JPS6179589A - Operating device for robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a robot operating device suitable for controlling industrial robots and master-slave manipulators.

[Technical background of the invention and its problems]

In order for an industrial robot to perform a specific task, the robot must be taught how to use its hands in advance.One way to do this is for an operator to directly hold the robot's hand and guide it to a specific location. Alternatively, there is a method of moving the hand to a predetermined position using a program loader and calculating the coordinates of the hand in Qmtc1.

However, in this case, there is a safety problem because the robot is directly operated by the operator. Furthermore, with such a teaching method, it is difficult to modify programming.

Master-slave robot In this case, two robots, a master and a slave, are required, which is expensive.

Furthermore, if a slave robot is to be operated in a complicated environment, the same environment must be prepared for the master fJfAl.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot driving device for driving a robot by easily specifying the position of a robot hand and performing predetermined movements of fingers and feet while reducing the mental and physical burden on the driver. .

[Summary of the invention]

A display means that displays the robot and the work environment as a three-dimensional geometric model, and the model displayed by this display means is used to input the position of the hand, which is the working part of the robot, and the state of the hand such as opening/closing and rotation. This device is equipped with means and means for calculating joint angles of the robot using the input data, and is designed to make a real robot move and run while sequentially simulating the robot's movements on a computer.

〔Effect of the invention〕

According to the present invention, the effectiveness of the robot can be confirmed before the robot is moved. Furthermore, in a master-slave robot, a master is no longer necessary, and the robot can be easily controlled by viewing the robot's posture from various angles on a display means (CRT).

[Implementation sequence of the invention]

Examples of the present invention will be described in detail below.

FIG. 1 shows an overview of the system, and FIG. 2 shows a flowchart for operating the system. flowchart l
The present invention will be explained in detail along this line.

Step 8 of Step 1 is to construct a geometric model of the robot. This is done because the operator who operates the robot knows what kind of robot will be used in what kind of work environment. This is a means of reading the dimensions of a tool box, etc. from a drawing and constructing a three-dimensional geometric model of these in a computer.This three-dimensional geometric model consists of a cylinder, rectangular parallelepiped,
Cubes such as cones (basic shape elements, called primitives)
This is a technology in which a three-dimensional object with a complex shape is constructed using a computer 1 by combining
It is possible to view both sides of the screen from various directions, just like viewing the real object.

Step 9 of $2 is to input the position, status, and work command of the hand, and display the position on the screen using the input @ position of a tablet, digitizer, light pen, etc. on the screen where the model is displayed first. Move the 3D cursor,
Input the coordinates of the hand's destination and specify the parts to be grabbed by the hand.

In addition, work commands such as hand close commands, start and end of painting work, etc. can be entered using the keyboard 4 using the robot language, or the menu table 2' displayed on the CRT screen can be specified using a tablet. and enter. The position of the platform LE dimension cursor is read into the computer 1 by the coordinate position ejection circuit 5.

The third step 10 is trajectory calculation, work command interpretation,
The fourth step 11 is simulation, in which the trajectory of the robot is calculated (determining the joint angles of each arm) in order to perform a predetermined action at a predetermined position based on the data input in the second step 9. Let's do it.

The posture of the robot is displayed on the CRT screen when the coordinates of the geometric model of the robot are transformed based on the joint angles determined here. Therefore, the operator has to apply constantly changing joint angles to the geometric model.
It is possible to simulate the operation, which allows the operator to confirm the operation. If the motion is unexpected, re-input is performed from the second step 9.

In steps K5 to Steps 12 to 14 of Step 7, the robot is operated and its posture is displayed.

The robot 7 is operated by transmitting the momentary command data (for example, joint angle/opening/closing of the joint) obtained in this way to the robot controller 6.

On the other hand, if the posture of the three-dimensional geometric model of the robot is displayed on the CRT based on this data, it will correspond one-to-one with the real thing, so you can easily see the robot's movements on the CR/T screen. Recognize.

The joint angle data may be transferred from this warming robot controller to a computer, and the postures of the robot CB and Ti may be displayed.

The operator can operate the robot more easily by repeating the operations from step 2 to the sixth step 9 to 13 in total by interacting with the machine.

Furthermore, the master of the master-slave manipulator is CR.
T can be substituted.

Furthermore, even if the shape of the robot changes, the geometric model can be easily changed.

With this system, the shape of the robot can be viewed from any direction on the CRT screen, making it easy to specify the position of the hand and greatly reducing the burden on the operator.

In this example, the position was specified using a three-dimensional cursor, but an operator who is familiar with mechanical design can display the top view and side view of the robot and work environment on the C1 (and T screen).
It is also possible to input three-dimensional coordinates while referring to this.

In addition, remote operation is also possible by connecting the total LPi and the robot controller with f%del.

[Brief explanation of drawings]

Figure 1 is a block diagram showing an example of the present invention, and Figure 2 is a flowchart for carrying out the present invention. 1... Calculation board, 2... Graphic display device, 2'... Tablet: Mesenyu 3... Tablet % 4... Keyboard, 5... Coordinate position 1 fu appearance χ, 6 ...Robot controller, 7.-Robot. Proxy Attorney Kensuke Chika (one idiot) Figure 1 47ya Figure 2

Claims (1)

[Claims] A robot having a working part, a display means for displaying the working environment of this robot as a three-dimensional geometric model, and a destination of the robot's working part or a work target of the robot's working part in the model displayed by the display means. A device for inputting a designation of an object, a means for inputting a work command, a means for calculating joint angles of the robot at each position by performing interpolation processing from the current position of the robot's working part to the input point; A robot operating device comprising a calculation means or a controller for controlling the robot according to the work command.