CN101823260B - Actuation path generating method of robot - Google Patents
Actuation path generating method of robot Download PDFInfo
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- CN101823260B CN101823260B CN 201010130162 CN201010130162A CN101823260B CN 101823260 B CN101823260 B CN 101823260B CN 201010130162 CN201010130162 CN 201010130162 CN 201010130162 A CN201010130162 A CN 201010130162A CN 101823260 B CN101823260 B CN 101823260B
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Abstract
The invention provides an actuation path generating method of a robot, when generating the actuation path during operation, the practical actuation path which has not abnormal actuations and can easily take special gesture or pass through the vicinity of the special gesture can be generated. The method for generating the actuation path of a multiple-joint robot of the invention comprises: judging whether the multiple-joint robot adopts the special gesture or not, when calculating the actuation path; selecting a fulcrum enabling the multiple-joint robot to be the special shaft, when the special gesture is adopted; exteriorly designating the fulcrum value of the fulcrum selected from the fulcrum selecting step to enable the multiple-joint robot to successfully move on the actuation path including the special gesture; calculating the actuation path of the multiple-joint robot by the fulcrum value designated from the designating step.
Description
Technical field
The present invention relates to generate the method for the path of motion of articulated robot, relate in particular to and be suitable for following operation and be created on the actuation path generating method of robot of the situation in path that might be by special attitude in mobile.
Background technology
As everyone knows, when generating the path of motion of robot, be mostly to consider configuration space (C space), and in this C space, consider the situation of the path of motion of robot.That is, the robot in the use working space and geometric shape and the position relationship thereof of barrier are recorded and narrated the barrier in the C space, obtain the free space (non-interference space) in the C space.
Specifically, there is following method, that is, discreteness ground performance C space, projection (mapping) interference position and non-interference position are explored the path of obtaining the non-interference position of tracking by chart.Like this composite entity of each axle is explored, explored the path that does not have interference.
In addition, make between them without the method in the path of interfering as providing as the mobile starting position of the first operation terminal point with as the moving target position of the initial point of the second operation of first operation that continues, the method for using potential method (potential) to obtain the avoiding interference attitude is arranged.
In the method, with immediate barrier to plane projection, generate in the mode of the barrier of avoiding projection and to avoid the direction point, utilize thus the potential method to determine the robot front end to the path of motion of avoiding the direction guiding, avoid the path of interfering thereby generate.Specifically, on the basis that the Robot target direction is moved, use the computing avoidance position/attitudes such as potential calculating, and repeatedly carry out above-mentioned processing, genesis sequence is avoided position and attitude thus, and makes the path that arrives target location/attitude.
When the path of motion that carries out robot generates,, exist robot to obtain special attitude or near the situation by special attitude at this path of motion midway.If robot takes special attitude then can't move, in the time of perhaps near by special attitude, need to when action, increase joint shaft and move.
For example, in the situation of six axle articulated robots of structure shown in Figure 1, as shown in Figure 2, have (a) and take on special attitude (state of wrist position directly over shoulder), (b) the special attitude of elbow (state that elbow extends along a straight line), (c) these three kinds of special attitudes of the special attitude of wrist (state that wrist extends along a straight line), in each attitude, existence can't carry out the angle of linearly operating or certain joint shaft unstable and when making action joint shaft change the situation that waits greatly the robot abnormal operation.
Under this robot abnormal operation situation, when the activity duration is restricted, must improve the rotary speed of articulated driving equipment, thereby might surpass the upper limit of the rotary speed of articulated driving equipment.Perhaps, if in the mode that is no more than the upper limit rotary speed is descended, then can make the activity duration corresponding elongated.Namely allow to move, also can be owing to the high-speed rotary of axle then cable on the manipulator that is installed in robot etc. is twisted and damaged, perhaps articulated driving equipment is produced burden, thereby have the problem of articulated driving equipment breakage etc.
But in patent documentation 1 or patent documentation 2, the unexposed technology of avoiding the special attitude of above-mentioned robot even therefore adopt the technology of above-mentioned patent documentation, also is difficult to avoid the abnormal operation situation of robot.
For fear of above-mentioned unsuitable situation, in the path of motion of robot generates, consider to avoid special attitude to generate path of motion in the mode that does not adopt special attitude.
But, in this case, undeniablely might generate the unnecessary path of motion of going the long way round or in path of motion generates, need very many computing times.
Summary of the invention
The present invention In view of the foregoing makes, its purpose is to provide a kind of following method, namely, making as the mobile starting position of the first operation terminal point and during as the path of motion between the moving target position of the initial point of the second operation of first operation that continues, generating robot without unusual action and can successfully take special attitude or path of motion by near the practicality the special attitude.
To achieve these goals, take in the present invention following technological means.
The actuation path generating method of articulated robot of the present invention is following path of motion calculation method, namely, when the articulated robot that possesses many link rods and link the axle of this link rod moves between as the mobile starting position of the first operation terminal point and the moving target position as the initial point that is connected on the second operation of carrying out after described the first operation, whether judgement exists interference in described articulated robot, and calculate the path of motion of this articulated robot, the actuation path generating method of described articulated robot is characterised in that, comprise: in the attitude of having calculated the articulated robot that is in mobile starting position and when being in path of motion between the attitude of articulated robot of moving target position, judge whether described articulated robot takes the determining step of special attitude; Be judged as in described determining step when taking special attitude, the axle that selection makes articulated robot become the joint shaft of special attitude is selected step; For the joint shaft that described axle selects step to select, specify its axle value from the outside, so that articulated robot is comprising the given step that can move smoothly on the path of motion of described special attitude; Use the axle value of described given step appointment, calculate the path of the path of motion of articulated robot and calculate step.
When robot when the path of motion that is made by this actuation path generating method moves, robot can without unusual action take special attitude or by near the special attitude.And, owing to specially so that robot takes the mode of special attitude to generate this path, therefore can not generate the path of unnecessarily going the long way round, can generate the computing time that spends in path under reach.
Preferably, in described given step, when described articulated robot is positioned near special attitude, can or be no more than the axle value that the value on the border of special attitude is given the joint shaft that makes described articulated robot become special attitude with fixed value, and, exist in the situation of other joint shaft that becomes underrange following giving of described axle value, as the axle value of this other joint shaft and provide the interpolate value that the attitude according to the articulated robot of the front and back position of special attitude obtains.
When robot when the path of motion that is made by actuation path generating method of the present invention moves, robot can take special attitude or by near the special attitude smoothly without unusual action ground.And, owing to specially so that robot takes the mode of special attitude to generate this path, therefore can not generate the path of motion of unnecessarily going the long way round, thus can generate the computing time that spends in path under reach.
Description of drawings
Fig. 1 is the skeleton drawing of the robot of embodiments of the present invention.
Fig. 2 is the figure of special attitude that the robot of Fig. 1 is shown.
Fig. 3 is the figure of attitude (the 4th axle, the 5th axle and the 6th axle) that robot is shown, (a) robot that is in mobile starting position and moving target position is shown, the attitude of the robot that calculates starting position, special posture position, avoiding interference position (b) is shown.
Fig. 4 is the figure that is illustrated in the method for the axle value that determines the 4th axle～the 6th axle in the actuation path generating method of the present invention.
Fig. 5 is the figure that the embodiment that has used actuation path generating method of the present invention is shown.
Fig. 6 is the figure with flowcharting actuation path generating method of the present invention.
Label declaration:
1 robot
212 first axles
210 second axles
208 the 3rd axles
206 the 4th axles
204 the 5th axles
202 the 6th axles
211 first link rods
209 second link rods
207 the 3rd link rods
205 four-bar linkage
203 5-linked bars
201 the 6th link rods
The specific embodiment
Below, based on the description of drawings embodiments of the present invention.
In the following description, be marked with identical label for identical parts.Its title and function are also identical.Therefore, do not repeat detailed description about described parts.
Below, the welding robot of six axles of vertical joint type is described, but the present invention is not limited to the robot of applicable this pattern, the number of axle and purposes.
With reference to the skeleton drawing of articulated robot 1 shown in Figure 1 (below, the situation referred to as robot is also arranged), the overall structure of the robot system of embodiments of the present invention is described.
As shown in Figure 1, robot 1 is the welding robot that possesses six axles of vertical joint type, near the first axle 212 of installation chassis, possesses successively the second axle 210, the 3rd axle 208, the 4th axle 206, the 5th axle 204 and the 6th axle 202 these rotating shafts.The first axle 212 near installation chassis is called the robot initial point.
In addition, robot 1 possesses the second link rod 209, the 3rd link rod 207, four-bar linkage 205,5-linked bar 203, the 6th link rod 201 successively near the first link rod 211 of installation chassis.Each link rod is made of rigid element.
Robot 1 utilizes the welding torch (instrument) of the front end that is arranged on the 6th link rod 201 that for example workpiece is welded.
This robot system is connected with the control part of control 1, and possesses the control device of the off-line teaching data that make robot 1.In the situation of present embodiment, in this control device, generate the path of motion of robot 1.
When robot 1 moves between as " the mobile starting position " of the first operation terminal point and " moving target position " as the initial point of the second operation of first operation that continues, this control device judges whether there is interference in robot 1, and calculates the path of motion of robot 1.In other words, not to calculate such as welding such operation path of motion, but calculate the path of motion of the free degree higher " movement of the robot between the operation or attitude change ".The present invention is in such " movement of the robot during non-operation or attitude change ", specially so that robot takes the mode of special attitude to generate this path.
Below, illustrate that the path of motion of the robot that is carried out by control device generates processing.
Fig. 6 is the flow chart by the path of motion generator of the robot of this control device execution.
At S100, control device will be set as the mobile starting position of the first operation terminal point and calculate the starting position.
At S110, control device judges from the robot pose of calculating the starting position whether can move uninterruptedly to the robot pose as the moving target position of the initial point of the second operation of first operation that continues.
Can without arriving interferingly calculated target positions (S110 is yes), then not process to S120 and move if be judged as from calculating the starting position.If not like this (S110 is no), then can be without reaching interferingly moving target position from calculating the starting position, so this processing finishes.
At the S120 as determining step, when control device carries out interpolation to calculating between starting position and the moving target position (when making mobile route), judge whether robot 1 takes special attitude.Take special attitude (S120 is yes) if be judged as, then process to S130 and move.If not like this (S120 is no), this processing is moved to S150.
At the S130 that selects step as axle, control device selects to make robot 1 to become the joint shaft of special attitude, namely become the joint shaft of the main cause that forms special attitude.If will show more accurately " joint shaft that becomes the main cause that forms special attitude ", then become " in the situation of the attitude of inverse transformation robot 1; make and separate the joint shaft of degenerating " or " Jacobian during for the attitude of inverse transformation robot 1 generates the joint shaft of contraction ".Specifically, for example reference " robot control basic theory, the permanent husband in lucky river, the distribution of 1988, コ ロ Na society, pp 58～" etc.
Next, at the S140 as given step, control device generates the position/attitude of the axle value being carried out interpolation, so that robot 1 specially takes special attitude for the joint shaft of selected robot.In other words, for the joint shaft that axle selects step (S130) to select, specify its axle value (angle value of joint shaft) from the outside so that robot 1 can comprise on the path of motion of special attitude mobile smoothly.
Robot pose after the axle value calculating starting position in calculating as the next one will be specified.Afterwards, processing is moved to S160.
In addition, carry out among the S150 of no judged result at S120, control device generates the position/attitude of having carried out the robot 1 of interpolation between starting position and the calculated target positions to calculating, and calculates the starting position as the next one.
At the S160 as the second determining step, control device judges whether calculate starting position/attitude is positioned near the special attitude.Be positioned near special attitude (S160 is yes) if calculate starting position/attitude, then process to S170 and move.If not like this (S160 is no), then this processing is moved to S210.
At the S170 that selects step as the second axle, control device is chosen in and makes the joint shaft of separating the robot that degenerates in the special attitude.
At the S180 as the second given step, the axle value of the value on the fixed value that control device obtains the joint shaft of the robot selected at the S170 experience according to the actual value in past or operator of giving or the border that is no more than special attitude.And, be accompanied by to giving designated value at the selected joint shaft of S170 in special attitude or exist near it in situation of the joint shaft that becomes underrange, as the axle value of associated joint axle, give the interpolate value that the attitude according to the robot 1 of the front and back position of special attitude obtains.Afterwards, processing is moved to S190.
At the S190 that calculates step as the path, control device is from calculating starting position computing avoiding interference position.This avoiding interference position (and this position robot pose) is to avoid interfering and from calculating that special attitude is taked in the starting position and the position (and robot pose of this position) that arrives.S210 also carries out identical processing with this processing.
At S200, control device with the avoiding interference position (calculated target positions) obtained as new calculating starting position.After the processing of this S200, process and return S110.
Afterwards, continue before the initial point of the second operation of the first operation is moving target position in arrival, repeatedly carry out S120～S200, generate the path of motion of robot 1.
Below, describe the action of control device of the robot system of the present embodiment possess above flow process in detail.
At first, the terminal point of the first operation namely is set as and calculates starting position (S100) in mobile starting position, to calculating when carrying out interpolation between starting position/attitude and the moving target position/attitude, judge whether to take special attitude (S120).
In the present embodiment, shown in Fig. 2 (c), consider that the machine wrist obtains special attitude, calculating between starting position and the moving target position, make the situation (S120 is yes) of mobile route in the different mode of symbol of the axle value of the 5th axle 204.Under this special attitude state, the selected joint shaft that makes the robot that separates degenerate (making it become the joint shaft of special attitude), i.e. the 5th axle 204 (S130).
In addition, in the situation of special attitude, selected the second axle 210, the 3rd axle 208 are in the situation of special attitude as making robot become the joint shaft of special attitude at elbow at shoulder, select the 3rd axle 208 as making robot become the joint shaft of special attitude.
For the joint shaft (the 5th axle 204) of selected robot 1, generate axle value (θ 5) has been carried out the calculated target positions/attitude of interpolation, so that specially take this special attitude.The calculating starting position (S140) of after this, this position being calculated as the next one.
Next, judge to calculate starting position/attitude whether near special attitude (S160), in the present embodiment, the situation of absolute value below 5.0 degree with θ 5 in each axle value of calculating starting position/attitude is judged as near special attitude as " the special attitude of wrist ".
In near the situation the special attitude, be chosen in the joint shaft (the 5th axle 204) of the robot that makes the solution degeneration in the special attitude (S170).
For selected the 5th axle 204, give fixed value or be no more than the axle value on the border of special attitude.In the situation of present embodiment, for example, the axle value θ 5 that makes the 5th axle 204 changes and assignment it in the mode of 5 ° → 2 ° → 0 ° (special attitude) →-2 ° →-5 ° from the outside as fixed value.Based on this, to obtain avoiding interference position/attitude with the hands-off mode of other object.
In addition, when giving designated value to θ 5, become in the situation that large joint shaft exists in the joint shaft that becomes underrange under avoiding interference position or the special attitude or axle value, can produce joint shaft and make distortion breakages such as cable on the manipulator that is installed in robot 1 etc. owing to larger rotation, perhaps the drive motor of joint shaft be applied the unsuitable situations such as large burden.
In the situation of present embodiment, the axle value of the 4th axle 206 and the 6th axle 202 are equivalent to be taken as the joint shaft of underrange.Therefore, as shown in Figure 4, computing avoiding interference position/attitude, be identical value so that calculate starting position/attitude with the axle value θ 4 of the 4th axle 206 of position/attitude of obtaining, make the axle value θ 4 of the 4th axle 206 under any attitude and the 6th axle 202 axle value θ's 6 and always constant, and determine successively the axle value of each axle.In other words, symbol in the axle value of the 5th axle 204 nonreversible (+→+,-→-) in the situation, calculate the axle value of the 6th axle 202 based on Fig. 4 (a), the sign-inverted of the axle value of the 5th axle 204 (+→-,-→+) in the situation, calculate the axle value of the 6th axle 202 based on Fig. 4 (b).
Thus, when calculating starting position/attitude near special attitude and obtaining avoiding interference position/attitude according to this position/attitude, even changing, θ 4 greatly also make its value consistent, therefore eliminate and change, and the θ 6 that can prevent avoiding interference position/attitude of obtaining compares and changes large situation with calculating starting position/attitude, and can obtain avoiding interference position/attitude.
In above-described method, if obtain avoiding interference position/attitude, then obtain the position/attitude different from the avoiding interference position/attitude of actual needs, but inventors of the present invention predict position/attitude that the avoiding interference position/attitude that can obtain and originally obtain does not significantly change, thereby can obtain interfering enough position/attitudes for avoiding.
The example of using actuation path generating method of the present invention shown in Figure 5.Position XYZ among the figure is the robot coordinate system, attitude angle by wave, pitching, deflection angle represent.
In the figure, calculate starting position/attitude near the wrist particular point, if carry out avoiding interference (avoiding interference position/attitude 1, avoiding interference position/attitude 2) based on method in the past, then can confirm θ 4 and the large situation of θ 6 variations under short-range movement.
Relative with it, in the situation of using method of the present invention, select the θ 5 of avoiding interference position/attitude according to the symbol of the θ 5 that calculates starting position/attitude, will be from the θ 4 of avoiding interference position/attitude with θ's 6 with deduct the value of calculating starting position/attitude and be used as θ 6.Can confirm that the attitude value of avoiding interference position/attitude of computing like this and the attitude value of avoiding interference position/attitude significantly change.
As mentioned above, owing between initial position and target location, prevent from obtaining successively avoiding interference position/attitude in the larger rotation of joint shaft, therefore can generate practical path of motion.
It is not the special attitude of wrist (based on the special attitude of the 5th axle 204), and during near the attitude obtaining shoulder special attitude, the special attitude of elbow, surpass by suitable setting special attitude the border joint shaft the axle value and under special attitude, become the axle value of the joint shaft of underrange, can generate practical path.
Should think that whole aspects of this disclosed embodiment are not limited to illustration.Scope of the present invention is not by above-mentioned explanation but by the Range Representation of patent request, comprises the meaning that the scope with the patent request is equal to mutually and the whole change in the scope yet.
Claims (2)
1. the actuation path generating method of an articulated robot, it is following path of motion calculation method, namely, when the articulated robot that possesses many link rods and link the axle of this link rod moves between as the mobile starting position of the first operation terminal point and the moving target position as the initial point that is connected on the second operation of carrying out after described the first operation, whether judgement exists interference in described articulated robot, and calculate the path of motion of this articulated robot, the actuation path generating method of described articulated robot is characterised in that, comprising:
In the attitude of having calculated the articulated robot that is in mobile starting position and when being in path of motion between the attitude of articulated robot of moving target position, judge whether described articulated robot takes the determining step of special attitude;
Be judged as in described determining step when taking special attitude, the axle that selection makes articulated robot become the joint shaft of special attitude is selected step;
For the joint shaft that described axle selects step to select, specify its axle value from the outside, so that articulated robot is comprising the given step that can move smoothly on the path of motion of described special attitude;
Use the axle value of described given step appointment, calculate the path of the path of motion of articulated robot and calculate step,
Wherein, described special attitude refers to the special attitude of elbow of the special attitude of shoulder of the state of wrist position directly over shoulder, state that elbow extends along a straight line and the special attitude of wrist of the state that wrist extends along a straight line, and described shoulder, elbow, wrist correspond respectively to the second axle, the 3rd axle, the 5th axle of six axle articulated robots.
2. the actuation path generating method of articulated robot according to claim 1 is characterized in that,
In described given step, when described articulated robot is positioned near special attitude, with fixed value or be no more than the axle value that the value on the border of special attitude is given the joint shaft that makes described articulated robot become special attitude,
Exist in the situation of other joint shaft that becomes underrange following giving of described axle value, as the axle value of this other joint shaft and provide the interpolate value that the attitude according to the articulated robot of the front and back position of special attitude obtains.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009052147A JP5283541B2 (en) | 2009-03-05 | 2009-03-05 | Robot motion path generation method |
| JP2009-052147 | 2009-03-05 |
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| CN101823260A CN101823260A (en) | 2010-09-08 |
| CN101823260B true CN101823260B (en) | 2013-02-13 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012208094A1 (en) * | 2012-05-15 | 2013-11-21 | Kuka Laboratories Gmbh | Method for determining possible positions of a robot arm |
| JP6238628B2 (en) * | 2013-08-06 | 2017-11-29 | キヤノン株式会社 | Robot device, robot control method, robot control program, and part manufacturing method using robot device |
| JP2015085427A (en) * | 2013-10-30 | 2015-05-07 | 株式会社デンソーウェーブ | Each axis angle determination method for 6-axis robot and controller for 6-axis robot |
| DE112014006610B4 (en) | 2014-04-24 | 2019-09-19 | Mitsubishi Electric Corporation | Robot control device and robot control method |
| CN105415372B (en) * | 2015-12-09 | 2017-04-12 | 常州汉迪机器人科技有限公司 | Multi-joint robot track planning method under constraint of safety space |
| CN106003027B (en) * | 2016-06-03 | 2019-03-01 | 广州视源电子科技股份有限公司 | The setting method and system in manipulator motion path |
| JP6859756B2 (en) * | 2017-03-03 | 2021-04-14 | オムロン株式会社 | Control systems, controllers, control methods, and control programs |
| WO2018229540A1 (en) | 2017-06-12 | 2018-12-20 | Siemens Industry Software Ltd. | Method and system for teaching a robot in reaching a given target in robot manufacturing |
| JP6429977B2 (en) * | 2017-10-31 | 2018-11-28 | キヤノン株式会社 | Robot apparatus and robot control method |
| DE102018209870B3 (en) * | 2018-06-19 | 2019-07-04 | Kuka Deutschland Gmbh | A method and system for transferring an end effector of a robot between an end effector pose and another end effector pose |
| JP7028196B2 (en) * | 2019-01-15 | 2022-03-02 | オムロン株式会社 | Robot control device, robot control method, and robot control program |
| JP7294980B2 (en) | 2019-10-15 | 2023-06-20 | ファナック株式会社 | Control systems, controllers, and robots |
| EP4135940A4 (en) * | 2020-04-14 | 2023-10-04 | Realtime Robotics, Inc. | Configuration of robot operational environment including layout of sensors |
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| JPS62178091U (en) * | 1986-04-28 | 1987-11-12 | ||
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| JPH08147020A (en) * | 1994-11-18 | 1996-06-07 | Toyota Central Res & Dev Lab Inc | Automatic path generating device for robot |
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| EP0107968A1 (en) * | 1982-10-29 | 1984-05-09 | Kabushiki Kaisha Toshiba | Control system of multi-joint arm robot apparatus |
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| CN101823260A (en) | 2010-09-08 |
| JP5283541B2 (en) | 2013-09-04 |
| JP2010201592A (en) | 2010-09-16 |
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