CN113508011A - Robot control device and robot control method - Google Patents
Robot control device and robot control method Download PDFInfo
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- CN113508011A CN113508011A CN202080016903.2A CN202080016903A CN113508011A CN 113508011 A CN113508011 A CN 113508011A CN 202080016903 A CN202080016903 A CN 202080016903A CN 113508011 A CN113508011 A CN 113508011A
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- command value
- control unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The present invention is provided with: a main control unit (11) that calculates a command value for torque and a command value for position and orientation control for each joint, based on the command values for force and position and orientation and the current value for the angle of each joint that the robot (2) has; and a joint control unit (12) that is provided for each joint of the robot (2), and that calculates a command value for a motor (21) provided on the corresponding joint, based on the current value of the torque at the corresponding joint, the command value for the torque calculated by the main control unit (11), and the command value for position and orientation control.
Description
Technical Field
The present invention relates to a robot control device and a robot control method capable of simultaneously controlling a position, an orientation, and a force of a robot.
Background
A robot control device that controls a robot (robot arm) such as a vertical articulated robot by simultaneously (side-by-side) a position, an orientation, and a force is used (see, for example, patent document 1). The position posture indicates at least one of a position and a posture of the robot. Fig. 9 to 11 show an example of the robot controller 1 b.
The robot control device 1b shown in fig. 9 includes a main control unit (upper controller) 11b and a plurality of joint control units (lower controllers) 12 b. The joint control unit 12b is provided for each joint of the robot 2. The main control unit 11b and each joint control unit 12b are connected by a communication line.
As shown in fig. 9, the robot 2 includes a motor 21 and a sensor 22 (a torque sensor 23 and an encoder 24) for each joint. The motor 21 and the sensor 22 are connected to the corresponding joint control unit 12b via power lines or the like. The torque sensor 23 detects the current value of the torque at the corresponding joint. The encoder 24 detects the current value of the angle of the corresponding joint. In fig. 10, only one set of the motor 21, the torque sensor 23, and the encoder 24 is shown.
The main control unit 11b outputs command values to the respective joint control units 12b to control the entire robot 2. Specifically, the main control unit 11b calculates a command value of a velocity for each joint based on the command value of the force, the command value of the position and orientation, and the current values of the torque and the angle for each joint of the robot 2. As shown in fig. 10 and 11, the main control unit 11b includes: a force calculation unit 111b, a force control unit 112b, a position and orientation calculation unit 113b, a position and orientation control unit 114b, a command value synthesis unit 115b, and a command value conversion unit 116 b.
The force calculation unit 111b calculates a current value of the force of the robot 2 based on a current value of the torque of each joint of the robot 2. The torque of each joint of the robot 2 is expressed by a joint coordinate system, and the force calculation unit 111b converts the torque of each joint into a force expressed by an orthogonal coordinate system. In fig. 11, τ represents the current value of torque, and F represents the current value of force.
The force control unit 112b controls the force based on the command value of the forceAnd the current value of the force calculated by the force calculation unit 111b, and calculates the command value for force control. In the force control unit 112b, the deviation between the command value of the force and the current value of the force is calculated by the deviation calculator 1121b, and the deviation of the calculation result of the deviation calculator 1121b is multiplied by a gain by the coefficient multiplication unit 1122b, thereby obtaining a command value of the force control. In fig. 11, Fr represents a force command value, GFThe gain is indicated.
The position and orientation calculation unit 113b calculates the current value of the position and orientation of the robot 2 based on the current value of the angle of each joint of the robot 2. The current value of the angle of each joint of the robot 2 is represented by a joint coordinate system, and the position and orientation calculation unit 113b converts the current value of the angle of each joint into the current value of the position and orientation represented by an orthogonal coordinate system. In fig. 11, θ represents the current value of the angle, and X represents the current value of the position and orientation.
The position and orientation control unit 114b calculates a command value for position and orientation control based on the command value for position and orientation and the current value for position and orientation calculated by the position and orientation calculation unit 113 b. In the position and orientation control unit 114b, the deviation between the command value for position and orientation and the current value for position and orientation is obtained by the deviation calculator 1141b, and the coefficient multiplier 1142b multiplies the calculation result of the deviation calculator 1141b by a gain, thereby obtaining the command value for position and orientation control. In fig. 11, Xr represents a command value for position and orientation, GZThe gain is indicated.
The command value synthesizing unit 115b synthesizes the command value for force control calculated by the force control unit 112b and the command value for position and orientation control calculated by the position and orientation control unit 114 b. In the command value synthesizing unit 115b, the command value for force control and the command value for position/orientation control are added by an adder 1151 b.
The command value conversion unit 116b converts the result of the synthesis by the command value synthesis unit 115b into a command value of an angular velocity for each joint of the robot 2. In the command value conversion unit 116b, the coefficient multiplication unit 1161b multiplies the synthesis result by the inverse matrix of the jacobian matrix. That is, the command value conversion unit 116b converts the command value expressed in the rectangular coordinate system into the command value expressed in the joint coordinate system. In fig. 11, J denotes a jacobian matrix, and θ (Dot) r denotes a command value of an angular velocity.
The joint control unit 12b controls the motor 21 provided in the corresponding joint in accordance with a command from the main control unit 11 b. As shown in fig. 10, the joint control unit 12b includes a torque acquisition unit 121b and a joint angle control unit 122 b.
The torque acquisition unit 121b acquires the current value of the torque at the corresponding joint. Data indicating the current value of the torque acquired by the torque acquisition unit 121b is output to the main control unit 11b (force calculation unit 111 b).
The joint angle control unit 122b calculates a command value for the motor 21 provided in the corresponding joint based on the command value of the angular velocity calculated by the main control unit 11b and the current value of the angle of each joint of the robot 2. In the joint angle control unit 122b, the current value of the angle is converted into the current value of the angular velocity by the velocity conversion unit 1221b, the current value of the angular velocity obtained by the velocity conversion unit 1221b is subtracted from the command value of the angular velocity by the subtractor 1223b, and the PI control unit 1224b performs PI control based on the subtraction result of the subtractor 1223b, thereby obtaining the command value for the motor 21.
As described above, in the robot control device 1b shown in fig. 9 to 11, it is necessary to operate a plurality of joints in combination, the main control unit 11b synthesizes results of position posture and force calculation for the degrees of freedom (for example, 6 degrees of freedom) of the plurality of joints at the same time, and converts the synthesized results into signals for the joint control units 12b of the respective axes and outputs the signals. That is, in the robot control device 1b, the main controller 11b performs main calculations of compliance control. Therefore, the robot control device 1b has an advantage that parameters to be adjusted can be appropriately integrated.
Documents of the prior art
Patent document
Patent document 1: japanese patent application laid-open No. 2016-168650
Disclosure of Invention
Problems to be solved by the invention
Generally, in a robot such as an industrial robot, a precision grinding copying operation or the like is an object to be realized by force control, and improvement of dynamic performance such as a stable operation or a follow-up operation is always required.
On the other hand, in the conventional robot control device, a feedback system is configured in a main control unit. That is, in this robot control device, feedback control calculation is performed using components that are physically and communicatively distant from the robot. Therefore, a delay from the detection of the torque by the torque sensor to the input of the command value to the motor becomes long. As a result, this robot control device inevitably requires a large amount of time and space, and this is a factor of suppressing an increase in gain that can maintain stability. In addition, the waste time itself is not an element that can be eliminated by the lead compensation or the like, and therefore, adverse effects on the response time cannot be avoided.
As described above, in the conventional robot control device, it is difficult to improve the performance (particularly, rapidity) of the force control, and further improvement is demanded.
The present invention has been made to solve the above-described problems, and an object thereof is to provide a robot control device capable of improving the performance of force control over a conventional configuration.
Means for solving the problems
The robot control device of the present invention is characterized by comprising: a main control unit that calculates a command value for torque and a command value for position and orientation control for each joint based on a command value for force, a command value for position and orientation, and a current value for angle for each joint of the robot; and a joint control unit that is provided for each joint of the robot and calculates a command value for a motor provided in the corresponding joint based on a current value of torque at the corresponding joint, the command value of torque calculated by the main control unit, and a command value for position and orientation control.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, since the structure is as described above, the performance of force control can be improved over the conventional structure.
Drawings
Fig. 1 is a diagram showing a configuration example of a robot controller according to embodiment 1.
Fig. 2 is a diagram showing a configuration example of a robot controller according to embodiment 1.
Fig. 3 is a flowchart showing an operation example of the robot controller according to embodiment 1.
Fig. 4 is a flowchart showing an example of the operation of the main control unit in embodiment 1.
Fig. 5 is a flowchart showing an example of the operation of the joint control unit in embodiment 1.
Fig. 6A and 6B are diagrams for explaining the effects of the robot control device according to embodiment 1, fig. 6A is a diagram showing an example of simulation results when the robot control device according to embodiment 1 is used, and fig. 6B is a diagram showing an example of simulation results when a conventional robot control device is used.
Fig. 7 is a diagram showing a configuration example of a robot controller according to embodiment 2.
Fig. 8 is a diagram showing a configuration example of a robot controller according to embodiment 2.
Fig. 9 is a diagram showing an example of a configuration of a robot system including a conventional robot controller.
Fig. 10 is a diagram showing a configuration example of a conventional robot controller.
Fig. 11 is a diagram showing a configuration example of a conventional robot controller.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Fig. 1 and 2 are diagrams showing a configuration example of a robot controller 1 according to embodiment 1. The relationship between the robot controller 1 and the robot 2 is the same as that in fig. 9, and the description thereof is omitted.
The robot controller 1 controls the position, orientation, and force of the robot 2 at the same time (in parallel). As shown in fig. 1 and 2, the robot control device 1 includes a main control unit (upper controller) 11 and a plurality of joint control units (lower controllers) 12. A joint control unit 12 is provided for each joint of the robot 2. The main control unit 11 and each joint control unit 12 are connected by a communication line.
The main control unit 11 outputs command values to the respective joint control units 12, thereby controlling the entire robot 2. Specifically, the main control unit 11 calculates a command value of torque and a command value of position and orientation control for each joint based on the command value of force and the command values of position and orientation and the current value of angle for each joint of the robot 2. In fig. 1 and 2, the command value for position and orientation control is a command value for speed. As shown in fig. 1, the main control unit 11 includes a torque command value conversion unit 111, a position and orientation calculation unit 112, a position and orientation control unit 113, and a command value conversion unit 114. The main control Unit 11 is realized by a Processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like.
The torque command value conversion unit 111 converts the force command value into a torque command value for each joint of the robot 2. The torque command value conversion unit 111 includes a coefficient multiplication unit 1111. The coefficient multiplication unit 1111 multiplies the command value of the force by a transpose matrix of the jacobian matrix. The force command value is expressed by an orthogonal coordinate system, and the torque command value conversion unit 111 converts the force command value into a torque command value expressed by a joint coordinate system. In fig. 2, Fr represents a force command value, J represents a jacobian matrix, and τ r represents a torque command value.
The position and orientation calculation unit 112 calculates the current value of the position and orientation of the robot 2 based on the current value of the angle of each joint of the robot 2. The angle of each joint of the robot 2 is expressed by a joint coordinate system, and the position and orientation calculation unit 112 converts the angle of each joint into a position and orientation expressed by an orthogonal coordinate system. In addition, the current value of the angle of each joint that the robot 2 has is detected by the encoder 24 provided on each of the joints. In fig. 2, θ represents the current value of the angle, and X represents the current value of the position and orientation.
The position and orientation control unit 113 calculates a speed command value (command value for position and orientation control) based on the command value for position and orientation and the current value for position and orientation calculated by the position and orientation calculation unit 112. The position and orientation control unit 113 includes a deviation calculator 1131 and a coefficient multiplication unit 1132.
The deviation calculator 1131 calculates a deviation between the command value of the position and orientation and the current value of the position and orientation.
The coefficient multiplier 1132 multiplies the deviation of the calculation result of the deviation calculator 1131 by a gain to obtain a speed command value. In FIG. 2, Xr represents a command value for position and orientation, GZThe gain is indicated.
The command value conversion unit 114 converts the command value of the velocity calculated by the position and orientation control unit 113 into a command value of an angular velocity for each joint of the robot 2. The command value conversion unit 114 includes a coefficient multiplication unit 1141. The coefficient multiplier 1141 multiplies the velocity command value calculated by the position and orientation control unit 113 by the inverse matrix of the jacobian matrix. That is, the command value conversion unit 114 converts the command value expressed in the rectangular coordinate system into the command value expressed in the joint coordinate system. In fig. 2, θ (Dot) r represents a command value of the angular velocity.
The joint control unit 12 controls the motors 21 provided in the corresponding joints in accordance with instructions from the main control unit 11. Specifically, the joint control unit 12 calculates a command value for the motor 21 provided in the corresponding joint based on the current value of the torque at the corresponding joint and the command value of the torque and the command value of the angular velocity (command value for position and orientation control) calculated by the main control unit 11. As shown in fig. 1, the joint control unit 12 includes a torque acquisition unit 121, a torque control unit 122, and a motor control unit 123. The motor control unit 123 includes a joint angle control unit 124 and a command value synthesis unit 125.
The torque acquisition section 121 acquires a current value of the torque at the corresponding joint. The current value of the torque of each joint that the robot 2 has is detected by a torque sensor 23 provided at each of the joints.
The torque control unit 122 calculates a command value for torque control based on the current value of the torque at the corresponding joint and the command value of the torque calculated by the main control unit 11. The torque control unit 122 includes a subtractor 1221 and a PI control unit 1222.
The subtractor 1221 subtracts the current value of the torque acquired by the torque acquisition unit 121 from the command value of the torque calculated by the main control unit 11.
The PI control unit 1222 performs PI control based on the subtraction result of the subtractor 1221, thereby obtaining a torque control command value.
The joint angle control unit 124 calculates a command value for angular velocity control based on the command value for angular velocity calculated by the main control unit 11. The joint angle control unit 124 includes a velocity conversion unit 1241 and a velocity control unit 1242. The speed control unit 1242 includes a subtractor 1243 and a PI control unit 1244.
The velocity conversion unit 1241 converts the current value of the angle at the corresponding joint into the current value of the angular velocity.
The subtractor 1243 subtracts the current value of the angular velocity obtained by the velocity conversion unit 1241 from the command value of the angular velocity calculated by the main control unit 11.
The PI control unit 1244 performs PI control based on the subtraction result of the subtractor 1243 to obtain an angular velocity control command value.
The command value synthesizer 125 synthesizes the command value for torque control calculated by the torque controller 122 and the command value for angular velocity control calculated by the joint angle controller 124. In fig. 1, the instruction value synthesizing unit 125 includes an adder 1251. The adder 1251 adds the command value for torque control calculated by the torque control unit 122 to the command value for angular velocity control calculated by the joint angle control unit 124. The command value (current command value) as a result of the combination by the command value combining unit 125 is output to the motor 21.
Next, an operation example of the robot controller 1 according to embodiment 1 shown in fig. 1 and 2 will be described with reference to fig. 3.
In the operation example of the robot control device 1 according to embodiment 1 shown in fig. 1 and 2, first, as shown in fig. 3, the main control unit 11 calculates a command value for torque and a command value for angular velocity (command values for position and orientation control) for each joint based on a command value for force and a command value for position and orientation and a current value for angle of each joint of the robot 2 (step ST 301).
Next, the joint control unit 12 calculates a command value for the motor 21 provided at the corresponding joint based on the current value of the torque at the corresponding joint and the command values of the torque and the angular velocity calculated by the main control unit 11 (step ST 302).
Next, an operation example of the main control unit 11 shown in fig. 1 and 2 will be described with reference to fig. 4.
In the operation example of the main control unit 11 shown in fig. 1 and 2, as shown in fig. 4, first, the torque command value conversion unit 111 converts a command value of force into a command value of torque for each joint of the robot 2 (step ST 401). In fig. 1 and 2, the coefficient multiplication unit 1111 multiplies the command value of the force by the transpose of the jacobian matrix. In addition, since the jacobian matrix changes according to the angle of the joint of the robot 2, it needs to be updated appropriately. In addition, since the current value of the torque acquired by the torque acquisition unit 121 usually includes a gravity-induced torque component, the estimated value of the gravity-induced torque component may be superimposed on the torque command value so as to cancel out the torque component.
The position and orientation calculation unit 112 calculates the current value of the position and orientation of the robot 2 based on the current value of the angle of each joint of the robot 2 (step ST 402).
Next, the position and orientation control unit 113 calculates a speed command value (position and orientation control command value) based on the position and orientation command value and the current position and orientation value calculated by the position and orientation calculation unit 112 (step ST 403). In fig. 1 and 2, the deviation calculator 1131 calculates the deviation between the command value of the position and orientation and the current value of the position and orientation, and the coefficient multiplier 1132 multiplies the deviation of the calculation result of the deviation calculator 1131 by a gain to obtain the command value of the velocity. In addition, the positional deviation is obtained by subtracting the coordinate value of the current value from the coordinate value of the command value. The deviation of the posture can be obtained by obtaining a rotational transformation from the posture of the current value to the posture of the command value.
Next, the command value conversion unit 114 converts the command value of the velocity calculated by the position and orientation control unit 113 into a command value of an angular velocity for each joint of the robot 2 (step ST 404). In fig. 1 and 2, the coefficient multiplier 1141 multiplies the command value of the velocity calculated by the position and orientation control unit 113 by the inverse matrix of the jacobian matrix to obtain the command value of the angular velocity of each joint.
Next, an operation example of the joint control unit 12 shown in fig. 1 and 2 will be described with reference to fig. 5.
In the operation example of the joint control unit 12 shown in fig. 1 and 2, as shown in fig. 5, first, the torque acquisition unit 121 acquires the current value of the torque at the corresponding joint (step ST 501).
Next, the torque control unit 122 calculates a command value for torque control based on the current value of the torque at the corresponding joint and the command value of the torque calculated by the main control unit 11 (step ST 502). In fig. 1 and 2, a subtractor 1221 subtracts the current value of the torque acquired by the torque acquisition unit 121 from the command value of the torque calculated by the main control unit 11, and the PI control unit 1222 performs PI control based on the subtraction result of the subtractor 1221, thereby obtaining a command value of the torque control.
The joint angle control unit 124 calculates a command value for angular velocity control based on the command value for angular velocity calculated by the main control unit 11 (step ST 503). In fig. 1 and 2, a velocity conversion unit 1241 converts the current value of the angle at the corresponding joint into the current value of the angular velocity, a subtractor 1243 subtracts the current value of the angular velocity obtained by the velocity conversion unit 1241 from the command value of the angular velocity calculated by the main control unit 11, and a PI control unit 1244 performs PI control based on the subtraction result of the subtractor 1243, thereby obtaining a command value for angular velocity control.
Next, the command value synthesizing unit 125 synthesizes the command for torque control calculated by the torque control unit 122 and the command value for angular velocity control calculated by the joint angle control unit 124 (step ST 504). In fig. 1 and 2, the adder 1251 adds the command value for torque control calculated by the torque control unit 122 to the command value for angular velocity control calculated by the joint angle control unit 124. The command value (current command value) as a result of the combination by the command value combining unit 125 is output to the motor 21.
Next, an effect of the robot controller 1 according to embodiment 1 will be described.
As described above, in the conventional robot control device 1b, the main control unit 11b constitutes a feedback system. That is, in the robot controller 1b, feedback control calculation is performed using a component that is physically and communicatively distant from the robot 2. Therefore, a delay from the detection of the torque by the torque sensor 23 to the input of the command value to the motor 21 becomes long. As a result, the robot control device 1 inevitably requires a large amount of time and space, and this is a factor of suppressing an increase in gain that can maintain stability. Further, the waste time itself is not an element that can be eliminated by the lead compensation or the like, and therefore, adverse effects on the response time cannot be avoided.
In contrast, as in the robot control device 1 according to embodiment 1, by performing the calculation for torque control by the joint control unit 12 instead of the main control unit 11, the delay from the detection of torque by the torque sensor 23 to the input of the command value to the motor 21 is shortened, and the time-consuming space can be reduced. That is, the robot control device 1 according to embodiment 1 can perform adjustment (gain adjustment for single variable control in joint units) corresponding to increasing the gain of the controller capable of maintaining stability. As described above, the robot control device 1 according to embodiment 1 can improve the performance (particularly, the rapidity) of force control over the conventional configuration.
Fig. 6 is a diagram for explaining an effect of the robot controller 1 according to embodiment 1. Fig. 6A is a diagram showing an example of a simulation result when the robot controller 1 according to embodiment 1 is used, and fig. 6B is a diagram showing an example of a simulation result when the conventional robot controller 1B is used. Fig. 6 shows a simulation result when the robot 2 presses an object in the Z-axis direction. The target value of the pressing force of the robot 2 is 10[ N ]. In fig. 6A and 6B, the horizontal axis represents time [ s ], and the vertical axis represents the pressing force of the robot 2 in the Z-axis direction.
In this case, as shown in fig. 6B, when the conventional robot control device 1B is used, the time (stabilization time) until the pressing force of the robot 2 in the Z-axis direction is stabilized to the target value is 3.03[ s ]. In contrast, as shown in fig. 6A, when the robot controller 1 according to embodiment 1 is used, the settling time is 0.47[ s ]. That is, it is found that when the robot control device 1 according to embodiment 1 is used, the pressing force of the robot 2 in the Z-axis direction is stabilized to the target value in a shorter time than when the conventional robot control device 1b is used.
In fig. 6B, the gain from the calculation of the force deviation to the calculation of the speed command value in the conventional robot control device 1B is-2.0 × 10-3. In contrast, in fig. 6A, the equivalent gain corresponding to the gain from the calculation of the force deviation to the calculation of the speed command value in the robot control device 1 according to embodiment 1 is-9.2 × 10-3. That is, it is understood that the robot control device 1 according to embodiment 1 can realize force control with a high gain as compared with the conventional robot control device 1 b. In the robot control device 1 according to embodiment 1, the velocity command value is not actually calculated from the force deviation, and therefore the gain described above is not an actual gain but a conversion value.
In the robot control device 1 shown in fig. 1 and 2, the torque control of the single body can be realized by setting the gain related to the speed control to 0, and the normal speed control can be realized by setting the gain related to the torque control to 0.
As described above, according to embodiment 1, the robot control device 1 includes: a main control unit 11 that calculates a command value for torque and a command value for position and orientation control for each joint based on the command value for force and the command values for position and orientation and the current value for the angle of each joint of the robot 2; and a joint control unit 12 provided for each joint of the robot 2, for calculating a command value for the motor 21 provided at the corresponding joint based on the current value of the torque at the corresponding joint, the command value of the torque calculated by the main control unit 11, and the command value of the position and orientation control. Thus, the robot controller 1 according to embodiment 1 can improve the performance of force control over the conventional configuration.
In embodiment 1, the joint angle control unit 124 is provided in the joint control unit 12. However, the joint angle control unit 124 is not limited to this, and may be provided in the main control unit 11. For example, when the robot 2 operates at a low speed, the joint angle control unit 124 may have little influence on the main control unit 11.
The joint angle control unit 124 is not necessarily configured, and may be eliminated from the robot controller 1.
In embodiment 1, a case is shown in which the joint control unit 12 calculates a command value for angular velocity control using a command value for angular velocity (a command value for position and orientation control) calculated by the main control unit 11, and then combines the command value for torque control and the command value for angular velocity control. However, the present invention is not limited to this, and the command value for the torque control and the command value for the angular velocity (command value for the position and orientation control) calculated by the main control unit 11 may be combined in the joint control unit 12, and then the combined result may be used to calculate the command value for the angular velocity control.
Fig. 7 and 8 are diagrams showing a configuration example of the robot controller 1 according to embodiment 2. In the robot control device 1 according to embodiment 2 shown in fig. 7 and 8, the joint angle control unit 124 and the command value synthesizing unit 125 are changed to the command value synthesizing unit 126 and the joint angle control unit 127, respectively, with respect to the robot control device 1 according to embodiment 1 shown in fig. 1 and 2. The other structures are the same, and the same reference numerals are given thereto, and the description thereof is omitted.
The command value synthesizing unit 126 synthesizes the command value for angular velocity (command value for position and orientation control) calculated by the main control unit 11 and the command value for torque control calculated by the torque control unit 122. In fig. 8, the command value synthesizing unit 126 includes an adder 1261. The adder 1261 adds the command value of the angular velocity calculated by the main control unit 11 to the command value of the torque control calculated by the torque control unit 122.
The joint angle control unit 127 calculates a command value for angular velocity control based on the result of the synthesis by the command value synthesis unit 126. The joint angle control unit 127 includes a speed conversion unit 1271 and a speed control unit 1272. The speed control unit 1272 includes a subtractor 1273 and a PI control unit 1274.
The velocity conversion unit 1271 converts the current value of the angle at the corresponding joint into the current value of the angular velocity.
The subtractor 1273 subtracts the current value of the angular velocity obtained by the velocity converter 1271 from the result of the combination by the command value combiner 126.
The PI control unit 1274 performs PI control based on the subtraction result of the subtractor 1273, and obtains an angular velocity control command value.
The command value (current command value) for angular velocity control calculated by the joint angle control unit 127 is output to the motor 21 provided in the corresponding joint.
As described above, in the robot control device 1 according to embodiment 2, the command value for position and orientation control and the command value for torque control are combined, and angular velocity control is performed based on the combined result. The same effects as those of the robot control device 1 according to embodiment 1 can be obtained with respect to the robot control device 1 according to embodiment 2. The robot control device 1 according to embodiment 2 corresponds closely to the conventional compliance control.
In the present invention, it is possible to freely combine the respective embodiments, to modify any of the components of the respective embodiments, or to omit any of the components of the respective embodiments within the scope of the invention. For example, although the velocity control is performed by using the joint angle control unit in embodiments 1 and 2, the position and orientation may be controlled by controlling other physical quantities such as acceleration and current.
The robot control device of the present invention can improve the performance of force control over the conventional configuration, and is suitable for a robot control device or the like capable of controlling the position, orientation, and force of a robot at the same time.
Description of the symbols
1 robot control device
2 robot
11 Main control part
12 joint control unit
21 Motor
22 sensor
23 Torque sensor
24 encoder
111 Torque command value conversion Unit
112 position/posture calculation unit
113 position and posture control unit
114 instruction value conversion unit
121 torque acquisition unit
122 torque control section
123 motor control part
124 joint angle control unit
125 instruction value synthesis unit
126 instruction value synthesizing unit
127 joint angle control unit
1111 coefficient multiplication unit
1131 deviation arithmetic unit
1132 coefficient multiplication unit
1141 coefficient multiplication unit
1221 subtracter
1222 PI control part
1241 speed changing part
1242 speed control part
1243 subtracter
1244 PI control part
1251 adder
1261 adder
1271 speed changing part
1272 speed control part
1273 subtracter
1274 PI control part.
Claims (5)
1. A robot control device is characterized by comprising:
a main control unit that calculates a command value for torque and a command value for position and orientation control for each joint based on a command value for force, a command value for position and orientation, and a current value for angle for each joint of the robot; and
and a joint control unit that is provided for each joint of the robot, and calculates a command value for a motor provided in the corresponding joint based on a current value of torque at the corresponding joint, the command value for torque calculated by the main control unit, and a command value for position and orientation control.
2. The robot control apparatus according to claim 1,
the joint control unit includes:
a torque control unit that calculates a command value for torque control based on a current value of torque at the corresponding joint and the command value of torque calculated by the main control unit; and
and a command value synthesizing unit that synthesizes the command value for the position and orientation control calculated by the main control unit and the command value for the torque control calculated by the torque control unit to obtain a command value for the motor.
3. The robot control apparatus according to claim 1,
the joint control unit includes:
a torque control unit that calculates a command value for torque control based on a current value of torque at the corresponding joint and the command value of torque calculated by the main control unit;
a joint angle control unit that calculates a command value for angular velocity control based on the command value for position/orientation control calculated by the main control unit; and
and a command value synthesizing unit that synthesizes the command value for the torque control calculated by the torque control unit and the command value for the angular velocity control calculated by the joint angle control unit to obtain a command value for the motor.
4. The robot control apparatus according to claim 1,
the joint control unit includes:
a torque control unit that calculates a command value for torque control based on a current value of torque at the corresponding joint and the command value of torque calculated by the main control unit;
a command value synthesizing unit that synthesizes the command value for position and orientation control calculated by the main control unit and the command value for torque control calculated by the torque control unit; and
and a joint angle control unit that obtains a command value for the motor by calculating a command value for angular velocity control based on the result of the synthesis by the command value synthesis unit.
5. A robot control method for a robot control device including a main control unit and a joint control unit provided for each joint of a robot,
the robot control method is characterized in that,
the main control unit calculates a command value for torque and a command value for position and orientation control for each joint based on the command value for force and the command values for position and orientation and the current value for angle of each joint of the robot,
the joint control unit calculates a command value for a motor provided in the corresponding joint based on a current value of torque at the corresponding joint, the command value of torque calculated by the main control unit, and the command value of position and orientation control.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-043626 | 2019-03-11 | ||
| JP2019043626A JP7300854B2 (en) | 2019-03-11 | 2019-03-11 | ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD |
| PCT/JP2020/008100 WO2020184203A1 (en) | 2019-03-11 | 2020-02-27 | Robot control device and robot control method |
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| CN113508011A true CN113508011A (en) | 2021-10-15 |
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| CN202080016903.2A Withdrawn CN113508011A (en) | 2019-03-11 | 2020-02-27 | Robot control device and robot control method |
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| Country | Link |
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| JP (1) | JP7300854B2 (en) |
| CN (1) | CN113508011A (en) |
| WO (1) | WO2020184203A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03214303A (en) * | 1990-01-19 | 1991-09-19 | Citizen Watch Co Ltd | Positioning controller and track data teaching method |
| JP2669274B2 (en) * | 1992-07-06 | 1997-10-27 | 三菱電機株式会社 | Robot control device |
| JP3324298B2 (en) * | 1994-10-19 | 2002-09-17 | 株式会社豊田中央研究所 | Manipulator control device |
| JPH0944253A (en) * | 1995-08-03 | 1997-02-14 | Toyota Central Res & Dev Lab Inc | Driving switching controller |
| JP3529575B2 (en) * | 1997-02-17 | 2004-05-24 | 株式会社東芝 | Force control robot and control method thereof |
| JP6584102B2 (en) * | 2015-03-13 | 2019-10-02 | キヤノン株式会社 | Robot apparatus, robot control method, program, recording medium, and article manufacturing method |
| JP6165286B1 (en) * | 2016-02-29 | 2017-07-19 | 株式会社安川電機 | Motor control system, robot system, and motor control system communication method |
-
2019
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2020
- 2020-02-27 WO PCT/JP2020/008100 patent/WO2020184203A1/en active Application Filing
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| JP7300854B2 (en) | 2023-06-30 |
| JP2020146765A (en) | 2020-09-17 |
| WO2020184203A1 (en) | 2020-09-17 |
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