KR0161004B1 - Continuous travelling control method of multi-robot - Google Patents

Abstract

According to the present invention, in a multi-joint robot consisting of several joints, the driving time can be shortened as well as the performance of the robot can be improved by continuously driving from the initial movement start point to the final movement end point without passing through the intermediate route point. Regarding the continuous movement control method of the robot, the first step of inputting data on the target position to be moved by the robot, and generating position data to be moved by the robot for a unit time, and when the continuous movement operation generation mode is not turned on A second step of sending the position data as a speed command and a continuous movement operation execution mode is turned on, and when the robot is currently accelerating, the second step of compensating the deceleration data to the current speed command to generate the movement data to the target position; It is characterized by consisting of three steps.

Description

Continuous movement control method of multi-joint robot.

1 is a schematic diagram of a movement path of a conventional robot.

2 is a velocity waveform diagram of a conventional movement method.

3 is a block diagram of a control system according to an embodiment of the present invention.

4 is a velocity waveform diagram generated by the present invention.

5 is a flowchart showing the operation procedure of the continuous movement control method of the present invention.

* Explanation of symbols for main parts of the drawings

10: main control unit 11: central processing unit

12: Romans 13: Ram

According to the present invention, in a multi-joint robot consisting of several joints, the driving time can be shortened as well as the performance of the robot can be improved by continuously driving from the initial movement start point to the final movement end point without passing through an intermediate transit point. The present invention relates to a continuous movement control method of a robot.

In general, robots on the production line need fast and accurate operation.

In view of this, there are known means for shortening the sampling period of a certain period for accurately determining the position of the robot or for accurately determining the position information of the robot. In order to avoid obstacles in movement due to obstacles, it was necessary to use a bypass method.

Of course, there is also developed a robot that can detect the obstacles to change the movement path, but this is a hardware configuration, the system itself is complicated and the manufacturing cost was bound to increase.

Considering the conventional method of moving the robot on the basis of a simple principle, as shown in FIGS. 1 to 2, the robot 1 operates at the work point P1 with the robot 1 positioned at an arbitrary position A. FIG. Upon completion, move to the next work point (P4), but if there is an obstacle (2), the obstacle (2) makes it impossible to move the robot (1). After (Δt) had elapsed, it had to move from the waypoint P3 to the work point P4.

In this manner, when the robot 1 moves to the work point P1, the distance L1 between the work point P1 and the waypoint P2 and the distance L2 between the waypoint P2 and the work point P3 are the same. If it is assumed that, as shown in FIG. 2, the constant acceleration period (P1 ~ P1 ') is maintained after passing the acceleration section (P1 ~ P1') for the first predetermined time, and a certain time until reaching the passing point (P2) It is to set the deceleration section P2 'to P2 before deceleration to reach the passing point P2, and to reach the target work point P3 after going through the acceleration / deceleration section again as described above. .

The acceleration / deceleration section and the equivalent acceleration section, as well as the setting and execution based on the control program stored in the central processing unit.

However, such a conventional robot movement method moves to the work point P3 via the non-significant waypoint P2, and therefore, there is a problem that it takes more time to move, and also the waypoint P2. ) Must be moved to the work point (P3) by way of, not only has the problem that it takes more time to move, but can also shorten the acceleration / deceleration section for accelerating and decelerating the moving speed of the robot to pass through the pass point (P2). Therefore, there is a problem that the power generated during the movement and stop is increased to increase the power consumption.

Accordingly, the present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide a method for controlling a continuous joint movement of a multi-joint robot, which can be quickly moved to a work point without passing through a route point. To provide.

Another object of the present invention is to provide a continuous movement control method for a multi-joint robot that reduces power consumption by shortening the acceleration / deceleration section required for the movement of the robot and reducing the torque generated during the movement and the stop.

In order to achieve the above object, the continuous movement control method for a multi-joint robot according to the present invention includes a first step of inputting data on a target position to be moved by the robot, and generating position data to be moved by the robot for a unit time. If the continuous movement operation generation mode is not turned on, the second step of sending out the position data as a speed command; if the continuous movement operation execution mode is turned on, and the robot is currently accelerating, deceleration data is compensated for the current speed command. And a third step of generating movement data to a target position.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

3 is a block diagram of a control system according to an embodiment of the present invention, FIG. 4 is a velocity waveform diagram generated by the present invention, and FIG. 5 is a flow chart showing an operation procedure of the continuous movement control method of the present invention. It is a chart.

In FIG. 3, reference numeral 10 denotes a central processing unit 11 for controlling the overall operation of the present invention, a ROM 12 storing a control program for executing the present invention, and data necessary for executing the present invention. It is a main control unit composed of a RAM 13 that stores (position data, deceleration data, etc.).

30 denotes a robot (not shown) and a robot detected by a position detector such as an encoder or resolver in order to control the position of the robot 50 based on the control signal of the main controller 10. A position counter (not shown) inputted to the central processing unit after counting the current position of 50), and the current position information of the robot 50 inputted from the position counter, and is read based on the read current position information. And a D / A converter (not shown) for converting the control data generated by the comparison result into analog data after comparison with the normal position.

40 is a motor controller for controlling the drive of the motor by the control signal of the position controller 30. Since the position of the robot 50 is changed by the driving of the motor, the motor is driven.

Reference numeral 20 denotes a DPRAM, 60 denotes a monitor, and 70 denotes a keyboard for inputting a user command.

Next, a method of controlling the continuous movement of the articulated robot according to an embodiment of the present invention will be described with reference to FIG.

When the robot 50 completes the work at any one work point in step S1, the data of the next work point (hereinafter referred to as the target position) is transferred from the RAM 13 to the main control unit 10. Receive input.

Then, in step S2, the central processing apparatus 11 reads data on the target position received from the RAM 13 according to the read program stored in the ROM 12, and the robot 50 moves for a unit time. Generate location data.

In other words, the basic data (block data) to be moved for a unit time in order to reach the target position accurately.

Subsequently, in step S3, the central processing unit 11 determines whether the continuous movement operation generation mode is turned on by the key operation via the keyboard 70. This is to determine whether the robot 50 should generate a moving program for moving to the target position via the intermediate waypoint.

At this time, if the determination result in step S3 is that the continuous movement operation generation mode is not turned on (No), the process proceeds to step S4 where the central processing unit 11 sends the position data to the position controller 30 and the robot 50. Outputs the movement speed command of. That is, the central processing unit 11 receives the position data to which the robot 50 should move during the unit time generated in step S2 from the ROM 13 and inputs it to the position controller 30 by the speed command. The driving of the robot 50 is continued.

Subsequently, in step S5, the CPU 11 determines whether the continuous movement operation execution mode is on, and when the continuous movement operation execution mode is turned on (yes), the robot 50 determines whether the continuous movement operation execution mode is on. Performs the movement to the next target position directly without passing through the waypoint.

That is, in step S6, the central processing unit 11 determines whether the robot 50 is currently accelerating, and if it is accelerating (yse), proceeds to step S7 to perform the central processing for the acceleration of the current robot 50. The deceleration data stored in the RAM 13 is compensated for by the speed command for acceleration output from the device 11 to the position controller 30.

That is, as shown in FIG. 4, the robot 50 compensates the speed command data in the acceleration section in the deceleration state in which the movement in the deceleration section is not completely completed. Not only is it moved to the target point through, but also via the waypoint, once the robot 50 stops and then moves to the target point again by acceleration in the acceleration section, but not via the waypoint, When the deceleration is not completed, the data for acceleration in the acceleration section is compensated so that the shortest distance can be continued without stopping.

Thereafter, in step S8, it is determined whether or not the movement data to the target position has been generated.

That is, the deceleration data is compensated for the speed command for acceleration in step S7 to determine whether the robot 50 has generated the movement data for direct movement to the target position without passing through the intermediate route point.

At this time, when the movement data to the target position is generated in step S8 (if yes), the movement to the target position is performed correctly while the robot 50 movement control operation is performed, and the movement data to the target position is generated. If not (No), the flow returns to step S2 to repeat the operation of step S2 and below.

On the other hand, when it is determined in step S3 that the continuous movement operation generation mode is turned on (yes), the flow advances to step S9 to determine whether the robot 50 is currently decelerating to pass via the intermediate waypoint.

As a result of this determination, if the robot 50 is currently decelerating (yes), the deceleration data is stored in the lap 13 under the control of the central processing unit 11 in step S10, and the flow advances to step S8.

That is, in order to move to the next target point after passing through the starting point at the first movement start, the robot 50 decelerates and stops at the passing point for a while and then accelerates again to the target position. The data is stored in the RAM 13.

On the other hand, when the determination result in step S5 indicates that the continuous movement operation execution mode is not turned on (No) and when the determination result in step S6 is not accelerating (No), the process proceeds to step S8. It is determined whether the movement data up to is generated and control the movement of the robot 50 as described above or return to step S2 and repeat the operation of step S2 or less according to the determination result.

That is, in this case, since the robot 50 moves through the intermediate route point, the step of compensating the deceleration data for the current speed command such as step S7 is unnecessary.

At this time, the movement data generation operation to the target position as in step S8 is to generate the movement data to the first work point, the waypoint and the waypoint and the last work point, that is, the target position.

As described above, according to the present invention, according to the continuous movement control method of the articulated robot, the deceleration data is compensated for the acceleration section, and the movement to the next target position (working point) is performed in the shortest time without passing through the intermediate route. Compensation has excellent effects such as reducing torque and reducing power consumption.

Claims (3)

A first step of inputting data on a target position to be moved by the robot, and generating position data to be moved by the robot for a unit time, and sending the position data as a speed command when the continuous movement operation generation mode is not turned on. A two-step and a third step of generating a movement data to the target position by compensating the deceleration data with the current speed command when the continuous movement operation execution mode is turned on and the robot is currently accelerating. Robot continuous motion control method. 2. The articulated robot according to claim 1, wherein in the second step, when the continuous movement operation generation mode is turned on and the robot is currently decelerating, the joint robot determines whether to generate movement data to a target position after storing the deceleration data. Continuous movement control method. The method of claim 1, wherein in the third step, if the continuous movement operation execution mode is not turned on and the robot is not currently accelerating, the movement data to the target position is directly generated without compensating the deceleration data for the current speed command. Continuous movement control method of the articulated robot, characterized in that for determining the.