JPH0750408B2 - Robot controller - Google Patents
Robot controllerInfo
- Publication number
- JPH0750408B2 JPH0750408B2 JP59009798A JP979884A JPH0750408B2 JP H0750408 B2 JPH0750408 B2 JP H0750408B2 JP 59009798 A JP59009798 A JP 59009798A JP 979884 A JP979884 A JP 979884A JP H0750408 B2 JPH0750408 B2 JP H0750408B2
- Authority
- JP
- Japan
- Prior art keywords
- coordinate system
- robot
- coordinate
- data
- predetermined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Program-control systems
- G05B19/02—Program-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 〔技術分野〕 本発明はロボツト制御装置の移動制御方式に関する。Description: TECHNICAL FIELD The present invention relates to a movement control system for a robot controller.
ロボツトの位置決めを直交座標系の座標値に基づいて行
なうとき、同一座標値に基づいてサーボ系の座標値へ座
標変換を行なう場合２つの解を生ずることがある。例え
ば第１図（ａ）の如き水平多関節型ロボツトでは同一座
標値でも第１図（ｂ）のように左腕となつて位置決めす
るか、左腕で位置決めするかを別に指示する必要があ
る。このため、従来は左右腕の選択を予め命令によつて
指示し、移動時の座標変換はその時点で選択されている
姿勢に基づいて行なわれていた。その処理の流れを第２
図に示す。教示入力やマニユアル入力によつて与えられ
た座標値は座標値記憶手段10によつて、特定の位置名称
との関連のもとに記憶される。次に移動命令実行時に、
指定された位置名称によつて座標値を検索し、次に左右
腕の選択データを参照して座標変換を行なう。左右腕の
選択データは左右腕の姿勢変更手段14によつて変更され
る。次に座標変換によつて得られた各サーボ軸の座標値
に基づいて移動制御を行なう。When the robot positioning is performed based on the coordinate values of the Cartesian coordinate system, two solutions may occur when the coordinate conversion is performed to the coordinate values of the servo system based on the same coordinate value. For example, in a horizontal articulated robot such as that shown in FIG. 1A, it is necessary to separately instruct whether the robot should be positioned with the left arm as shown in FIG. For this reason, conventionally, selection of the left and right arms is instructed in advance by a command, and coordinate conversion during movement is performed based on the posture selected at that time. The process flow is second
Shown in the figure. The coordinate value given by the teaching input or the manual input is stored by the coordinate value storage means 10 in association with the specific position name. Next time the move command is executed,
The coordinate value is searched for by the designated position name, and then the coordinate conversion is performed by referring to the selection data of the left and right arms. The left and right arm selection data is changed by the left and right arm posture changing means 14. Next, movement control is performed based on the coordinate value of each servo axis obtained by coordinate conversion.
以上の制御においては、左右腕の変更指示と移動命令が
分離して行なわれる為、同一の位置データに基づく移動
でありながらプログラムの流れによつて右腕になつたり
左腕になつたりしてしまう。これ教示入力時の姿勢とプ
ログラム実行時の姿勢が異なるということであり、事故
を起しやすくするものであつた。In the above control, since the change instruction for the left and right arms and the movement instruction are separately performed, the movement is based on the same position data, but the movement of the program may lead to the right arm or the left arm depending on the flow of the program. This means that the posture at the time of teaching input and the posture at the time of executing the program are different, which facilitates accidents.
本発明はかかる問題を解決するもので、その目的とする
ところは、座標値を座標変換のために必要な位置に付随
するデータを一体として管理し、ロボツトのプログラム
の誤りによる事故を少なくする制御装置を提供すること
にある。The present invention solves such a problem. An object of the present invention is to integrally control data associated with a position required for coordinate conversion and to reduce accidents due to an error in a robot program. To provide a device.
本発明のロボット制御装置は、座標値を位置データとし
て所定の位置名称に対応させて記憶する記憶手段と、前
記位置データを前記位置名称に基づいて検索する検索手
段と、検索した前記位置データに基づいて移動制御を行
うロボット制御装置において、前記位置データは、前記
座標値とともに所定の識別子からなり、ロボット座標系
とは異なる所定の座標系を前記ロボット座標系に変換す
る変換データを前記識別子に対応させて記憶する手段
と、前記変換データを前記識別子に基づいて検索する手
段と、前記変換データに基づいて前記所定の座標系を前
記ロボット座標系に変換する手段とを有することを特徴
とする。The robot control device of the present invention includes a storage unit that stores coordinate values as position data in association with a predetermined position name, a search unit that searches the position data based on the position name, and the searched position data. In the robot control device that performs movement control based on the coordinate data, the position data includes a predetermined identifier, and conversion data for converting a predetermined coordinate system different from the robot coordinate system into the robot coordinate system is used as the identifier. It is characterized in that it has means for correspondingly storing, means for searching the conversion data based on the identifier, and means for converting the predetermined coordinate system to the robot coordinate system based on the conversion data. .
第３図は本発明に基づくロボツト制御位置の構成図であ
る。26は座標値及び位置の付随データの記憶手段で、教
示入力やマニユアル入力によるデータを所定の名称との
関連において記憶する。位置の付随データとは左右腕の
選択データと、座標系の移動と回転を指示する座標系番
号である。例えば、 P1＝x,y/R/1 と入力することによつて番号１で指定される座標系にお
ける座標値が（x,y）であつて、右腕の姿勢で位置決め
される位置をP1という名称で記憶する。座標変換マトリ
クス定義手段27は第４図に示すロボツト座標系xYと新た
に設定された座標系X1Y1の移動及び回転の変換を２点の
各座標系の座標値によつて定義する。この座標変換には
番号がつけられて記憶される。位置データ検索手段21は
移動命令によつて指示された位置名称から座標値と位置
に付随するデータ即ち左右の腕の選択と座標系番号を検
索する。次に座標変換マトリクス検索手段22は座標系番
号から変換マトリクスデータを検索する。これに基づい
て平行移動及び回転移動が行なわれ、ロボツト座標系XY
での座標値が得られる。されにサーボ座標変換の際、左
右腕の選択データによつて最終的サーボ座標系への一意
的な変換が行なわれ、サーボの移動制御を行なうことが
できる。FIG. 3 is a block diagram of the robot control position according to the present invention. Reference numeral 26 is a storage unit for associated data of coordinate values and positions, which stores data by teaching input or manual input in association with a predetermined name. The data associated with the position is selection data for the left and right arms and a coordinate system number for instructing movement and rotation of the coordinate system. For example, by inputting P1 = x, y / R / 1, the coordinate value in the coordinate system specified by number 1 is (x, y), and the position positioned by the posture of the right arm is called P1. Remember by name. The coordinate transformation matrix defining means 27 defines transformation of movement and rotation of the robot coordinate system xY shown in FIG. 4 and the newly set coordinate system X 1 Y 1 by the coordinate values of each of the two coordinate systems. A number is assigned to this coordinate transformation and stored. The position data retrieving means 21 retrieves the coordinate value and the data associated with the position, that is, the selection of the left and right arms and the coordinate system number from the position name designated by the movement command. Next, the coordinate conversion matrix retrieval means 22 retrieves the transformation matrix data from the coordinate system number. Based on this, parallel movement and rotation movement are performed, and the robot coordinate system XY
The coordinate value at is obtained. In the servo coordinate conversion, the final servo coordinate system is uniquely converted according to the selection data of the left and right arms, and the movement control of the servo can be performed.
本発明の説明においては２軸の水平多関節型ロボットを
用いて説明したが、３〜４軸の水平多関節型ロボットや
５〜６軸制御の多関節型ロボットでもよい。In the description of the present invention, a two-axis horizontal articulated robot is used, but a three to four axis horizontal articulated robot or a five to six axis controlled articulated robot may be used.
以上述べたように本発明によれば、識別子に対応した変
換データに基づいて所定の座標系での座標値をロボット
座標系での座標値に変換するように構成して、教示に必
要な時間を短縮して著しく作業性を向上できるものであ
り、また、上記の構成により、ロボット座標系とは異な
る座標系を複数設定可能であり、ある座標系からそれと
は別の座標系への移動制御を容易に行うことができる。As described above, according to the present invention, the coordinate value in the predetermined coordinate system is converted into the coordinate value in the robot coordinate system based on the conversion data corresponding to the identifier, and the time required for teaching is set. It is possible to significantly improve the workability by shortening the operation time.In addition, with the above configuration, multiple coordinate systems different from the robot coordinate system can be set, and movement control from one coordinate system to another coordinate system can be controlled. Can be done easily.
第１図（ａ），（ｂ）は水平多関節型ロボツトにおける
左右腕の違いの説明図。 第２図は従来例によるロボツト制御装置の構成図。 第３図は本発明による実施例のロボツト制御装置の構成
を示す図。 第４図は座標変換の説明図。1 (a) and 1 (b) are explanatory views of the difference between the left and right arms in the horizontal articulated robot. FIG. 2 is a block diagram of a robot controller according to a conventional example. FIG. 3 is a diagram showing the configuration of a robot controller according to an embodiment of the present invention. FIG. 4 is an explanatory diagram of coordinate conversion.
Claims (1)
に対応させて記憶する記憶手段と、前記位置データを前
記位置名称に基づいて検索する検索手段と、検索した前
記位置データに基づいて移動制御を行うロボット制御装
置において、前記位置データは、前記座標値とともに所
定の識別子からなり、ロボット座標系とは異なる所定の
座標系を前記ロボット座標系に変換する変換データを前
記識別子に対応させて記憶する手段と、前記変換データ
を前記識別子に基づいて検索する手段と、前記変換デー
タに基づいて前記所定の座標系を前記ロボット座標系に
変換する手段とを有することを特徴とするロボット制御
装置。1. A storage unit that stores coordinate values as position data in association with a predetermined position name, a search unit that searches the position data based on the position name, and a move based on the searched position data. In the robot control device for controlling, the position data comprises a predetermined identifier together with the coordinate values, and conversion data for converting a predetermined coordinate system different from the robot coordinate system into the robot coordinate system is associated with the identifier. A robot control apparatus comprising: a storing unit, a unit that searches the conversion data based on the identifier, and a unit that converts the predetermined coordinate system into the robot coordinate system based on the conversion data. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59009798A JPH0750408B2 (en) | 1984-01-23 | 1984-01-23 | Robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59009798A JPH0750408B2 (en) | 1984-01-23 | 1984-01-23 | Robot controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60153507A JPS60153507A (en) | 1985-08-13 |
| JPH0750408B2 true JPH0750408B2 (en) | 1995-05-31 |
Family
ID=11730212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59009798A Expired - Lifetime JPH0750408B2 (en) | 1984-01-23 | 1984-01-23 | Robot controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0750408B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62243004A (en) * | 1986-04-15 | 1987-10-23 | Matsushita Electric Ind Co Ltd | Controlling method for robot |
| JPH04232508A (en) * | 1990-12-28 | 1992-08-20 | Nitto Seiko Co Ltd | Robot controller |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5727689A (en) * | 1980-07-19 | 1982-02-15 | Shin Meiwa Ind Co Ltd | Multi-articulated robot |
-
1984
- 1984-01-23 JP JP59009798A patent/JPH0750408B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60153507A (en) | 1985-08-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |