CN1935470A - Method for optimizing robot program and robot control system - Google Patents
Method for optimizing robot program and robot control system Download PDFInfo
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- CN1935470A CN1935470A CNA2006100747994A CN200610074799A CN1935470A CN 1935470 A CN1935470 A CN 1935470A CN A2006100747994 A CNA2006100747994 A CN A2006100747994A CN 200610074799 A CN200610074799 A CN 200610074799A CN 1935470 A CN1935470 A CN 1935470A
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- robot
- control system
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34277—Pc bypasses robot controller processor, access directly encoders, amplifiers
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- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Physics & Mathematics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
- Numerical Control (AREA)
Abstract
A device and method for optimizing performance of a robot has a computer connected to a robot controller in order to receive performance data of the robot when the robot controller executes a path program. The computer uses the performance data, an optimization object and restriction defined by a user, and a kinetic/dynamic simulator to replace a control system parameter in the controller from a default set to a new set. The computer repeats processing until the new set of the control system parameter is optimized.
Description
Technical field
The present invention relates to revise the robot control program to reach the method and apparatus of performance indications.
Background technology
The most approaching prior art of the present invention is based on following principle:
Robot controller connects the external computer device of personal computer and so on by communication line.The memory area of external equipment (such as personal computer, i.e. PC) visit robot controller, thus the user program that is stored in memory area handled.
Being mainly used in of this prior art connects a plurality of robots with the transmission user program or be used for storage data.Between robot controller and external computer device, there is not the real-time interactive of optimizing path performance.
Summary of the invention
The present invention relates to optimize the method and apparatus of robot controller.The present invention not only connects robot controller and external computer device (common PC) with telecommunication circuit, and also the cpu function with exterior PC comes robot path is carried out real-time analysis and optimization.Exterior PC becomes second arithmetic device high flexible, reconstitutable and powerful of robot controller.
Method and apparatus of the present invention is especially effective aspect little cutting/little shaping, and this is because the detection and the verification oppressiveness of this technology are tediously long.This method and apparatus also can successfully optimize robot path and load one removes load period and other material processing technique.In addition, this method and apparatus is that the robot optimization of other purposes (stacking, spot welding or the like) lays the first stone.
Description of drawings
The technical staff of the industry can understand advantage of the present invention with reference to the accompanying drawings at an easy rate by the following preferred specific embodiment:
Fig. 1 is the calcspar that robot program of the present invention optimizes equipment;
Fig. 2 is the calcspar of the robot controller among Fig. 1;
Fig. 3 is the calcspar of external personal computer among Fig. 1; With
Fig. 4 is the flow chart of the inventive method.
The specific embodiment
General machine-independent robot system development of robot program and optimization are to reach some performance indications, such as high accuracy or preferable cycle.The situation that program is carried out in different robots is incomplete same usually, and the performance of robot can be variant, and some may not reach performance indications.This species diversity be because; different " systematic parameters " needs different executors; systematic parameter is acceleration time, super-high-current protection threshold value, servo loop gain, confficient of static friction, integration gain, spring constant etc., and specific executor has certain fixing parameter.
The performance of robot that it is considered herein that differentia influence between executor and the operating condition the invention provides a kind of method of optimizing robot program and systematic parameter according to robot system (controller and executor) and operating condition.The robot program can be write as by approach commonly used, and this program is carried out by robot system, at the machine man-hour, and some parameter wherein, normally encoder position data and current of electric data are imported second processor into and are optimized.At the machine man-hour, second processor uses the optimization path to reach goal-selling, and it is not only revised the robot program and also revises the control system parameter.Consider the entire machine people in the optimization but not single driving shaft, the trend that this optimizes the complex parameter that monitors some performance parameter makes it reach the optimal control system parameter.At the machine man-hour, this process constantly repeats until reaching target, and program stops then, and systematic parameter is reseted, and is used for production work.
Relevant prior art comprises the off line program design, wherein revises the robot program to reach some purpose with second processor of off line.This modification is independent of outside the control system parameter, need not detect in real time actual performance.Similarly, same program is the ruuning situation difference in different executors, perhaps ruuning situation difference under the different operating conditions of same executor.
Learning-oriented control also can the real time modifying robot program, can also revise some control system parameter.But the optimization repeatedly of learning-oriented control at interval is spaced, and the state variation of servo-drive system has unsettled risk.Because its inherent slow conversion process can only repeat a few parameters (normally servo gain and damped coefficient).
The present invention repeats to reach Fast transforms with constant state on PC, do not have unsettled risk.This also makes the more control parameter be optimized in preset time, has optimized performance better.
Different with the present invention is, can adapt to the current of electric input without any the prior art method, this is significant to preventing motor overload and preventing that the robot durability from reducing invention, and prior art can not adapt to the variation of spring constant, thereby influences the vibration characteristics of robot.
The present invention uses the method for repetition, on dynamic robot model, assesses the expected variation of PC control parameter.Learning-oriented control must use real robot to assess the influence of variation, and the present invention can be on PC with same condition moving model repeatedly, wait to have reached target and implement this variation again.This quick repetition methods has also been avoided unsettled risk.
Correspondingly, the present invention also has the advantage of off line program design, can separate with robot the modification of program, uses the repetitive operation of learning-oriented control can obtain optimum parameters.In learning-oriented control, repetitive operation moves with interval, and the variation of servo-drive system status condition also is full of unsettled risk, yet the present invention carries out repetition with constant state, and conversion is faster, does not have unsettled risk.In addition, in learning-oriented control, before whole procedure executed, the once variation of a parameter can not obtain assessment under dynamic condition, and this is very slow.Same, the defective of the method for learning-oriented control is in the next time period, under new status condition, estimates.This makes the stability that repeats become out of reach.
Robot path optimization needs high-intensity CPU work, relies on very much robot TCP position and robotic structure.In addition, the CPU in the robot controller will handle too much work usually, such as behavior plan, program management and storage management or the like.Therefore, in the past with the very difficult realizing route optimization of the host CPU of robot controller.The feasible way that method and apparatus of the present invention provides real-time robot path to optimize.
Main design of the present invention is with external computer device (common PC) and robot controller real-time interactive.The feedback of performance can show to the user on any PC that has a network interface card that robot controller is connected or the network connection by special-purpose with PC.Image shows the useful information that can provide self-controller, and such as path deviation and cycle, actual flow process can take place also can not take place.
For when each program is carried out to the performance visualization and be shown to the user, must transmit real-time important exercise data and system/servo condition to PC.Simultaneously, must analyze each record, and it be stored in order to using in the future according to user's needs.After analysis, the CPU ability of using exterior PC is come the offset data of calculating optimum repetition.Pass important offset data back robot controller in real time then, next repeated experiments begins automatically.The present invention proceeds to always and satisfies the index that the user sets.
Fig. 1 has shown optimization robot control program's of the present invention equipment 10.One first control appliance 11 (such as robot controller) connects one second control appliance 12 (such as personal computer PC) by communication line 13 (such as computer network).Although the preferred personal computer of this second control appliance can use any suitable computer.Controller 11 comprises kinematic system 14, servo-drive system 15 and communication clients/server 16.PC12 comprises path analysis model 17, optimizes model 18 and communication clients/server 19.
As shown in Figure 2, in robot controller 11, kinematic system 14 connects servo-drive system 15, and executive control program is to produce " motion command " and " adjustment servo-drive system " signal of input servo-drive system 15.Servo-drive system 15 connects the motor 20 of robot, and carry out motion command motor 20 is operated, and receiving feedback signals (comprising the current of electric that motor 20 sends).Can store a plurality of control programs in user program memory 21, memory 21 connects the communication server/client 16.Kinematic system 14 is sent " performance data " and is received " the optimization data " that it spreads out of to the communication server/client 16." optimization data " are used to produce " adjustment servo-drive system " signal to optimize performance.
Exterior PC 12 among Fig. 3 comprises the communication server/client 19, and its switching performance data storage 22 is to provide " performance data " to it.This model of motion/dynamic model memory 23 store machine people.Data storage 22 is connected the actual performance of robot performance's model 24 with " foundation " robot with model memory 23.Model 24 connects simulator model 25 by analysis path, and these model 25 usefulness analogy methods are analyzed the robot path based on the robot performance.The result of model 25 is imported into and is optimized duplication model 26.Model 26 feeds back " optimization data " by backfeed loop to simulator model 25, to check the path based on " optimization data ".By the time confirmed " optimization data " can make robot performance better after, " optimization data " are imported kinematic system shown in Figure 2 in real time by communicating to connect the communication server/client 19 and 16 of 13.
Fig. 4 is the flow chart of the inventive method.This method is from " connection robot controller " instruction 30, and wherein exterior PC 12 connects robot controller 11 shown in Figure 1.PC carries out " synchronous with controller " instruction 31 then, and wherein the operation of PC12 and robot controller 11 is synchronous in real time.In " reception comes the performance data of self-controller " instruction 32, PC12 slave controller 11 receives data.Execution command 31 has also been carried out " creating motion/kinetic-simulator " instruction 33 simultaneously.The simulator of creating in performance data that receives in the use step 32 and the step 33 can be carried out " analysis robot performance " instruction 34.Be " user specifies optimization aim and restriction " instruction 35 after the step 34, step 33 and 35 is pointed to the instruction 36 of " using user program and simulator to be optimized ", and this instruction produces potential optimizer.Put at 37 o'clock at " whether satisfying target " option, if the program of having optimized does not satisfy the target of user's appointment, this method is walked " N " route and is returned optimizer step 36.If the program of having optimized has satisfied the target of user's appointment, this method is walked " Y " route and is carried out " systematic parameter and/or the user program of necessity are returned controller " instruction 38, and optimizing process has just been finished.Robot controller 11 can be carried out optimizer and/or control system parameter now.
According to patent statute, the present invention's description here all is a preferred embodiment.But the present invention can implement with other mode and not deviate from original design and scope.
Claims (14)
1. a robot control system is characterized in that, comprising:
Robot;
First control appliance, this equipment connects this robot and executive control program, operates this robot according to the distinctive control system parameter of this control program;
Monitoring equipment is used for monitoring during this robot in operation the actual performance data of this robot;
Second control appliance, this equipment connect this first control appliance and monitoring equipment, and this second control appliance is reacted to these actual performance data, and the control system parameter in the real time modifying control program is come in the path that use is optimized.
2. according to the described robot control system of claim 1, wherein, this first control appliance is a robot controller and this second control appliance is a personal computer.
3. according to the described robot control system of claim 1, wherein, this first control appliance, this monitoring equipment and this second control appliance are connected to carry out transfer of data by communication line.
4. according to the described robot control system of claim 3, wherein, this communication line is a computer network.
5. according to the described robot control system of claim 1, wherein, this monitoring equipment comprises the equipment that produces feedback signal from driven machine people's motor.
6. according to the described robot control system of claim 5, wherein, this feedback signal comprises the current of electric of this motor.
7. according to the described robot control system of claim 1, wherein, this second control appliance comprises the motion/kinetic-simulator that is used to detect, and comprises the equipment of revising this control system parameter.
8. according to the described robot control system of claim 1, wherein, this second control appliance comprises the optimization aim and the restriction of user's appointment, in order to revise this control system parameter.
One kind in the robot system that comprises executor and controller, in given target zone, optimize the robot path program, and adapt to the method for variation of the dynamic property of other similar robot, this method may further comprise the steps:
A. produce the path program of robot with traditional robot teaching's method;
B., dynamic model, control system and the optimizer of robot are provided to computer;
C. provide the target capabilities index to computer;
D. connection control system is with computer exchange information;
E. come the manipulation robot with control system, this system comes the execution route program with the control system parameter group of acquiescence;
F. the in operation performance variable of monitoring robot;
G. performance variable is imported computer;
H. use dynamic model and performance variable in computer, to carry out optimizer, to reach performance objective;
I. produce one group of new control system parameter;
J. with new control system parameter input control system;
K. with the acquiescence control system parameter of new control system parameter as the path program;
L. repeating step e. is roughly the same until new control system parameter and existing acquiescence control system parameter to k., therefore forms the acquiescence control system parameter of optimizing; With
M. when control system continues to use the acquiescence control system parameter execution route procedure operation robot that optimizes, computer and control system are disconnected.
10. in accordance with the method for claim 9, wherein, the cycle that described target capabilities index is a robot.
11. in accordance with the method for claim 10, wherein, described performance variable comprises spindle motor electric current and shaft encoder counting.
12. in accordance with the method for claim 9, wherein, a described target capabilities index is the robot path accuracy.
13. in accordance with the method for claim 12, wherein, described performance variable comprises shaft encoder error, spindle motor electric current, shaft encoder counting and servo gain.
14. a robot control system comprises:
Robot;
Robot controller, this controller connect this robot and carry out a control program, operate this robot according to the distinctive control system parameter of this control program;
Monitoring equipment is used for monitoring during this robot in operation the actual performance data of this robot;
Computer, this computer connects this robot controller and monitoring equipment by communication line, and this computer is reacted to these actual performance data, and the control system parameter in the real time modifying control program is come in the path that use is optimized.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US67159005P | 2005-04-15 | 2005-04-15 | |
| US60/671,590 | 2005-04-15 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1935470A true CN1935470A (en) | 2007-03-28 |
Family
ID=37440155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006100747994A Pending CN1935470A (en) | 2005-04-15 | 2006-04-17 | Method for optimizing robot program and robot control system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2006302282A (en) |
| CN (1) | CN1935470A (en) |
| DE (1) | DE102006017945A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850549A (en) * | 2010-04-30 | 2010-10-06 | 苏州博实机器人技术有限公司 | Special joint feature detection and parameter regulation device for robot |
| CN101452289B (en) * | 2007-12-06 | 2011-09-28 | Abb研究有限公司 | A robot service system and a method for providing remote service for a robot |
| CN102245356A (en) * | 2008-12-10 | 2011-11-16 | Abb研究有限公司 | Method and system for in-production optimization of the parameters of a robot used for assembly |
| WO2015101217A1 (en) * | 2013-12-30 | 2015-07-09 | 深圳市配天智造装备股份有限公司 | Control card and robot |
| CN105682864A (en) * | 2014-12-26 | 2016-06-15 | 深圳市配天智造装备股份有限公司 | Control card and robot |
| CN107283424A (en) * | 2016-04-11 | 2017-10-24 | 发那科株式会社 | Robot control system |
| CN107710082A (en) * | 2015-09-29 | 2018-02-16 | 宝马股份公司 | For the method for automatic configuration for the external control system for controlling and/or adjusting robot system |
| CN108945677A (en) * | 2018-06-22 | 2018-12-07 | 苏州朵唯智能科技有限公司 | A kind of label embedment method using robot |
| CN111195918A (en) * | 2018-11-16 | 2020-05-26 | 发那科株式会社 | Action program creating device |
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| US6442451B1 (en) * | 2000-12-28 | 2002-08-27 | Robotic Workspace Technologies, Inc. | Versatile robot control system |
| JP2003067019A (en) * | 2001-08-29 | 2003-03-07 | Star Micronics Co Ltd | Machining program editing system |
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-
2006
- 2006-04-17 JP JP2006113535A patent/JP2006302282A/en active Pending
- 2006-04-17 CN CNA2006100747994A patent/CN1935470A/en active Pending
- 2006-04-18 DE DE200610017945 patent/DE102006017945A1/en not_active Withdrawn
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101452289B (en) * | 2007-12-06 | 2011-09-28 | Abb研究有限公司 | A robot service system and a method for providing remote service for a robot |
| CN102245356A (en) * | 2008-12-10 | 2011-11-16 | Abb研究有限公司 | Method and system for in-production optimization of the parameters of a robot used for assembly |
| CN102245356B (en) * | 2008-12-10 | 2017-04-05 | Abb研究有限公司 | For optimizing the method and system of the parameter of the robot for assembling in production |
| CN101850549A (en) * | 2010-04-30 | 2010-10-06 | 苏州博实机器人技术有限公司 | Special joint feature detection and parameter regulation device for robot |
| WO2015101217A1 (en) * | 2013-12-30 | 2015-07-09 | 深圳市配天智造装备股份有限公司 | Control card and robot |
| CN105682864A (en) * | 2014-12-26 | 2016-06-15 | 深圳市配天智造装备股份有限公司 | Control card and robot |
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| CN107710082A (en) * | 2015-09-29 | 2018-02-16 | 宝马股份公司 | For the method for automatic configuration for the external control system for controlling and/or adjusting robot system |
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| CN107283424A (en) * | 2016-04-11 | 2017-10-24 | 发那科株式会社 | Robot control system |
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| CN111195918A (en) * | 2018-11-16 | 2020-05-26 | 发那科株式会社 | Action program creating device |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2006302282A (en) | 2006-11-02 |
| DE102006017945A1 (en) | 2006-12-14 |
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