GB2326491A - Controlling tracking of robot along working path - Google Patents
Controlling tracking of robot along working path Download PDFInfo
- Publication number
- GB2326491A GB2326491A GB9812486A GB9812486A GB2326491A GB 2326491 A GB2326491 A GB 2326491A GB 9812486 A GB9812486 A GB 9812486A GB 9812486 A GB9812486 A GB 9812486A GB 2326491 A GB2326491 A GB 2326491A
- Authority
- GB
- United Kingdom
- Prior art keywords
- working tool
- workpiece
- working
- tracking
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39102—Manipulator cooperating with conveyor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The tracking of a robot along a working path is controlled by (S1) inputting data information including transfer direction and transfer velocity of a workpiece 50 transferred by a transferring apparatus 20, (S2) calculating a linear distance between a set initial stationary position along a transfer path of the transferring apparatus and a position of a working tool 15 of the robot 10, (S3) calculating the time necessary for the working tool 15 to move the linear distance at a predetermined velocity, (S4) calculating the distance that the workpiece 50 is transferred for the necessary time calculated in the step S3, (S5) electing a first position on the transfer path corresponding to the transfer distance calculated from the initial stationary position and a second position disposed in front of the first position by a predetermined distance along the transfer path, and converting the first and second positions into data of coordinates according to the working tool movements, (S6) moving the working tool 15 to the first position according to the converted data of coordinates when the transferred workpiece 50 arrives at the initial stationary position, and (S7) driving the working tool 50 to perform a desired operation to the workpiece 15 while moving the working tool 15 from the first position toward the second position.
Description
METHOD FOR CONTROLLING TRACKING OF
ROBOT ALONG WORKING PATH
The present invention relates to a method for controlling the tracking of a robot along a working path, and more particularly, to a method for controlling tracking of a robot along a working path so that a desired operation is achieved while a working tool of an industrial robot moves along a working path of a workpiece moving at a constant velocity.
Automated apparatuses such as industrial robots include a plurality of parts and working tools independently moving and rotating. An automation system employed in a production line is comprised of the robots and other peripheral apparatuses such as transfer trucks on which the robots are mounted, detecting units for recognizing whether a workpiece moving along a conveyer belt arrives at a predetermined position, and controllers for the robots.
A general method for controlling the tracking of a working tool along a working path so that the working tool installed on a robot can manage an appropriate operation while tracking the movement of a workpiece, is to move the working tool along a track to be followed while correcting the set track of the working tool utilizing positional data of the workpiece detected in real time. That is, a calculation processing method is applied in controlling the tracking of a workpiece, which can correct the movement of the working tool using positional data of the workpiece detected in real time while operating the working tool with reference to a table of track data of a storing device to be tracked by the working tool every unit time corresponding to the movement track of the workpiece. For the above path tracking controlling method, a calculator having a great capacity to process a large amount of calculation data at high speed so that the tracking can be corrected in real time is required.
However, when the contents of operation of a working tool applied to a workpiece is simple and a deviation from a set tracking path has no significance due to the range of allowance of a permitted tracking path, an automation system adopting the above conventional method becomes unnecessary and is difficult to employ practically.
With a view to solve or reduce the above problem, it is an aim of embodiments of the present invention to provide a method of controlling the tracking of a robot along a working path which can easily control the tracking of a movement path of a workpiece having a rather simple working procedure.
According to an aspect of the invention, there is provided a method for controlling the tracking of a robot along a working path comprising the steps of: (S1) inputting data information including transfer direction and transfer velocity of a workpiece transferred by a transferring apparatus, (S2) calculating a linear distance between a set initial stationary position along a transfer path of the transferring apparatus and a position of a working tool of the robot, (S3) calculating the time necessary for the working tool to move the linear distance at a predetermined velocity, (S4) calculating the distance that the workpiece is transferred for the necessary time calculated in the step S3, (S5) electing a first position on the transfer path corresponding to the transfer distance calculated from the initial stationary position and a second position disposed in front of the first position by a predetermined distance along the transfer path, and converting the first and second positions into data of coordinates according to the working tool movements, (S6) moving the working tool to the first position according to the converted data of coordinates when the transferred workpiece arrives at the initial stationary position, and (S7) driving the working tool to perform a desired operation to the workpiece while moving the working tool from the first position toward the second position.
It is preferable in the present invention that a first sensor is provided for recognizing arrival of the workpiece arrives at the initial stationary position and outputting corresponding signals, and wherein the driving for moving the working tool to the first position using the output signals of the first sensor is synchronized.
Preferably, said step S7 comprises the sub-steps of: (S7-l) determining whether said workpiece is present within a range that said working tool can perform an operation after said working tool arrives at said first position; (S7-2) driving said working tool to perform a predetermined operation when said workpiece is determined to be within the workable range in said step S7-1 and moving said working tool to said elected next position; and (S7-3) when it is determined that said workpiece is not present within the workable range until said working tool arrives at said second position, moving said working tool to said elected next position from said second position.
Preferably, said working tool is a gripper for holding and transferring said workpiece to a predetermined position.
A second sensor is preferably provided for recognizing whether said workpiece is present in said workable range and outputting corresponding signals is installed at said gripper, and said gripper is driven according to the output signal from said second sensor.
For a better understanding of the invention, and to show how embodiments of the same may be carried into effect, reference will now be made, by way of example, to the accompanying diagrammatic drawings, in which:
Figure 1 is a perspective view illustrating an automated production system employing a method of controlling the tracking of a robot along a working path;
Figure 2 is a block diagram showing the configuration of the robot controller shown in Figure 1;
Figure 3 is a view showing a movement path of a working tool of the robot shown in Figure 1; and
Figure 4 is a flow chart representing a control process of the tracking of a robot along a working path according to a preferred embodiment of the present invention.
Referring to Figure 1, an automated production system employing the method of controlling the tracking of a robot along a working path according to the present invention includes a robot 10, a conveyer belt 20 for conveying a workpiece 50, a first sensor composed of a light source 30 and a photodetector 31 disposed apart from each other for recognizing entry of the workpiece 50, and a robot controller 40 for controlling the operation of the robot 10.
The robot 10 has parts 11, 12, and 13 each independently capable of pivoting by a plurality of joints. A working tool 15 is attached at the end of the arm 13 of the robot 10. The working tool 15 is a gripper for holding the workpiece 50, and has a support plate 16 rotatably installed at the arm 13 and two grip plates 17 and 18 installed on the support plate 16 capable of linearly sliding so that the distance therebetween can be adjusted. A light source 33 and a photodetector 34 are respectively installed at the opposite grip plates 17 and 18. The light source 33 and the photodetector 34 are a second sensor for recognizing whether there is a workpiece 50 between the two grip plates 17 and 18.
As shown in the drawing, the robot 10 performs an operation of gripping the workpiece 50 by the working tool 15 installed at the arm 13 to move the workpiece 50 to an appropriate position while tracking the workpiece 50 transferred along the conveyer belt 20. Here, control of the tracking path of the working tool 15 encompasses driving of the respective parts 11, 12, and 13 of the robot 10 and a transfer truck 60 on which the robot 10 is mounted, if necessary.
Referring to Figure 2, the robot controller 40 has a main controller 41, a position controller 42, and a robot driving unit 43.
The robot driving unit 43 drives the robot 10 and the position controller 42 controls the position of a driver such as a motor forming the robot driving unit 43. The main controller 41 for controlling the overall operation of a robot system is comprised of a ROM storing an operating system for the robot 10, a RAM and a CPU. The main controller 41 executes the robot operating system while interfacing with an external device 45 such as the first and second sensors.
The method of controlling the tracking of a robot along a working path according to the present invention will be described with reference to FIGS. 1 through 4.
The robot 10 is initialized in step 100, and step 101 determines whether a program execution command is input.
If no program execution command exists, other function is performed in step 102. If there is a program execution command, it is determined in step 103 whether the program execution command is an operation command for holding the workpiece 50. If the program execution command is a command for inputting information necessary for the controlling operation, information such as transfer direction "X" and transfer velocity "V" of the workpiece 50 is input in step 108. Otherwise, other program code is executed in step 105.
If the program execution command is determined to be a work command for holding the workpiece 50 in step 103, a linear distance "L" (see Figure 3) between a preset initial stationary position "A" and a current position "P" of the working tool 15 with respect to the conveyer belt 20 is calculated in step 110. Next, a time "T" required by the working tool 15 for moving the linear distance L at a predetermined velocity is calculated in step 111. Here, the necessary time T is calculated adopting a moving velocity corresponding to the medium value in a range of possible velocities of the working tool 15.
Next, a transfer distance "D" which is the distance of movement by the workpiece 50 during the calculated necessary time T is calculated by D=VxT, in step 112.
Here, "V" represents the transfer velocity of the workpiece 50 which is the same as that of the conveyer belt 20.
Then, in step 113, a first position "B" corresponding to the transfer distance D from the initial stationary position A along a proceeding direction "X" of the conveyer belt 20, a second position "C" disposed in front of the first position B by a predetermined distance along the proceeding direction X of the conveyer belt 20, and a third position "F" which is a target position that the working tool 15 grips and lifts the workpiece 50 up to a predetermined height are elected. Next, the elected first, second and third positions B, C and F are converted into data for target movement coordinates by which the working tool 15 is moved in sequence, in step 114. Here, the conversion of coordinates is achieved by a coordinates conversion matrix which converts the coordinates values of the first, second and third positions to coordinates of a robot coordinate system set with reference to a certain position of the robot 10.
In step 115, it is determined whether the workpiece 50 arrives at the initial stationary position A by checking the signal output by the first sensor, i.e., the change of signals output from the photodetector 31.
Namely, when the moving workpiece 50 blocks the optical path between the light source 30 and the photodetector 31, electrical signals corresponding to the above optical interference are output from the photodetector 31 and are used as a synchronous signal for driving the robot 10 to move the working tool 15 to the first position B. Thus, the time when the workpiece 50 arrives at the initial position A is determined according to the signal output from the photodetector 31, the robot 10 is driven to move the working tool 15 to the first position B according to the converted and input data of coordinates, in step 116.
The robot 10 is driven such that the working tool 15 can arrive at the first position B for the time T with reference to a point when the workpiece 50 arrives at the initial position A.
In step 200, the working tool 15 grips the workpiece 50 and transfers it to a predetermined position F while moving along the conveyer belt 20 from the first position
B to the second position C.
The step 200 is comprised of steps 201 through 204.
In step 201, when the working tool 15 arrives at the first position B, it is determined whether the workpiece 50 is present within a range that the working tool 15 can work on. That is, whether the optical path between the light source 33 and the photodetector 34 installed at the working tool 15 is blocked by the workpiece 50 is determined according to signals output from the photodetector 34.
In step 202, the working tool 15 is driven to grip the workpiece 50 when the workpiece 50 is determined to be present within the above workable range in step 201.
Thereafter, the working tool 15 is moved to the elected next position F, in step 300.
When the workpiece 50 is determined not to be present within the workable range in step 201, the above steps are repeated to move the working tool 15 along the conveyer belt 20 to the second position C (step 203) and to determine whether the working tool 15 arrives at the second position C (step 204).
When the working tool 15 arrives at the second position C, work is not deemed to be completed and thus the working tool 15 is lifted up and moved to the elected next position F, in step 300. When the time counted after the working tool 15 arrives at the first position B is equal to the time required for the working tool 15 to move to the second position C from the first position B at a predetermined movement velocity, it can be decided that the working tool 15 arrives at the second position C.
As described above, in the method of controlling the tracking of a robot along a working path according to embodiments of the present invention, the tracking of a moving workpiece can be easily controlled and thus a desired operation can be attained.
The reader's attention is directed to all papers and documents which are filed concurrently with or previous to this specification in connection with this application and which are open to public inspection with this specification, and the contents of all such papers and documents are incorporated herein by reference.
All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.
Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.
The invention is not restricted to the details of the foregoing embodiment(s). The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.
Claims (6)
1. A method for controlling the tracking of a robot along a working path comprising the steps of: (S1) inputting data information including transfer direction and transfer velocity of a workpiece transferred by a transferring apparatus; (S2) calculating a linear distance between a set initial stationary position along a transfer path of said transferring apparatus and a position of a working tool of said robot; (S3) calculating the time necessary for said working tool to move the linear distance at a predetermined velocity; (S4) calculating the distance that said workpiece is transferred for the necessary time calculated in said step
S3; (S5) electing a first position on the transfer path corresponding to the transfer distance calculated from the initial stationary position and a second position disposed in front of the first position by a predetermined distance along the transfer path, and converting the first and second positions into data of coordinates according to said working tool movements; (S6) moving said working tool to the first position according to the converted data of coordinates when said transferred workpiece arrives at the initial stationary position; and
(S7) driving said working tool to perform a desired operation to said workpiece while moving said working tool from the first position toward the second position.
2. The method for controlling the tracking of a robot along a working path as claimed in claim 1, wherein a first sensor is provided for recognizing whether said workpiece arrives at said initial stationary position and outputting corresponding signals, and wherein the driving for moving said working tool to said first position using the output signals of said first sensor is synchronized.
3. The method for controlling the tracking of a robot along a working path as claimed in claim 1 or 2, wherein said step S7 comprises the sub-steps of: (S7-1) determining whether said workpiece is present within a range that said working tool can perform an operation after said working tool arrives at said first position; (S7-2) driving said working tool to perform a predetermined operation when said workpiece is determined to be within the workable range in said step S7-1 and moving said working tool to said elected next position; and
(S7-3) when it is determined that said workpiece is not present within the workable range until said working tool arrives at said second position, moving said working tool to said elected next position from said second position.
4. The method for controlling the tracking of a robot along a working path as claimed in claim 3, wherein said working tool is a gripper for holding and transferring said workpiece to a predetermined position.
5. The method for controlling the tracking of a robot along a working path as claimed in claim 4, wherein a second sensor for recognizing whether said workpiece is present in said workable range and outputting corresponding signals is installed at said gripper, and said gripper is driven according to the output signal from said second sensor.
6. A method for controlling the tracking of a robot along a working path, the method being substantially as herein described with reference to the accompanying drawings.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019970025912A KR100234320B1 (en) | 1997-06-19 | 1997-06-19 | Method of controlling tracking path of working point of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB9812486D0 GB9812486D0 (en) | 1998-08-05 |
| GB2326491A true GB2326491A (en) | 1998-12-23 |
Family
ID=19510333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9812486A Ceased GB2326491A (en) | 1997-06-19 | 1998-06-11 | Controlling tracking of robot along working path |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JPH1148179A (en) |
| KR (1) | KR100234320B1 (en) |
| CN (1) | CN1203141A (en) |
| GB (1) | GB2326491A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2447455A (en) * | 2007-03-12 | 2008-09-17 | Master Automation Group Oy | A support arrangement for a treatment device |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100743144B1 (en) | 2006-01-18 | 2007-07-27 | 주식회사 로보스타 | Tracking method and system for moving object of robot |
| JP2009028871A (en) * | 2007-07-30 | 2009-02-12 | Denso Wave Inc | Robot control device |
| CN102554924B (en) * | 2010-12-15 | 2015-04-15 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Manipulator locating device and conveying system |
| CN102554938B (en) * | 2010-12-31 | 2014-12-03 | 北京中科广视科技有限公司 | Tracking method for mechanical arm tail end trajectory of robot |
| JP5633555B2 (en) * | 2012-11-13 | 2014-12-03 | 株式会社安川電機 | Robot system |
| JP5945968B2 (en) * | 2013-09-03 | 2016-07-05 | 株式会社安川電機 | Robot hand, robot system, and article depalletizing method |
| CN205572437U (en) * | 2016-03-22 | 2016-09-14 | 深圳市百事达卓越科技股份有限公司 | A explosion -proof robot and oil tank transformation workstation for transforming oil tank |
| BR112019000728B1 (en) * | 2016-07-15 | 2023-03-28 | Fastbrick Ip Pty Ltd | VEHICLE INCORPORATING BRICK LAYING MACHINE |
| CN113602802A (en) * | 2021-08-26 | 2021-11-05 | 深圳市鑫中岩工业设备有限公司 | Automatic feeding method for spraying line |
| CN114559427B (en) * | 2021-12-21 | 2023-07-04 | 贝隆精密科技股份有限公司 | Intelligent linkage system of manipulator and guide rail and control method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0991015A (en) * | 1995-09-26 | 1997-04-04 | Central Motor Co Ltd | Synchronous work robot |
-
1997
- 1997-06-19 KR KR1019970025912A patent/KR100234320B1/en not_active IP Right Cessation
-
1998
- 1998-06-08 JP JP10159659A patent/JPH1148179A/en active Pending
- 1998-06-11 GB GB9812486A patent/GB2326491A/en not_active Ceased
- 1998-06-16 CN CN98114861A patent/CN1203141A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0991015A (en) * | 1995-09-26 | 1997-04-04 | Central Motor Co Ltd | Synchronous work robot |
Non-Patent Citations (1)
| Title |
|---|
| WPI Abstract Accession No. 97-263787/199724 & JP 09 091 015 A * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2447455A (en) * | 2007-03-12 | 2008-09-17 | Master Automation Group Oy | A support arrangement for a treatment device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR100234320B1 (en) | 1999-12-15 |
| JPH1148179A (en) | 1999-02-23 |
| CN1203141A (en) | 1998-12-30 |
| GB9812486D0 (en) | 1998-08-05 |
| KR19990002337A (en) | 1999-01-15 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| AT | Applications terminated before publication under section 16(1) |