JP2000237980A - Work position detecting method of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work position detecting method of a robot capable of accurately acquiring the position information on a work according to a work detection signal from a sensor. SOLUTION: This work position detecting method of a robot used in a control system 1 comprises a detection signal monitoring step for making a servo control part 30 monitor a work detection signal D7; a servo position information acquiring step of acquiring latch encoder information D10 of a servo motor 40 as latch servo position information D11 in detecting a work detection signal D7; a servo shaft joint position calculating step of calculating latch joint position information D12 from the latch servo position information D11; and a work position calculating step of calculating work position in a world coordinate system from the latch joint position information D12. As the work detection signal D7 is monitored by the servo control part 30, the current position of the work can be accurately acquired in real time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for scanning a workpiece shape, in which a detection signal from a sensor that moves following the operation of a robot is input to a control system of the robot and position information of the workpiece is input. The method for detecting a workpiece position of a robot to be acquired can be used, for example, in a robot used for assembling and handling electric / electronic parts, automobile parts, and the like, and for performing a work of grinding and shaping a work.

[0002]

2. Description of the Related Art Conventionally, in assembling work and handling work of electric / electronic parts, automobile parts, and the like, and grinding and forming work of a work, a plurality of servo axes combined by a link mechanism and the plurality of servo axes are driven. A robot having a servo motor for causing the robot to operate is used. In such a robot, operation control such as position control and attitude control is performed by inputting a predetermined robot language program to a control system that controls the robot.

The above-described robot control system 101
Is configured to include a main control unit 10 and a servo control unit 30 as shown in FIG. The main control unit 10 analyzes a robot language program D1, which is a task program for defining the operation of the robot, and issues a robot movement command D1.
2 is a part for generating a servo command value D3 for each servo axis based on the movement command D2. The main control unit 10 includes a language analysis unit 11 and a servo command value generation unit 13 configured as a program developed on a CPU in the main control unit 10.

The language analysis means 11 is a part which analyzes the robot language program D1 and calculates a joint position of the robot by an inverse transformation, thereby generating a robot movement command D2. On the other hand, the servo command value generating means 13 generates the servo command value D3 of each servo axis at a predetermined cycle based on the movement command D2, and performs the forward conversion of the servo command value D3 at each predetermined cycle, thereby obtaining a servo command. Command value D
Then, a current position D4 in the world coordinate system based on the number 3 is calculated.
The robot language program D by the language analysis means 11
The process 1 is performed prior to the actual operation of the robot. The movement command D2 generated by the language analysis unit 11 is temporarily stored in the buffer 15, and the servo command is generated at a predetermined cycle from the oldest generation history. It is sent to the value generation means 13 and processed.

The servo control unit 30 controls the servo motor 40 based on the servo command value D3 generated by the main control unit 10.
And a position control interrupt means 31 and a speed control interrupt means 33. The position control interrupt unit 31 generates a position command value D6 for each predetermined distribution cycle based on the servo command value D3 generated by the main control unit 10, and outputs the position command value D6 to the speed control interrupt unit 33.

The speed control interrupting means 33 controls the speed of the servomotor 40 based on the position command value D6 and encoder information D5 obtained from an encoder (not shown) provided in the servomotor 40, The information D5 is output to the position control interrupt unit 31. When the robot has a plurality of servo axes combined by a link mechanism, a plurality of servo motors 40 for driving each servo axis are required. Therefore, a servo control unit 30 is provided for each servo motor 40. I have.

In the above-described robot control system 101, it is important to control the operation of the robot while grasping the position and shape of the work to be worked. For this reason, the control system 101 is generally provided with a sensor 50 that scans the shape of the work following the operation of the robot (see FIG. 3) so that the current position information of the work detected by the sensor 50 can be acquired. Has become.

Specifically, the sensor 50 is an infrared sensor,
It is composed of an optical sensor or the like, and is configured to output a two-level signal of detecting or not detecting the work, and is connected to the main control unit 10 of the control system 101 via the I / O port 17 as shown in FIG. Have been. When the detection signal from the sensor 50 changes, that is, when the detection signal D7 of the sensor 50 changes from the state without the work to the state with the work, the work detection signal D7 is output from the I / O port 17.
Is input to the language analysis means 11 via the.

In such a control system 101,
When the current position of the work is acquired by the work detection signal D7 from the sensor 50, the robot language program D1
A branching process such that a predetermined process is executed according to the output of the work detection signal D7 is set in advance, and the branching process is analyzed and executed by the language analysis unit 11, whereby
The current position of the work can be obtained. More specifically, as shown in FIG. 4, consider a process of moving the robot from point P1 to point P2 and detecting the edge of the work W existing between point P1 and point P2. Such processing is executed by the following robot language program D1. The following robot language program is
Although it is composed of the robot language SCOLII (manufactured by Toshiba Machine Co., Ltd.), even when a program is created in another robot language, the processing is performed in substantially the same procedure.

Line number 1 MOVE P1 Line number 2 ON DIN (1) DO PW = HERE Line number 3 MOVES P2 Here, line number 1 is POINT T at the scanning start point P1.
This is a command to move the robot by the O POINT movement command. The row number 2 is the first I to which the sensor 50 is connected.
This is an instruction to interrupt the process of substituting the current position of the robot into the variable PW when the / O port 17 is turned on, that is, when the work W is detected. Line number 3 is an instruction to move the robot to the scanning end point P2 by a linear interpolation movement instruction.

When the above program is executed by the control system 101 shown in the block diagram of FIG. 3, the processing of each row is performed in the following procedure. (1) The language analysis means 11 analyzes the above-mentioned program input as a series of robot language programs D1, divides the processing into processing for each line, and starts processing for each line of the program. (2) First, the language analysis unit 11 processes the line number 1 and moves the robot to the scanning start point P1 by a POINT TO POI.
A movement command D2 for moving the object in NT is generated, and the
To be stored. The servo command value generation means 13 acquires the movement command D2, generates a servo command value D3, and outputs it to the servo control unit 30. The position control interrupt processing means 31 of the servo control unit 30 generates a position command value D6 for each distribution cycle based on the servo position command value D3, and the speed control interrupt processing means 33 generates the position command value D6. The servo motor 40 is operated based on D6. The servo command value generation means 13 calculates the current world coordinate system position D4 when generating the servo command value D3.

(3) Next, the language analysis means 11 sets the line number 2
The process following the DO of line number 2 is a process for generating a current position information acquisition command of the robot for the first time when the sensor 50 detects the work W. Therefore, the language analysis unit 11 temporarily turns on the processing of the line number 2 in the memory.
It is held as the condition table T1, and the next line number 3 is processed. (4) In this state, when the language analyzing means 11 processes the line number 3, the language analyzing means 11 outputs a moving command D2 corresponding to the line number 3, and the servo command value generating means 13 outputs the moving command D2 based on the moving command D2. Then, a servo command value D3 is generated and output to the servo control unit 30, whereby the robot
It moves by linear interpolation from the scanning start point P1 to the scanning end point P2.

(5) Then, the robot starts moving from the scanning start point P1 to the scanning end point P2 by the processing of the row number 3, and the sensor 50 detects the workpiece W at the point PW which is the edge of the workpiece W in FIG. Upon detection, the work detection signal D7 becomes I
It is input to the language analysis means 11 via the / O port 17. (6) Language analysis means 11 recognizing work detection signal D7
Analyzes the execution statement D8 below DO registered in the ON condition table T1, obtains the world coordinate system current position D4 calculated by the servo command value generation means 13, and executes the execution statement D8.
8 is set to the variable PW.

(7) The position interrupt control means 31 of the servo control unit 30 calculates servo position information D9 based on the encoder information D5 from the speed interrupt control means 33. Then, the servo command value generating means 13 of the main control unit 10
Captures this servo position information D9 as needed,
A servo command value D3 and a world coordinate system position D4 based on the servo command value D3 are generated in combination with the movement command D2. That is, the language analysis unit 11 responds to the execution statement D8 by the servo position command value generation unit 13, the position control interruption unit 31,
And the current position D4 of the world coordinate system generated in the process of the speed control interrupting means 33 is obtained.

[0015]

However, such a conventional method for detecting a work position of a robot has the following problems. That is, the position information to be stored in the variable PW in the above-described program is the current position in the world coordinate system based on the encoder information D5 when the sensor 50 detects the work W. However, the servo command value D
Since there is always a delay amount between 3 and the servo position information D9 acquired, the world coordinate system current position D4 stored in the variable PW does not match the encoder information D5.

For this reason, if the servo command value generation means 13 calculates the world coordinate system current position D4 based on the servo position information D9 instead of the servo command value D3, such a delay amount is eliminated and the world coordinate system The accuracy of the system current position D4 is improved. However, considering the moving speed of the robot and the processing cycle of the servo command value generating means 13 of several milliseconds, it cannot be said that sufficient accuracy can be obtained.

The executable statement D8 for setting the current position in the variable PW is processed by the language analyzing means 11. The processing cycle in the language analyzing means 11 is as follows.
It is longer and unstable (several tens to hundreds of milliseconds) as compared with the processing cycle of the servo command value generating means 13 described above.
Therefore, simply acquiring the current position D4 in the world coordinate system based on the servo position information D9 will result in acquiring position data with insufficient accuracy in a long and unstable processing cycle. Not be.

This time difference causes a fatal measurement position error when the robot moves at high speed.
In order to accurately detect the work position while controlling the operation of the robot, the robot must be moved at an extremely low speed, which greatly affects the tact time of the robot. Further, a method of solving such a problem by a correction process is also conceivable. However, due to the low priority of the process by the language analysis unit 11 and the unstable processing cycle depending on the process of the program line being analyzed, the above-described process is performed. It is also difficult to perform an error correction process due to a processing delay.

An object of the present invention is to provide a robot for inputting a detection signal from a sensor moving following a robot operation to a robot control system in order to scan the shape of the workpiece and to acquire positional information of the workpiece. Another object of the present invention is to provide a method of detecting a work position of a robot, which can accurately acquire position information of a work according to a work detection signal from a sensor.

[0020]

In order to achieve the above object, a method for detecting a work position of a robot according to the present invention comprises the steps of: detecting a position of a work from a sensor moving following a movement of the robot in order to scan a work shape; A signal is input to a control system of the robot to obtain position information of the work, a work position detection method of the robot, wherein the robot comprises:
Having a plurality of servo axes combined by a link mechanism, and a servo motor for driving the plurality of servo axes;
The control system analyzes a robot language program to be input, generates a movement command of the robot, and generates a servo command value for each servo axis based on the movement command. A servo control unit that controls the operation of the servo motor based on the generated servo command value, and a detection signal from the sensor is input to the servo control unit. When a work detection signal indicating that the edge of the work has been detected is input, servo position information which is position information of the servo motor at that time is configured to be obtained, and based on a declaration included in the robot language program. A servo position information obtaining step of causing the main control unit to obtain the servo position information; and a servo axis joint for calculating joint position information of each servo axis. And 置算 out step, based on the calculated joint position information, characterized in that it is configured to include a workpiece position calculation step of calculating the positional information of the workpiece.

According to the present invention, when the detection signal from the sensor is input to the servo control unit and the work detection signal indicating that the edge of the work is detected is input,
Since the servo position information at that time is obtained, it is possible to obtain high-accuracy servo position information according to the detection state of the sensor. Further, the method includes a servo position information acquisition step, a servo axis joint position calculation step, and a work position calculation step executed by the main control unit. Therefore, based on the above-described highly accurate servo position information, the joint position of the servo axis is determined. , The current position of the work is calculated, and the control system can accurately acquire the current position information of the work.

In the above, the above-mentioned main control unit comprises a language analyzing means for analyzing a robot language program to generate a movement command, and a servo for generating a servo command value based on the movement command generated by the language analysis means. Command value generating means, and the servo axis joint position calculating step described above includes:
It is preferably executed by the servo command value generating means, and the work position calculating step is preferably executed by the language analyzing means. That is, the servo command value generation means is a part that generates a servo command value for each servo axis based on the movement command generated by the language analysis means, and calculating joint position information from servo position information There is a reciprocal relationship, and it can be easily calculated.

On the other hand, the servo command value generating means is a part for outputting a servo command value to the servo control unit, and therefore requires a high-speed and stable processing cycle. Therefore, in processing the above-described steps, the load on the servo command value generation means can be reduced by minimizing the portion executed by the servo command value generation means, thereby reducing the servo command value generation means. Means faster processing cycle,
Stabilization is achieved.

The work detection signal from the sensor includes a rising edge signal detected in a direction in which the sensor approaches the work, and a falling detection edge signal detected in a direction in which the sensor moves away from the work. In such a case, it is preferable that the above-described method of detecting the work position of the robot includes a work detection signal selecting step of selecting which detection edge signal is used as the work detection signal when the main controller declares. .

That is, since the method includes a work detection signal selection step, when the robot moves in the direction approaching the work, only the rising edge detection signal is processed as the work detection signal, and the robot moves in the direction away from the work. In this case, only the falling edge detection signal can be processed as the work detection signal. Accordingly, the handling of the detection signal of the sensor by the servo control unit is facilitated, so that the monitoring of the detection signal of the sensor by the servo control unit can be simplified.

Further, it is preferable that the servo position information obtaining step, the servo axis joint position calculating step, and the work position calculating step are configured as languages of a robot language program which is a task program. That is, since each of these steps is configured as the language of the robot language program to be input, it is possible to execute the work position detection method at the same level as the robot operation control such as a movement command, and the basic structure is With the same main control unit, the present invention can be applied to various control systems, and the versatility of the present invention is significantly improved.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. In the following description, the same or similar parts as those already described are denoted by the same or similar reference numerals, and the description thereof will be omitted or simplified. As shown in FIG. 1, the robot control system 1 according to the present embodiment has basically the same structure as the robot control system 101 described in the background art. That is, the control system 1 includes a main control unit 10 and a servo control unit 30. The main control unit 10 includes a language analysis unit 11, a servo command value generation unit 13, and a buffer 15, and the servo control unit 30 It is common to the control system 101 of the background art in that it includes the position control interrupting means 31 and the speed control interrupting means 33. However, the work detection signal D7 from the sensor 50
Is output to the speed control interrupting means 33 of the servo control unit 30.

In addition to the processing system for the information of the encoder information D5, the servo position information D9, and the current position D4 in the world coordinate system described in the background art, the control system 1 sends the position control interrupt from the speed control interrupting means 33. Insertion means 31
, The latch servo position information D11 output from the position control interrupting means 31 to the servo command value generating means 13, the servo command value generating means 1
3 has a processing system for information called latch joint position information D12 output to the language analysis means 11.

Such an information processing system can be realized by adding a predetermined robot language to the robot language program D1. Specifically, in order to convert and refer to the latch encoder information D10, the latch servo position information D11, the latch joint position information D12, and the like, in the above-mentioned SCOLII, LATCH, LATCHTR
Four functions G, LATCHSIG, and LATCHPSN are set.

The function LATCH is a function for declaring whether or not the servo command value generation means 13 of the main control unit 10 monitors the latch servo position information D11. Function LATCH
TRG is a function that causes the servo command value generation unit 13 to select the detection direction of the work detection signal, and is a function that enables the above-described work detection signal selection step to be executed. The function LATCHSIG is based on the work detection signal D
7 is a function that refers to whether or not 7 has been detected, and the state of the function LATCHSIG is changed according to the execution state of the servo position calculation step and the servo axis joint position calculation step. The function LATCHPSN is the latch joint position information D
12 is a function for calculating the work position in the world coordinate system, and is a function that enables the above-described work position calculation step to be executed.

If a specific program is described, similarly to the background art, when the edge detection of the work W is performed from the scanning start point P1 to the scanning end point P2 (see FIG. 4), the following program is executed. By doing so, edge detection of the work W can be performed. Line number 1 MOVE P1 Line number 2 LATCHTRG = 1 Line number 3 ENABLE LATCH Line number 4 MOVES P2 Line number 5 WAIT MOTION> = 100 Line number 6 IF LATCHSIG = 1 THEN P
W = LATCHPSN ELSE PW = HERE Line number 7 DISABLE LATCH

Here, the row number 1 is P
This is a command to move the robot by a movement command of OINT TO POINT. The line number 2 is an instruction for designating the detection direction of the work detection signal D7 of the sensor 50 as the rising direction. Line number 3 is a command for declaring that the servo command value generation means 13 should monitor the latch servo position information D11. Line number 4 is an instruction to move the robot to the scanning end point P2 by a linear interpolation movement instruction. Line number 5
Means that the movement amount from the scanning start point P1 to the scanning end point P2 is 1
Until 00%, this is an instruction to stop the language analysis.

Line number 6 is an instruction for which a branching process is set based on whether or not the work detection signal D7 from the sensor 50 is detected. If the work detection signal D7 has already been detected, the servo command value generation means 13 acquires latch servo position information D11 based on the latch encoder information D10 acquired by the speed control interruption means 33, and latch joint position information D12 Is an instruction to calculate. On the other hand, when the work detection signal D7 has not been detected yet, the command is to output the world coordinate system current position D4 calculated by the servo command value generation means 13 to the language analysis means 11. Line number 7 is an instruction to end the execution of the above-described series of work position detection methods.

By executing the above-mentioned program in the control system 1, a separate information processing system comprising latch encoder information D10, latch servo position information D11 and latch joint position information D12 shown in FIG. 1 is configured. You. Here, latch encoder information D10,
Latch servo position information D11, latch joint position information D1
As shown in FIG. 2, reference numeral 2 includes a plurality of data including actual acquired and calculated data and a status indicating whether or not the data is registered and held.

That is, the latch encoder information D10
Includes rise detection position data D101 and fall detection position data D102 for registering and holding the encoder position of the servo motor 40, and conversion request data D103 for specifying the presence or absence of a conversion request. Here, the conversion request data D103 includes High, Low, and Of.
It consists of three levels of status f. The conversion request data D103 is O in a state where neither the rising position nor the falling position data is acquired.
ff, High when the rising detection position data D101 is acquired, and Low when the falling detection position data D102 is acquired.

The latch servo position information D11 includes rising servo position data D111 and rising servo position data D111 for calculating and holding servo position information based on the encoder position registered in the rising detection position data D101 or falling detection position data D102. Downward servo position data D112 and these servo position data D11
1 and D112 for determining which data is held. Here, the signal state data D113 is High and Low.
High when the rising servo position data D111 is acquired, and L when the falling servo position data D112 is acquired.
ow.

Further, the latch joint position information D12 calculates the joint position of each servo axis based on the rising servo position data D111 or falling servo position data D112, holds the joint position data D121, and the state of the function LATCHSIG. Latch state data D1 representing
22. The latch state data D12
Reference numeral 2 denotes a system state variable that can be referred to on the robot language program, and indicates whether a valid latch position has been obtained.

Next, the operation of the work position detecting method by the above program will be described with reference to FIG. (1) The language analysis unit 11 specifies the rising edge detection direction (line number 2) and declares that the servo command value generation unit 13 monitors the latch servo position information D11 (line number 3). In line number 2, LA
TCHTRG = 1 is the rising edge detection direction, LAT
CHTRG = 2 means that the falling edge detection direction is specified. (2) The servo command value generation means 13 waits until the latch servo position information D11 is obtained based on the declaration.

(3) The position control interrupt means 31 monitors the conversion request data D103 of the latch encoder information D10, and changes the value of the conversion request data D103 from Off to High.
Wait until h or Low. (4) The speed control interrupting means 33 monitors the work detection signal D7 from the sensor 50, and if the rising edge detection signal or the falling edge detection signal is detected, reads the encoder position of the servo motor 40 at that time. hand,
The value is stored in the rising detection position data D101 or the falling detection position data D of the latch encoder information D10.
102 (in this example, registered in the rising detection position data D101). Further, the value of the conversion request data D103 is switched from Off to High.

(5) Conversion request data D10 monitored
3 becomes High, the position control interrupt means 31 acquires the encoder position of the rising detection position data D101 from the latch encoder information D10, calculates the servo position from this encoder position, and obtains the latch servo position information D1.
Registered as 1 rising servo position data D111
Hold. Further, the position control interrupting unit 31 sets the value of the signal state data D113 to High, and switches the value of the conversion request data D103 from High to Off after the calculation process is completed.

(6) The servo command value generation means 13 acquires the servo position registered and held in the rising servo position data D111, calculates the joint position of the servo axis from the servo position, and calculates the joint position of the latch joint position information D12. It is registered and held as joint position data D121. Further, the servo command value generating means 13 calculates the joint position and rewrites the value of the latch state data D122 to “1” with data.

(7) The language analysis means 11 refers to the latch state data D122, and
If 2 is data (1), LATCHPSN is executed, the joint position of the joint position data D121 is forward-transformed to calculate the world coordinate system work position D13, and this is registered as the current world coordinate system position of the work W. Hold (line number 6). (8) After acquiring the current position of the work W in the world coordinate system, the program for executing the work position detection method is terminated (line number 7).

According to the above-described embodiment, the following effects can be obtained. That is, the servo position information acquisition step, the servo axis joint position calculation step, and the work position calculation step are set in the control system 1 by the function LATCH, so that the work W is detected in accordance with the work detection signal D7 from the sensor 50. The current position in the world coordinate system can be obtained accurately.

That is, the servo controller 30 constantly monitors the detection signal of the sensor 50, and when the sensor 50 outputs the work detection signal D7, the latch encoder information D1 at that time is output.
Since 0 can be obtained, the encoder position of the servo motor 40 can be obtained in real time by the servo position information obtaining step. Then, based on the obtained latch servo position information D11, calculations are performed in a servo axis joint position calculation step and a work position calculation step, so that the current position D of the work W in the world coordinate system is calculated.
13 can be accurately obtained by the control system 1.

Since the servo command value generating means 13 calculates the joint position of the servo axis and the language analyzing means 11 calculates the current position of the work W in the world coordinate system, the servo command value generating means 13 calculates. The number of parts can be minimized, and the load on the servo command value generating means 13 can be reduced, so that the processing cycle of the servo command value generating means 13 can be speeded up and stabilized.

Further, since a function LATCHTRG serving as a work detection signal selection step is provided, the servo control unit 30 can determine the work detection signal D7 as either a rising detection edge signal or a falling detection edge signal. Can be easily handled, and the monitoring of the detection signal of the sensor 50 by the servo control unit 30 can be simplified. And the functions LATCH, LATCHTRG, LATCHS
Since a program including IG and LATCHPSN is configured as a part of the robot language program D1 input as a task program, an accurate work position detection method can be executed only by adding the above functions to the robot language program D1. As long as the main control unit has the same basic structure, the present invention can be applied to various robot control systems.

The present invention is not limited to the above-described embodiment, but includes the following modifications. That is, in the above-described embodiment, the robot language program D1 is configured based on the language SCOLII. However, the present invention is not limited to this, and the present invention may be applied to other robot language programs such as JIS SLIM.

In the above-described embodiment, the method of detecting the work position of the robot is based on the functions LATCH, LATCHTR
Although the function is composed of the four functions G, LATCHSIG, and LATCHPSN, the program is not limited to this, and the program may be configured based on another function notation. In short, if the program allows the servo control unit to monitor the detection signal from the sensor, and the main control unit can execute the servo position information acquisition step, the servo axis joint position acquisition step, and the work position calculation step, the program expression The method is not limited.

Furthermore, in the above-described embodiment, the latch encoder information D10, the latch servo position information D11, and the latch joint position information D12 are configured to process the rising edge detection signal and the falling edge detection signal separately. However, it is not limited to this. That is, the program may be configured so that the workpiece detection signal from the sensor is batch-processed without being divided into the rising edge direction and the falling edge direction. In addition, specific structures, shapes, and the like at the time of carrying out the present invention may be other structures and the like as long as the object of the present invention can be achieved.

[0050]

According to the present invention as described above, a servo position information obtaining step, a servo axis joint position calculating step,
And a work position calculation step, so that the current position information of the work can be accurately obtained according to the work detection signal from the sensor.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a structure of a control system that executes a robot work position detection method according to an embodiment of the present invention.

FIG. 2 is a schematic diagram for explaining an operation of the robot work position detection method in the embodiment.

FIG. 3 is a block diagram illustrating a structure of a control system that executes a conventional method of detecting a work position of a robot in the background art.

FIG. 4 is a schematic diagram illustrating a positional relationship between a motion locus of a robot and a work according to the background art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control system 10 Main control part 11 Language analysis means 13 Servo command value generation means 30 Servo control part 40 Servo motor 50 Sensor D1 Robot language program D2 Move command D3 Servo command value D7 Work detection signal D11 Servo position information D12 Joint position information W work

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Takehiko Serizawa 2068-3 Ooka, Numazu-shi, Shizuoka Prefecture F-term in Numazu Works (reference) 3F059 AA03 AA06 AA13 AA14 DA02 DC07 DD12 FC07 9A001 KK32

Claims (4)

[Claims] 1. A work position of a robot for acquiring a position information of a work by inputting a detection signal from a sensor which moves following the operation of the robot to scan the shape of the work to a control system of the robot. A detection method, wherein the robot has a plurality of servo axes combined by a link mechanism, and a servomotor that drives the plurality of servo axes. The control system analyzes an input robot language program. A main control unit that generates a movement command for the robot, and generates a servo command value for each servo axis based on the movement command; and the servo motor based on the servo command value generated by the main control unit. A servo control unit that controls the operation of the sensor, a detection signal from the sensor is input to the servo control unit, and the servo control unit When a work detection signal indicating that the edge of the work is detected is input, the servo position information that is the position information of the servo motor at that time is configured to be obtained. A servo position information obtaining step of causing the main control unit to obtain the servo position information, and a servo axis joint position calculating step of calculating joint position information of each servo axis based on the obtained servo position information. A work position calculating step of calculating position information of the work based on the calculated joint position information. 2. The robot work position detecting method according to claim 1, wherein the main control unit analyzes the robot language program to generate the movement instruction, and the language analysis unit generates the movement command. Servo command value generating means for generating the servo command value based on the moved command, wherein the servo position information obtaining step and the servo axis joint position calculating step are executed by the servo command value generating means, The work position calculating step is executed by the language analysis means, and the work position of the robot is detected. 3. The robot work position detecting method according to claim 1, wherein the work detection signal includes a rising detection edge signal detected in a direction in which the sensor approaches the work, and the sensor. And a fall detection edge signal detected in a direction away from the work, and a work detection signal selection for selecting whether to execute the servo position information acquisition step based on any of the detected edge signals. A method of detecting a work position of a robot, comprising: 4. The robot work position detecting method according to claim 1, wherein the servo position information obtaining step, the servo axis joint position calculating step, and the work position calculating step are performed by the robot. A method for detecting a work position of a robot, wherein the method is configured as a part of a robot language program.