KR101969727B1 - Apparatus for manipulating multi-joint robot and method thereof - Google Patents

Abstract

According to the present invention, disclosed are a device for manipulating a multi-joint robot and a method thereof. According to one embodiment of the present invention, the device for manipulating the multi-joint robot comprises: an input device receiving a first activation command for activating at least one task in which a work variable restraining at least one DOF of total degrees of freedom (DOF) of the robot is defined according to a user operation, and receiving a second command for setting a work variable corresponding to at least one activated work according to the input first activation command; and a control device for receiving a second command from the input device, and controlling a posture of the robot in accordance with the received second command.

Description

[0001] APPARATUS FOR MANIPULATING MULTI-JOINT ROBOT AND METHOD THEREOF [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-joint robot, and more particularly, to an apparatus and method for operating a multi-joint robot.

Generally, a jointed-arm robot is a robot that has links capable of moving at various angles and can take free action. In general, a jointed-arm robot can combine each link with three or more rotational motion mechanisms, and when the jointed-arm robot is moved, the rotational motion mechanism (generally, a motor) can be driven to perform an operation.

The articulated robot can take various attitudes and various control methods can be applied as to how to operate each link when changing the posture from the first posture to the second posture. The articulated robot may include a rectangular coordinate robot, a horizontal articulated robot, a vertical articulated robot, and a two-armed robot.

In such a multi-joint robot, there is a UI (User Interface) for manipulating each robot according to the shape of the robot, and a UI suitable for each new robot is developed. For example, Japanese Patent Application Laid-Open No. 10-2013-0066689 proposes a control device and a teaching method for controlling the operation of a 7-axis articulated robot so that the motion locus of the elbow is limited within a predetermined plane. It is limited to articulated robots.

The development and use of a new UI every time according to the shape of the robot is troublesome not only for the robot developer but also for the user of the robot, so a universal UI applicable to all the robots regardless of the robot shape is needed.

Published Japanese Patent Application No. 10-2013-0066689, published on June 20, 2013

In order to solve the problems of the prior art, it is an object of the present invention to define a task variable that can constrain at least one DOF out of the total DOF of a robot as a task, And controlling the attitude of the robot by means of a work variable corresponding to the work, and to provide a method and apparatus for operating the articulated robot.

It should be understood, however, that the present invention is not limited to the above-described embodiments, and may be variously modified without departing from the spirit and scope of the present invention.

According to an aspect of the present invention, there is provided an apparatus for manipulating a jointed-arm robot, the manipulator including a manipulator for manipulating at least one DOF of a total degrees of freedom (DOF) And a second command for setting a work variable corresponding to at least one activated job in accordance with the input first activation command, An input device for receiving input; And a controller for receiving a second command from the input device and controlling the posture of the robot according to the received second command.

Further, the work may be a task in which an angle of an axis of at least one joint among a plurality of joints constituting the robot is defined as a work variable, a position in which at least one end effector is defined as a work variable, The direction of the end effector can include the task defined by the work variable.

The position and direction of the at least one end effector may be manipulated based on a coordinate system fixed to the base of the robot.

In addition, the position and direction of any of the end effectors of the robot can be manipulated based on the coordinate system of the other end effector of the robot.

In addition, the input device may determine that the second command for maintaining the task variable corresponding to the activated task at the current value is received, if the user does not operate after the task is activated according to the input first activation command .

In addition, the input device determines that the second instruction for inputting the activated operation variable to the input value according to the user's operation is inputted when the operation is performed after the operation is activated according to the inputted first activation command can do.

In addition, the input device may be configured to select one of the plurality of activated jobs when all of the input jobs are activated, and to set a work variable corresponding to the selected one of the jobs as an input value 2 command can be input.

The input device may be configured to select one of the plurality of activated jobs if all of the inputted jobs are activated and to receive a job variable corresponding to the selected one of the jobs, And a second command for keeping the current value of the task variable corresponding to each of the other tasks not selected is inputted.

The input device receives a second command for setting a work variable corresponding to the activated job to be a value input according to a user's operation when one of the inputted jobs is activated, It can be determined that the task variables corresponding to the other tasks that are not activated can be changed by the activated task.

The input device may include a task input window for inputting at least one task, a task status window for displaying the status of the input task, a monitoring window for displaying the status of the robot according to the task, can do.

According to another aspect of the present invention, there is provided a method for operating a jointed-arm robot, the method including: activating a task in which a task variable capable of restricting at least one DOF among total degrees of freedom of the robot (DOF) Receiving a first activation command for performing a first activation command; Receiving a second command for setting a task variable corresponding to at least one task activated according to the first activation command; And controlling the posture of the robot according to the received second command when receiving the second command.

In addition, in the step of receiving the second command, if there is an operation of the user after the operation is activated according to the input first activation command, It can be determined that a command has been input.

In addition, in the step of receiving the second command, when all of the input jobs are activated, one of the plurality of activated jobs is selected, and a job variable corresponding to the selected one job is set The second command can be inputted.

In addition, in the step of receiving the second command, when all of the inputted jobs are activated, one of the plurality of activated jobs is selected, and the operation variable corresponding to the selected one operation is operated by the user And a second instruction for setting a working value corresponding to each of the unselected jobs to be a current value is received.

In addition, in the step of receiving the second command, when one of the plurality of jobs inputted is activated, the operation variable corresponding to the activated one operation is set to be a value inputted according to the operation of the user, It can be determined that the work variable corresponding to each of the other jobs that have not been activated can be changed by the activated job.

As described above, according to the present invention, a work variable that can constrain at least one DOF out of the total DOF of a robot is defined as a task, and a command for activating or deactivating the defined task and a task variable corresponding to the task are transmitted to the robot Control the posture. In other words, it is applicable to all robots regardless of the shape of robot such as DOF and DH parameters because it is a method based on work rather than the shape of robot.

In addition, since the present invention can simultaneously activate two or more operations simultaneously within a range allowed by the robot's capabilities, the robot can be operated in various ways according to the user's taste.

However, the effects of the present invention are not limited to the above effects, and may be variously extended without departing from the spirit and scope of the present invention.

1 is a block diagram of an apparatus for operating a jointed-arm robot according to an embodiment of the present invention.
Fig. 2 is a diagram showing a detailed configuration of the input device shown in Fig. 1. Fig.
3A to 3E are views for explaining the principle of operation of the articulated robot according to an embodiment of the present invention.
FIGS. 4A to 4G are views for explaining the operation of the articulated robot according to an embodiment of the present invention.
FIGS. 5A through 5G are views for explaining the operation of the articulated robot according to another embodiment of the present invention.
6A to 6H are views for explaining a process of operating the articulated robot according to another embodiment of the present invention.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Hereinafter, an apparatus and method for operating a jointed-arm robot according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings. Particularly, in the present invention, a task variable capable of restricting at least one DOF of the total DOF (Degrees of Freedom) of a robot is defined as a task, and a task corresponding to a command and a task for activating or deactivating the defined task This paper proposes a new general - purpose multi - joint robot manipulation method that controls the robot 's posture through the work variable. Herein, the task is a task in which the angle of an axis of at least one joint among a plurality of joints constituting the robot is defined as a work variable, the position of an end effector is defined as a work variable, You can include a job defined by a variable.

1 is a block diagram of an apparatus for operating a jointed-arm robot according to an embodiment of the present invention.

Referring to FIG. 1, an apparatus for operating a jointed-arm robot according to an embodiment of the present invention may include a jointed-arm robot 100, a control device 200, and an input device 300.

The articulated robot 100 has links capable of moving at various angles and can take a free action. The articulated robot 100 may be, for example, a concept including a rectangular coordinate robot, a horizontal articulated robot, a vertical articulated robot, and a two-armed robot.

The control device 200 is connected to the articulated robot 100 and the input device 300 so that the DOF of the usable robot is constrained according to a command received from the input device 300 by the user's operation, It is possible to control the posture of the robot 100.

The input device 300 receives a first command for activating or deactivating at least one job, that is, a first activation command for activating a job, and a first deactivation command for deactivating a job, according to a user's operation, And a second command for setting a work variable corresponding to at least one job activated according to the received first command as a value input by a user's operation.

For example, when the input device 300 receives the first command, the input device 300 can activate the deactivated job and deactivate the activated job according to the first command.

As another example, when the task is activated according to the first instruction, the input device 300 may receive a second instruction to set the task variable corresponding to the activated task to be a value input according to the user's operation.

At this time, the input device 300 judges that the second command for setting the initial value of the work variable corresponding to the activated job to be the current value is input after the job is activated according to the first command , It can be determined that a second instruction for setting the corresponding work variable to be the input value is input if the user's operation is performed.

Further, when a plurality of jobs are activated, the input device 300 can receive a second command describing a set value of the work variable, together with an identification as to which job to receive the second command.

In addition, when all of the inputted jobs are activated, the input device 300 selects one of the plurality of activated jobs, and if the job variable corresponding to the selected one job is a value And the second instruction for setting the task variable to be the second task is set to be the same as the second instruction for setting the task variable for the other tasks that are not selected at this time.

When one of the input jobs is activated, the input device 300 receives a second command for setting a work variable corresponding to one activated job to be a value input according to an operation of the user , It can be judged that the work variables corresponding to the other tasks that are not activated can be changed by the activated task.

Fig. 2 is a diagram showing a detailed configuration of the input device shown in Fig. 1. Fig.

2, an input device 300 according to an exemplary embodiment of the present invention may include a communication unit 310, an input unit 320, a control unit 330, a display unit 340, and a storage unit 350 .

The communication unit 310 may be connected to the control device to transmit or receive various information. For example, the communication unit 310 may transmit the first instruction and the second instruction to the control device, and receive the processed result from the control device according to the first instruction and the second instruction.

The input unit 320 can receive a command from a user by operating a menu or a key.

The control unit 330 transmits the first command and the second command received by the user to the control apparatus, receives the processed result according to the first command and the second command from the control apparatus, and transmits the result to the display unit 340 .

The display unit 340 can display the processed result in accordance with the first instruction and the second instruction. That is, the display unit 340 may display the posture of the robot and the current activation status of all inputted jobs.

The storage unit 350 may store the processing result according to the first instruction and the second instruction.

3A to 3E are views for explaining the principle of operation of the articulated robot according to an embodiment of the present invention.

3A to 3C, an input device according to an exemplary embodiment of the present invention includes a task input window 341 for inputting at least one task, a task status window 342 for displaying a status of an input task, , A monitoring window 343 for displaying the state of the robot can be displayed on the screen.

The user can input at least one job through the job input window, and the inputted job can be displayed through the job status window. If the user manipulates the robot using a work variable corresponding to one of the at least one task displayed in the work status window, the status of the operated robot can be displayed in the monitoring window.

Referring to FIG. 3B, a case where one job is input is shown. That is, when one operation is inputted by the user's operation, the input work, that is, the angle of the axis of at least one joint among the plurality of joints constituting the robot is the work variable {1,2,3,4,5,6 } Can be displayed.

In this example, four work Joints, Cartesian (position + direction), Cartesian (position), and Cartesian (direction) are registered as an example, but the present invention is not limited thereto. .

Referring to FIG. 3C, a case where a plurality of jobs are input is shown. That is, when a plurality of jobs are inputted by the user's operation, the input work, that is, the angles of the axes of at least one of the plurality of joints constituting the robot is set to the work variable {1,2,3,4,5,6 }, The position and direction of the end effector can be displayed in the job Cartesian (position + direction) defined by the work variable according to the first command have.

Referring to FIG. 3D, when one articulated robot is operated, the position and direction of one end effector can be manipulated based on a coordinate system fixed to the base of the robot.

Referring to FIG. 3E, when a plurality of articulated robots are operated, the position and direction of one end effector can be manipulated based on the coordinate system of the other end effector.

FIGS. 4A to 4G are views for explaining the operation of the articulated robot according to an embodiment of the present invention.

4A to 4G, a process of operating the DOF of a vertical articulated robot having six degrees of freedom is described. In FIG. 4A, two operations, that is, at least one joint among a plurality of joints constituting the robot (X, y, z), (?,?,?) And the position and direction of the end effector are defined as the work variables { } Is input to the second job.

4B, when the first activation command for the first task is input by the user's operation, the angle of the axis of at least one of the plurality of joints constituting the robot according to the inputted first activation command is set to the task variable { 1, 2, 3, 4, 5, 6}.

4C shows that the work variable corresponding to the first job activated according to the second command is set to the input value in the state where the first job is activated.

4D, when the first deactivation command received by the user in response to the first operation is input, the angle of the axis of at least one of the plurality of joints constituting the robot is changed The work joint defined by the variable {1,2,3,4,5,6} is deactivated.

4E, when the first activation command for the second job is inputted by the user's operation, the position and direction of the end effector are defined as a work Cartesian (position + direction) defined by the work variable according to the inputted first activation command It shows that it is activated.

In FIG. 4F, it is shown that the work variable corresponding to the second job activated according to the second command is set to the input value in the state where the second job is activated.

In FIG. 4G, when a first deactivation command for the second job is inputted by the user's operation, the position and direction of the end effector are defined as a work Cartesian (position + direction) defined by the work variable according to the first deactivation command Indicating that it is inactive.

FIGS. 5A through 5G are views for explaining the operation of the articulated robot according to another embodiment of the present invention.

5A to 5G, a process of operating a DOF of a vertical articulated robot having six degrees of freedom is described. In FIG. 5A, three operations, that is, at least one joint among a plurality of joints constituting the robot A first operation in which the angle of the axis is defined as a work variable {1,2,3,4,5,6}, a second operation in which the position of the end effector is defined as a work variable {x, y, z} Shows that the third task defined by this work variable {alpha, beta, gamma} has been input.

5B, the first activation command for the second operation is inputted by the user's operation, and the position of the end effector is set to the second operation defined by the operation variable {x, y, z} And receives a first activation command for the third operation by an additional operation of the user to show that the third operation in which the direction of the end effector is defined as the work variable {alpha, beta, gamma} is activated.

In FIG. 5C, the second operation among the activated two operations is selected in the state where the second operation and the third operation are activated, and the operation variable corresponding to the second operation activated according to the second instruction for the second operation Is set to the input value. At this time, since the third job is also activated, the job variable corresponding to the third job is bound to the initial value and does not change.

FIG. 5D shows that the third task is selected from among the two tasks that are continuously activated and the task variable corresponding to the third task activated according to the second command for the third task is set to the input value. At this time, since the second job is also activated, the job variable corresponding to the second job maintains the set value.

In FIG. 5E, when the first deactivation command for the second task is input by the user's operation, the second task defined by the position of the end effector as the work variable is deactivated according to the received first deactivation command.

5F shows that the work variable corresponding to the third job activated according to the second command for the third job in the state where only the third job is activated is set as the input value. At this time, since the first job and the second job are inactivated, the job variables corresponding to the first job and the second job can be changed.

In FIG. 5G, when a deactivation command for the third task is input by the user's operation, the third task whose direction is defined as the work variable is deactivated according to the received first deactivation command.

6A to 6H are views for explaining a process of operating the articulated robot according to another embodiment of the present invention.

6A to 6H, a process of operating a DOF of a vertical articulated robot having seven degrees of freedom is described. In FIG. 6A, two operations, that is, operations of one axis of a plurality of joints constituting the robot Shows that the second task is defined in which the position and orientation of the end effector is defined as a work variable {(x, y, z), (α, β, γ) Giving.

6B, when the first activation command for the second job is inputted by the user's operation, the position and direction of the end effector are set to the work variable {(x, y, z), , β, γ)} is activated.

6C, when the first activation command for the first operation is input by the user's operation, the angle of the axis of one of the plurality of joints is defined as the work variable {3} according to the inputted first activation command This shows that the first operation is activated.

In FIG. 6D, in the state where the first job and the second job are activated, the first one of the two activated jobs is selected, and the job variable corresponding to the first job activated according to the second command for the first job Is set to the input value. At this time, since the second job is also activated, the job variable corresponding to the second job is bound to the initial value and does not change.

FIG. 6E shows that the second task is selected from among the two tasks that are continuously activated, and the task variable corresponding to the second task activated according to the second command for the second task is set to the input value. At this time, since the first job is also activated, the job variable corresponding to the first job maintains the set value.

6F, when the first deactivation command for the second task is input by the user's operation, the position and direction of the end effector are deactivated according to the input first deactivation command and the second task defined by the work variable is deactivated have.

FIG. 6G shows that the work variable corresponding to the first job activated according to the second command for the first job in the state where only the first job is activated is set to the input value. At this time, since only the first job is activated, the job variables corresponding to the other jobs that are not activated can be changed.

6H, when a first deactivation command for the first job is input by the user's operation, the angle of the axis of one of the plurality of joints is defined as the work variable {3} according to the input first deactivation command Indicating that the first task is deactivated.

The features, structures, effects and the like described in the embodiments are included in one embodiment of the present invention and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects and the like illustrated in the embodiments can be combined and modified by other persons skilled in the art to which the embodiments belong. Therefore, it should be understood that the present invention is not limited to these combinations and modifications.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of illustration, It can be seen that various modifications and applications are possible. For example, each component specifically shown in the embodiments can be modified and implemented. It is to be understood that all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

100: articulated robot
200: Control device
300: input device

Claims (15)

A first activation command for activating at least one task in which a work variable defining a DOF of at least one DOF among total DOFs of the robot is defined according to an operation of a user, 1 input device for inputting a second command for setting a work variable corresponding to at least one activated work according to an activation command; And
And a controller for receiving a second command from the input device and controlling the posture of the robot according to the received second command,
The input device includes:
A second command for setting a task variable corresponding to the activated task as an input value according to an operation of the user when the task is activated in response to the input first activation command,
And determines that the work variables corresponding to each of the other tasks that are not activated can be changed according to the activated task. The method according to claim 1,
Wherein the work is a task in which an angle of an axis of at least one joint among a plurality of joints constituting the robot is defined as a work variable, a position in which at least one end effector is defined as a work variable, Wherein the direction of the workpiece is defined as a work variable. 3. The method of claim 2,
Wherein the position and direction of the at least one end effector are based on a coordinate system fixed to a base of the robot. 3. The method of claim 2,
Wherein the position and direction of one of the end effectors of the robot is based on the coordinate system of the other end effector of the robot. delete delete delete delete delete The method according to claim 1,
The input device includes:
A work input window for inputting at least one of the first activation command and the second command, a work status window for displaying the status of the input job, and a monitoring window for displaying the status of the robot according to the job A device for manipulating a multi-joint robot to display on a screen. Receiving a first activation command for activating a task in which a work variable defining a DOF of at least one of DOFs (Degrees of Freedom) of the robot is defined according to a user's operation;
Receiving a second command for setting a task variable corresponding to at least one task activated according to the first activation command; And
And controlling the posture of the robot according to the second instruction when the second instruction is inputted,
In the step of receiving the second instruction,
If one of the plurality of jobs is activated according to the received first activation command, a second command for setting the operation variable corresponding to the activated one operation to be a value input according to the operation of the user is input under,
And determines that the work variables corresponding to each of the other tasks that are not activated can be changed by the activated task. delete delete delete delete

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