether the operation is completed, and if it is completed, the process proceeds to step 118.
Similarly, in step 118, the operation module (b) is selected, and in step 120, the size string (b1) data for determining the operation amount is transmitted. Therefore, it is possible to draw a motion locus of a similar shape different from the motion locus of the robot generated by the previous execution of the motion module b. In step 112, it is determined whether or not this operation is completed, and if completed, the process proceeds to step 124.

In this way, a complicated series of operations can be performed only by the size column data and the module selection data.

〔The invention's effect〕

As described above, according to the device of the present invention, it is possible to perform, for example, a similar motion having a fixed relationship with the basic motion locus specified by the unit vector sequence, only by inputting the data of the size sequence. Therefore, it is not necessary to duplicate a special program for performing the operations having such a relationship. Further, since the data is shared by the unit vector sequence, the storage capacity of the robot control device can be efficiently used, and the storage unit for the combined motion element vector is unnecessary. Further, by combining with the first control device, the unit vector sequence module stored in the second control device is selected, and by providing the size sequence data corresponding thereto, a predetermined unit function and a fixed unit function can be obtained. A complex motion locus can be easily realized as a combination of related motions.

[Brief description of drawings]

FIG. 1 is a block diagram showing the concept of the first invention of the present invention. FIG. 2 is a block diagram showing the concept of the second invention of the present invention. FIG. 3 is a block diagram showing the configuration of a robot controller according to a specific embodiment of the present invention. FIG. 4 is a flow chart for explaining the operation of the first control device used in the device of the embodiment. FIG. 5 is a flow chart for explaining the operation of the second control device used in the device of the embodiment. FIG. 6 is an explanatory diagram showing a method of giving a motion element vector.

Claims (2)

[Claims] 1. A robot controller for controlling a drive device for driving each drive axis of a robot, wherein the robot controller corresponds to a motion element vector sequence forming a motion locus of the robot, and each motion element vector thereof. A unit vector sequence storage unit that stores the unit vectors according to the operation order; and a size sequence input unit for the operation element vector sequence, which inputs the sequence of the vector size of the operation element vector sequence and stores the input sequence, A combining unit configured to combine each motion element vector from each unit vector stored in the vector string storage unit and each size input to the size string input unit at each operation based on each motion element vector; According to each motion element vector obtained by the synthesizing unit, based on each motion element vector with the drive amount of each drive axis of the robot as a control signal Robot control device comprising a control signal generator for outputting to the drive unit for each time create, in that it consists of. 2. A robot control device for controlling a drive device for driving each drive shaft of a robot, wherein the robot control device comprises a first control device and a second control device, and the first control device is the A unit vector sequence storage unit, which corresponds to a motion element vector sequence forming a motion locus of a robot and stores unit vectors of each motion element vector in the order of motion, and a sequence of the vector size of the motion element vector sequence is input. Then, a size sequence input unit of a motion element vector sequence that stores this, each motion vector from each unit vector stored in the unit vector sequence storage unit and each size input to the size sequence input unit A synthesizing unit for synthesizing a vector for each motion based on each motion element vector, and a motion vector of the robot according to each motion element vector obtained by the synthesizing unit. And a control signal generator that outputs the drive amount of the drive shaft as a control signal to the drive device at each operation based on each operation element vector, wherein the second control device stores the unit vector sequence of the first control device. A robot control for designating a unit vector sequence module number stored in advance in a unit and transmitting a size sequence of a motion vector sequence corresponding to the unit vector sequence corresponding to the module number to the size sequence input unit. apparatus.