JPH07299776A - Manipulator control device - Google Patents

Abstract

PURPOSE:To operate a manipulator in the desired direction simply and certainly by sensing the attitudes of a remote operating device and the manipulator, calculating their difference in the attitude, and converting the motion command signal for manipulator into a specific reference value in accordance with the obtained difference. CONSTITUTION:Inside a teaching box 3, an attitude sensor 4a is installed to sense its attitude, and another sensor 4b to sense the attitude of a robot 2 is installed inside the robot 2. On the basis of the sensing signals of these attitude sensors 4a, 4b, the difference in the attitude of box 3 relative to the robot 2, i.e., the angular difference (direction angle), is calculated, and also the inclination by reference to the heading of the box 3 is calculated. In accordance with the obtained attitude of the box 3 (heading and inclination), the operating direction keys 5a, 5b and rotating direction keys 6a, 6b of the box 3 are pushed, and thereby the motion command signal for the robot 2 is converted into a specific reference value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator control device for operating a manipulator such as a so-called robot by operating a device key provided on a remote control device.

[0002]

2. Description of the Related Art For example, when teaching a motion of a teaching / playback type robot, it is necessary to actually move the robot arm to a desired positioning point.
Usually, a teaching box 1 (remote operation device) as shown in FIG. 4 is used for the operation. The teaching box 1 includes, for example, an operation direction key, a speed switching key,
The robot arm is provided with coordinate conversion keys and the like, and while the operation direction key is being pressed, the robot arm operates in the direction displayed on the key. By the way, in order to position the arm at an arbitrary position / orientation in a three-dimensional space, 6 degrees of freedom are required. Therefore, a general robot has a structure capable of satisfying 6 degrees of freedom. Therefore, if a key is assigned to each of the movement directions, a total of 12 movement direction keys are required with 6 pairs of positive / negative directions. The speed change key is
It is operated when switching the operating speed of the robot arm between high speed and low speed. The coordinate conversion key is operated when the reference of the operation direction key is switched to each of the robot coordinate system, the tool coordinate system, and each axis coordinate system. Next, the procedure for operating the robot arm using the teaching box 1 will be described.

First, the reference of the movement direction key is selected as the "robot coordinate system" by the coordinate conversion key. Here, the “robot coordinate system” means an XYZ orthogonal coordinate system unique to the robot 2, as shown in FIG.
Therefore, the hand 2 _a provided at the tip of the robot 2 is
For example, when the user wants to operate in the direction parallel to the X axis, either one of the "+ X key" and the "-X key" of the above operation direction keys may be operated. Further, when it is desired to move the handle _2a in the above-mentioned coordinate system in an oblique direction, for example, the "+ X key" and the "+ Y key" are operated simultaneously or alternately. As a result, the robot 2 is moved in a desired direction and its operation teaching is performed. A detailed block diagram of the control system in this case is shown in FIG.

[0004]

In the conventional teaching procedure performed as described above, since the teaching operation is performed with the coordinate system centered on the robot as a reference as described above, for example, the operator controls the robot 2. When the teaching operation is performed in the face-to-face state, it is necessary for this operator to view the image in the robot coordinate system in reverse. That is, the operation direction of the robot 2 is determined and the robot 2
In order to operate, the operation direction key in the teaching box 1 must operate the key corresponding to the opposite direction as seen from the operator. Further, since such a coordinate system is virtual to the operator and unique to the robot 2, when the operator changes the position of the robot 2, the image of the operator is changed. Also in the above, the movement direction of the robot 2 must be relatively changed. As described above, it is difficult for the conventional robot teaching system to teach the movement of the robot, and a considerable degree of skill is required. Therefore, the present invention was devised in view of the above circumstances, and an operator does not have to be aware of a coordinate system specific to a manipulator, but the operation direction of the operator is a remote control device, that is, the remote control device is supported. An object of the present invention is to provide a manipulator control device which can be grasped mainly by an operator and which can surely operate the manipulator in a desired direction.

[0005]

In order to achieve the above-mentioned object, the first means adopted by the present invention is, in the gist thereof, output by operating an operation key provided on a remote control device. In the manipulator control device for causing the manipulator to perform a desired operation within a predefined manipulator coordinate system unique to the manipulator, the remote operation device and the manipulator are respectively provided with the remote operation device body and the manipulator body. Difference between the relative attitude of the remote control device main body with respect to the manipulator main body, based on the attitude data from the first and second attitude detection means and the first and second attitude detection means. A first calculation means for calculating
Conversion means for converting the operation command signal output from the remote operation device to the manipulator to a value based on the remote operation device main body in the manipulator coordinate system, based on the difference data obtained by the operation means. The manipulator control device according to the above point. Further, the second means adopted by the present invention is, in summary, a predefined manipulator coordinate unique to the manipulator by a motion command signal output by operating an operation key provided on the remote control device. In a manipulator control device for causing the manipulator to perform a desired operation in a system, a first attitude detection means provided in the remote operation device for detecting an attitude of a remote operation device body, and a first attitude detection means. Second operation means for calculating the difference in the attitude of the remote operation device body with respect to the reference attitude of the manipulator main body based on the attitude data; and the remote operation device based on the difference data by the second operation means. A converter for converting the operation command signal output to the manipulator into a value in the manipulator coordinate system with reference to the main body of the remote control device. Preparative a manipulator control apparatus according to the point at which comprises a.

In the manipulator control device having the above-mentioned configuration, the operation command signal output from the remote operation device to the manipulator based on the difference data of the attitude of the remote operation device main body with respect to the attitude of the manipulator main body in the manipulator coordinate system Converted to a value based on the remote control device body in the manipulator coordinate system. Thus, the operator can specify the operation direction of the remote control device, that is, the manipulator centering on the operator supporting the remote control device, without being aware of the existence of the manipulator coordinate system. Here, the difference data of the attitude of the remote operation device main body with respect to the attitude of the manipulator main body is calculated based on the attitude data from each attitude detection means provided in each of the manipulator and the remote operation device, or provided in the remote operation device. Based on the attitude data from the attitude detecting means, it can be obtained as a difference from the reference attitude of the manipulator.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the accompanying drawings for the understanding of the present invention. In addition, the following embodiments are examples of embodying the present invention and are not accurate for limiting the technical scope of the present invention. 1 is a schematic configuration diagram of a teaching system including a manipulator controller according to an embodiment of the present invention, FIG. 2 is a block diagram of a control system in the teaching system, and FIG. 3 is an explanatory diagram of teaching operation. . In the manipulator control device according to this embodiment, for example, as shown in FIG. 1, a posture detector _4a (first posture detecting means) for detecting the posture of the main body of the teaching box 3 is provided in a teaching box 3 (remote operation device). ) Is deployed, and the robot 2
An attitude detector 4 _b (second attitude detecting means) for detecting the attitude of the main body is provided. The attitude detector _4a is configured by combining, for example, a magnetic compass, a gyrometer, an inclination sensor, and the like, and the direction is detected by the magnetic compass and the inclination is detected by the gyrometer or the like. The attitude detector _4b is composed of a magnetic compass. Then, the posture detector 4 _b provided in the robot 2 and the teaching box 3 are provided.
Based on the angle data detected by the magnetic compass orientation detector 4 _a provided to the difference in the relative orientation of the teaching pendant 3 with respect to the robot 2 body, i.e. the angular difference (direction angle) are calculated, further the The tilt of the teaching box 3 is calculated by using a gyrometer or the like with reference to the direction in which the teaching box 3 is facing. In this case, omitting the posture detector 4 _b of the robot 2, the teaching pendant 3 to the robot 2 body
And resetting the attitude detector 4 _a in a state in which along the may calculate the direction angle in the case of moving the teaching pendant 3 the posture of the robot body 2 at that position as a reference position.

[0007] Then, the posture of the teaching pendant 3, which is calculated as described above (direction, inclination) based on the data relating to the operation direction keys of the teaching box 3 5 _a, 5 _b or the direction of rotation keys 6 _a, 6 By operating _b , the operation command signal output to the robot 2 is converted into a value based on the teaching box 3 main body in the robot coordinate system. Therefore, in the manipulator control device, the robot 2 is oriented in the direction with the operator supporting the teaching box 3 as a reference.
Can be operated. That is, the operator is
It is only operating the teaching pendant 3 support and direction operating direction key you want to operate with 5 _a, 5 _b or the direction of rotation keys 6 _a, 6 _b. A block diagram of the control concept as described above is shown in FIG. Where the direction vector r
Is a direction vector of size 1 representing the orientation of the attitude detector 4 _a . Then, the above-mentioned direction keys 5 _a , 5 _b ,
6 _a, 6 _b (see FIG. 3 (a)) or to translate along the direction vector r, used when rotating around the direction vector r (see Figure 3 (b)).

[0008] For example, when the operation instruction signal from the operation direction keys 5 _a is input, operates by a distance d to the (forward as viewed from the operator) plus side along the direction vector r,
When an operation command signal is input from the operation direction key 5 _b , the operation is performed along the direction vector r in the negative direction (toward the operator) by the distance d. When an operation command signal from the rotation direction key 6a is input, the rotation direction key _6b is operated in the plus direction (clockwise as seen from the operator) around the direction vector r by the angle θ, and the rotation direction key _6b is operated. Direction vector r when a command signal is input
It moves in the negative direction (counterclockwise as seen from the operator) around the angle θ. The above-mentioned values are absolute movement amounts when the robot 2 is operated, and actually,
In addition to the current position / orientation of the robot 2, the above-mentioned value d is added as a motion difference to obtain motion target position / orientation data. This is shown in the general formula as follows.

When the robot 2 is translated along the direction vector r of the teaching box 3.

[Equation 1] When rotating around the direction vector r (the origin of the direction vector r is the hand position)

[Equation 2] However, Vθ = 1-cosθ, Cθ = cosθ Sθ = sinθ

[Equation 3]

The motion target position / orientation data on the robot coordinate system obtained as described above is coordinate-converted and given as a target value to the servo system for operating each joint of the robot. Next, a procedure for operating the robot arm using the control device having the above configuration will be described. First, a desired operation speed is selected with a speed switching key (not shown), and the operator turns around the direction in which the robot 2 is to be operated. As a result, the teaching box 3 supported by this operator is also oriented in the movement direction of the robot 2. Subsequently, operating the operating direction key 5 _a, 5 _b or the direction of rotation keys 6 _a, 6 _b in the direction you want to operate the robot 2 viewed from the operator. Thus, operation command signals from the direction key is converted into a value relative to the teaching pendant 3 based on the attitude data from the attitude detector 4 _a, 4 _b, the robot 2 operates in that direction.

Further, when the operation direction of the robot 2 is slightly different from the direction intended by the operator, the operator may operate the desired direction key while changing the posture of the teaching box 3. As a result, the operator can intuitively instruct the operation direction of the robot 2 without paying attention to the robot coordinate system. Then, when instructing this movement direction, you can operate a single direction key without operating multiple keys as in the case of the conventional teaching box, or simply change the direction of teaching box 3 accordingly. Therefore, the teaching work is dramatically simplified.
In the above embodiment, the case where the manipulator control device is used as an input device for performing remote teaching of a teaching / playback type robot has been described as an example, but the manipulator control device is not limited to such remote teaching. Is also suitable, for example, when applied as an operating device for remote control of a robot in a dangerous area.
The arrangement of the direction keys in the teaching box 3 according to the above embodiment, other case shown in FIG. 1, changing the position of the operation direction keys 5 _a, 5 _b and the rotation direction key 6 _a, 6 _b, or each It goes without saying that the directional keys may be arranged in a vertical row and a horizontal row to provide a mode suitable for use. Further, for a robot having a low degree of freedom, it is possible to omit the rotation direction key described above and configure the control device by providing only the movement direction key. Furthermore, if the robot has only two degrees of freedom, the motion area of this robot is limited to within the two-dimensional plane. In this case, the posture vector of the teaching box is within this two-dimensional plane. The robot may be operated in the projected vector direction.

[0012]

Since the manipulator control device according to the present invention is configured as described above, the operator does not have to be aware of the coordinate system specific to the manipulator, but the operating direction of the manipulator is a remote control device, that is, this remote control device. It is possible to catch the operator supporting the robot as a center, and to reliably operate the manipulator in a desired direction.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a teaching system including a manipulator control device according to an embodiment of the present invention.

FIG. 2 is a block diagram of a control system in the teaching system.

FIG. 3 is an explanatory diagram of a teaching operation.

FIG. 4 is a schematic configuration diagram of a conventional teaching system.

FIG. 5 is a block diagram of a control system in the conventional teaching system.

[Explanation of symbols]

2 ... Robot 3 ... Teaching box (remote control device) _4a ... Attitude detector (first attitude detection means) _4b ... Attitude detector (second attitude detection means) _5a , _5b ... Motion direction key 6 _a , 6 _b … Rotation direction key

Claims (3)

[Claims] 1. A manipulator control for causing a desired operation of a manipulator within a predefined manipulator coordinate system specific to the manipulator by an operation command signal output by operating an operation key provided on a remote control device. In the apparatus, first and second attitude detecting means provided in the remote operation device and the manipulator, respectively, for detecting the attitudes of the remote operation device body and the manipulator body, and attitudes from the first and second attitude detecting means. First computing means for computing the difference in the relative posture of the remote control device body with respect to the manipulator body based on the data, and based on the difference data by the first computing means The operation command signal output to the manipulator is changed to a value based on the remote control device main body in the manipulator coordinate system. A manipulator control device comprising: a converting means for converting the manipulator. 2. A manipulator control for causing a desired operation of a manipulator within a predefined manipulator coordinate system specific to the manipulator by an operation command signal output by operating an operation key provided on a remote control device. In the apparatus, a first attitude detecting means provided in the remote operation device for detecting the attitude of the remote operation device main body, and an attitude data from the first attitude detecting means with respect to a reference attitude of the manipulator main body. The manipulator outputs the operation command signal output from the remote controller to the manipulator based on the difference data by the second calculator that calculates the difference in the attitude of the remote controller main body. A manipulator comprising: a conversion means for converting a value based on the main body of the remote control device in a coordinate system. Control device. 3. The manipulator control device according to claim 1, wherein the remote operation device is an input device for performing remote teaching.