JP2001005510A - Method for controlling robot and its control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make preparable an operation program without depending on the number or array of teaching points (position data) being the basis of the target orbit of a robot, and to make increasable the operating speed of the robot to a prescribed speed, and to make smoothly operable the robot even when the interval between the teaching points is short. SOLUTION: The orbit of a robot is controlled by an orbit controlling means 3 which preliminarily sets orbit data being the basis of the target orbit of a robot, and operates the robot along the target orbit generated based on the orbit data. In this case, the orbit data are arrayed according to prescribed array, and the whole range or prescribed range of the orbit data arrayed according to the prescribed array are designated, and normalized as a data group having a specific sequence, and the data group is processed according to the normalized sequence so that operation commands can be successively generated, and the orbit control is conducted based on the operation commands.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control method and a control device for a robot. More specifically, the present invention relates to a control method and a control device for a robot, in which creation of an operation program for the robot is simplified, and the trajectory control of the arm end of the robot can be performed more smoothly.

[0002]

2. Description of the Related Art A trajectory control of a painting robot or a sealing robot includes a numerical control method for giving a target trajectory numerically. In this method, for example, a large number of position data relating to a trajectory are created and stored in advance based on CAD data of a work or the like (a work target by a robot), and a target trajectory corresponding to the created and stored position data Each step corresponding to a teaching point based on each position data is provided in the operation program in order to cause the robot arm to follow the robot along the line. For example, when operating the trajectory as shown in FIG.
Steps LMOVE P (1), LMOVE P corresponding to (1), P (2), P (3),..., P (n),.
(2), LMOVE P (3), ..., LMOVE P
(N),... Are provided.

[0003] In a robot controller,
The robot is made to perform an operation corresponding to each teaching point while reading in advance each step of the operation program. For example, the next step is read, and processing is performed so as to obtain the posture (direction), speed, inward rotation amount, and the like of the arm tip at the teaching point corresponding to that step. At this time, in the reading, usually, only the pre-reading of the step corresponding to one operation instruction is performed. The reason is that there may be other instructions (for example, a wait instruction or a GOTO instruction to another step) between the individual operation instructions, and in such a case, if the operation instructions are read ahead one after another,
This is to avoid such inconveniences because, for example, when the robot temporarily stops for various reasons, inconsistencies in execution step management occur, and the procedure at the time of restarting becomes complicated.

[0004] By the way, some robots need only move from one point to another, such as a transport robot, and the trajectory of the robot does not matter. On the other hand, the robot has a limited working range such as a robot for welding, painting or sealing. The trajectory itself may be a problem, and at each teaching point in the working range, a specific operation different for each application is required. For this reason, at each teaching point in the working range, it is necessary to change the operation command corresponding to the specific operation, while in the non-working range, control for quick movement is required.

However, in the trajectory control,
Since the steps corresponding to the teaching points are created in the operation program in the order of the teaching points, the operation program cannot be created unless the work range and the number of the teaching points in the work range are determined. There is a disadvantage that it is not completed or difficult. On top of that, if an operation program is created based on the teaching points of the working range once determined, then the working range changes, and if the number of teaching points increases or decreases accordingly, There is also the inconvenience that the operation program must be modified and changed, and the modification and change work becomes complicated. That is, since the operation program is created depending on the teaching points, it is necessary to change the operation program according to the change in the number of the teaching points. The occurrence of these inconveniences increases or becomes more remarkable as the shape of the work is complicated and the number of teaching points based on CAD data or the like becomes large (for example, 100 to several hundred).

Further, as described above, in the trajectory control, only the pre-reading of the step corresponding to the one operation command is executed, so that only the next operation command can be predicted. For this reason, as described above, when the position data of the teaching point is large and the many teaching points are continuous at a very short short pitch, the operation distance by one operation command becomes extremely short. Even if the speeds are superimposed, it is not possible to accelerate to a predetermined speed within the range of the operating distance. as a result,
There is a problem that the operation speed of the robot cannot be increased, the cycle time (tact time) cannot be reduced, and the robot cannot be operated smoothly.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and has been developed in consideration of the above-mentioned problems. A robot control that enables the robot to be created and that can increase the operation speed of the robot to a predetermined speed and operate the robot smoothly even when the interval between the teaching points is short. It is intended to provide a method and a control device.

[0008]

According to a robot control method of the present invention, trajectory data serving as a basis of a target trajectory of a robot is set in advance, and the robot is operated by following a target trajectory generated based on the trajectory data. A trajectory control means for controlling a trajectory of the robot by a trajectory control means, wherein the trajectory data is arranged in a predetermined arrangement;
Specifying the entire range or a predetermined range of the orbit data arranged in the predetermined array, and then defining them as a data set having a specific order; and processing the data set in accordance with the specified order. And a step of sequentially performing a trajectory control based on the operation command.

In the method for controlling a robot according to the present invention,
The trajectory data is, for example, a position data group including a required number of position data.

Further, in the robot control method of the present invention, the position data, speed data and accuracy data can be specified as arguments in the operation command syntax, that is, the position data, speed data and accuracy data can be designated as reference data of the operation command. And the trajectory data can be defined as a complex data group composed of a required number of complex data including position data corresponding to the argument of the operation command and speed data and accuracy data for the position data. At the same time, the composite data may be preliminarily taught and input, and the composite data may be converted and used in association with each position data, speed data and accuracy data argument of the operation command when the operation command is executed.

Further, in the robot control method of the present invention, the robot arm tip may be accelerated over a plurality of position data, or the robot arm tip may be decelerated over a plurality of position data.

On the other hand, the robot control device of the present invention comprises a trajectory data storage means for storing trajectory data which is a basis of a target trajectory of the robot, and an operation program storage means for storing an operation program for operating the robot. ,
Trajectory control means having an operation command execution unit and an operation control unit for controlling the trajectory of the robot, wherein the trajectory data is arranged in a predetermined array in the trajectory data storage means, and An operation instruction is provided that defines the entire range or a predetermined range of the orbit data arranged in an array as a data set having a specific order,
The operation command execution unit reads the entire range or a predetermined range of the trajectory data according to the order specified in the operation command, and then sequentially generates an operation command based on the read trajectory data and sends the operation command to the operation control unit. The operation control unit transmits the trajectory control based on the input operation command.

In the robot control device according to the present invention,
The trajectory data is, for example, a position data group including a required number of position data.

Further, in the robot control apparatus of the present invention, the position data, the speed data and the accuracy data can be specified by the operation command syntax as arguments, that is, the position data, the speed data and the accuracy data can be designated as the reference data of the operation command. And the trajectory data can be defined as a complex data group composed of a required number of complex data including position data corresponding to the argument of the operation command and speed data and accuracy data for the position data. At the same time, the composite data may be preliminarily taught and input, and the composite data may be converted and used in association with each position data, speed data and accuracy data argument of the operation command when the operation command is executed.

[0015]

Since the present invention is constructed as described above, it is not necessary to change the operation program even if the number of teaching points is changed, or if so, the change is small. For programming is simplified.

In a preferred embodiment of the present invention,
The operation of the trajectory data including a large number of continuous position data is specified by one operation command, and the robot is operated by the operation command, so the robot's motion in that trajectory can be predicted when the operation command is read Becomes Therefore, it is not necessary to specify acceleration / deceleration for each teaching point, and even if the interval between the teaching points is short, if the movement distance of the entire trajectory is sufficient, acceleration is made to a desired speed via a plurality of teaching points, and It is possible to decelerate via a plurality of teaching points. As a result, the robot can be operated smoothly, and the cycle time (tact time) can be reduced.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

Embodiment 1 FIG. 1 is a block diagram showing a robot controller C applied to a robot control method according to Embodiment 1 of the present invention.
As shown in FIG. 1, the robot controller C includes a position data storage unit 1 in which position data is stored and set, an operation program storage unit 2 in which an operation program 21 is stored, and an operation program storage unit 2. And a trajectory control means 3 for causing the robot to move along the target trajectory according to the stored operation program 21.

The control device C having such a configuration is, specifically,
It is realized by combining a ROM, a RAM, an input / output interface, and the like in which an operation program 21 and the like corresponding to processing to be described later are stored mainly by a CPU.

The position data storage means 1 stores position data groups in a predetermined arrangement. FIG. 2 shows this position data group D [1 2... N] as an example.
The position data group D [1 2... N] shown in FIG. 2 indicates that the position data P (1), P (2),..., P (n) are arranged in this order.

In the first embodiment, the CAD data of the work W, which is the work object by the robot, is converted into position data, and the position data is input to the position data storage means 1. At that time, as described above, the entire range of the position data group D is assigned an address name with a sequential number i (i ≧ 1) according to the positional relationship, and the array is arranged in an ordered state. Have been.
For example, as shown in FIG.
= 1 to 100) of position data P (1), P (2),.
If (100) is input, the position data group D
Are sequentially assigned address names from P (1) to P (100). For example, P (1) = (x ₁ ,
y ₁ , z ₁ , O ₁ , A ₁ , T ₁ ), P (2) = (x ₂ , y ₂ ,
z ₂ , O ₂ , A ₂ , T ₂ ),..., P (100) = (x ₁₀₀ ,
y ₁₀₀ , z ₁₀₀ , O ₁₀₀ , A ₁₀₀ , T ₁₀₀ )
Address names are given by subscripts 1, 2,..., 100 (see FIG. 2).

In the following description, the P
A description will be given using (1),..., P (100) as the names of points at each position.

The operation program storage unit 2 stores the position data group D stored in the position data storage unit 1.
An operation program 21 having steps (hereinafter referred to as operation instructions) for processing the entire range or a predetermined range of [...] in a predetermined order is stored (see FIG. 4). The specific contents of the operation command will be described later.

The trajectory control means 3 executes an operation command of an operation command of the operation program 21 stored in the operation program storage means 2 and controls the robot in accordance with a command from the operation command execution section 31. An operation control unit 32 is provided as a main part.

The operation command execution unit 31 converts the position data in the entire range or a predetermined range of the position data group D [...] According to the specification of the operation command into the position data in the order specified by the operation command. The operation commands are sequentially generated by reading from the data storage means 1, and then the generated operation commands are sequentially transmitted to the operation control unit 32.

The operation control unit 32 controls the robot to move along the target trajectory based on the operation command from the operation command execution unit 31. That is, the servo control of the joints and the like is performed so that the arm tip of the robot moves along the target trajectory specified by the operation command execution unit 31. For example, in the case of a painting robot, the painting gun of the painting gun held by the arm tip is It performs operation control and the like.

Hereinafter, the contents of the operation command will be specifically described.

For the position data group D arranged in a predetermined arrangement in the position data storage means 1, P [...], P [n ...], P [... m], P [n ... m], P [n]
[> ...], P [m> ...], P [> ... n], P [m> ...
n], the range and its directionality or direction are defined.

The trajectory formed by the data set P [...],..., P [m> ... n] defined as
LMOVE P [...] LMOVE P [n ...] LMOVE P [... m] LMOVE P [n ... m] LMOVE P [> ...] LMOVE P [m> ...] LMOVE P [> ... n] LMOVE P [m> ... n].

The processing of the operation command defined as described above is performed as follows. In the examples described below, it is assumed that 100 pieces of position data from P (1) to P (100) are stored and set in the position data storage means 1 in all cases (see FIG. 3).

Operation instruction 1: LMOVE P [...] This operation instruction 1 is used for all the points P of the data set P [...] with the starting point of the operation target point having the smallest suffix and the same being the operation point having the largest suffix. It is a command to operate as the end point and to follow from the start point to the end point in a linear operation from the current position. For example, the operation command 1 is to move the point P (1) from the current position to the first point.
This is an instruction to operate so as to follow a linear operation to a point P (100) as a target start point. When the operation command 1 is executed, the operation command execution unit 31 reads the position data from the position data storage unit 1 to the points P (1) to P (100) in this order, and then stores the read position data in the position data. Operation commands are sequentially generated based on the operation commands, and the generated operation commands are sent to the operation control unit 32.

Operation instruction 2: LMOVE P [n...] This operation instruction 2 uses the point of the subscript n as the starting point of the operation target point for all the points of the data set P [n. Is the same end point, and is operated so as to follow the current position from the start point to the end point in a linear operation. For example, the operation instruction 2 is an instruction for operating the point P (30) from the current position to follow the point P (100) in a linear operation from the first target start point to the point P (100). When the operation instruction 2 is executed, the operation instruction execution unit 31 reads the position data from the point data storage unit 1 to the points P (30) to P (100) in this order, and then reads the read position data. Operation commands are sequentially generated based on the data, and the generated operation commands are sent to the operation control unit 32.

Operation instruction 3: LMOVE P [... M] This operation instruction 3 sets all points of the data set P [. It is a command to operate as the end point and to follow from the start point to the end point in a linear operation from the current position. For example, the operation instruction 3 is an instruction to operate the point P (1) from the current position to the point P (70) in a linear operation from the point P (1) as the first target start point. Then, when this operation instruction 3 is executed,
The operation command execution unit 31 reads the point P from the position data storage unit 1.
The position data from (1) to point P (70) are read in this order, and operation commands are sequentially generated based on the read position data, and the generated operation commands are transmitted to the operation control unit 3.
Send to 2.

Operation instruction 4: LMOVE P [n... M] This operation instruction 4 uses the point of the subscript n as the operation target start point and the point of the subscript m for all the points of the data set P [n. It is an instruction to operate the camera so as to follow the current position from the start point to the end point in a linear motion from the current position. For example, the operation instruction 4 is an instruction for operating the point P (30) from the current position to follow the point P (70) in a linear motion from the first target start point to the point P (70). When the operation command 4 is executed, the operation command execution unit 31 reads the point P from the position data storage unit 1.
The position data from (30) to point P (70) is read in this order, operation commands are sequentially generated based on the read position data, and the generated operation commands are sent to the operation control unit 32.

Operation instruction 5: LMOVE P [>...] This operation instruction 5 sets the point with the largest suffix as the start point of the operation target point and the point with the smallest suffix for all points of the data set P [>. It is an instruction to operate the camera so as to follow the current position from the start point to the end point in a linear motion from the current position. For example,
This operation command 5 is the point P (100) from the current position to the first
This is an instruction to operate so as to follow a linear operation to a point P (1) as a target start point. That is, the operation command 1 is an instruction to operate so that the range from the start point to the end point is the same and the moving direction is reversed. At the time of execution of the operation command 5, the operation command execution unit 31
, The position data from point P (100) to point P (1) are read in this order, operation commands are sequentially generated based on the read position data, and the generated operation commands are sent to the operation control unit 32. I do.

Operation instruction 6: LMOVE P [m>...] This operation instruction 6 corresponds to all points P in the data set P [m>.
In response to the instruction, the point with the subscript m is set as the start point of the operation target point, the point with the smallest subscript is set as the end point, and the operation is performed from the current position in a linear motion from the start point to the end point. For example, the operation command 6 is a command for operating the point P (70) to follow the point P (1) in a linear motion from the current position to the point P (1) as a first target start point. In other words, the operation command 3 is to operate so that the range from the start point to the end point is the same and the moving direction is reversed. When the operation command 6 is executed, the operation command execution unit 31 reads the position data from the point data storage unit 1 to the points P (70) to P (1) in this order, and then reads the read position data. , And sequentially sends the generated operation command to the operation control unit 32.

Operation instruction 7: LMOVE P [>... N] This operation instruction 7 includes all the points P of the data set P [>.
Is a command that causes the point with the maximum suffix to be the starting point of the operation target point, sets the point of the suffix n to the same ending point in the direction in which the suffix decreases, and moves the current position from the starting point to the ending point in a linear motion. For example, the operation command 7 is a command for operating the point P (100) from the current position to follow the point P (30) in a linear operation from the first target start point to the point P (30). That is,
The operation command 2 is an operation command that the range from the start point to the end point is the same and the movement direction is reversed. When the operation command 7 is executed, the operation command execution unit 31 reads the points P (100) to P (30) from the position data storage unit 1.
The position data up to this point are read in this order, and then operation commands are sequentially generated based on the read position data, and the generated operation commands are sent to the operation control unit 32.

Operation command 8: LMOVE P [m>... N] This operation command 8 sets the point of the subscript m to the start point of the operation target for all the points P of the position data set P [m>. This is an instruction to make the point of the suffix n the same end point in the direction in which the suffix decreases, and to operate from the current position to follow the start point to the end point in a linear operation. For example, the operation command 8 is a command for operating the point P (70) from the current position to the point P (30) in a linear motion from the current position to the point P (30). That is,
The operation command 4 is to operate so that the range from the start point to the end point is the same and the moving direction is reversed. And
When executing the operation instruction 8, the operation instruction execution unit 31
Point P (70) to Point P (30) from the position data storage means 1
The position data up to this point are read in this order, and then operation commands are sequentially generated based on the read position data, and the generated operation commands are sent to the operation control unit 32.

As is clear from the above description, in the first embodiment, it is understood that the position data group D constitutes the orbit data, and the position data storage means 1 constitutes the orbit data storage means. You.

In the first embodiment, the format of the operation command in the operation program 21 is, for example,
In the case of the operation command 1, the operation plan is changed, and the position data group D was in the range from P (1) to P (m), but changed from P (1) to P (q) (for example, q = Even when the range must be changed to m + 3), it is not necessary to change the operation program itself. When the format of the operation command is, for example, the operation command 3, LM
The expression OVE P [... m] is expressed as LMOVEP [... q]
(For example, q = m + 3).

Further, the change of the moving direction can be easily realized by slightly changing the expression of the operation command.

As described above, according to the first embodiment, the operation program 21 can be created independently of the determination of the number of position data for generating the target trajectory.
Further, even if the number of position data once determined changes later, it is not necessary to change the operation program 21, and even if there is, it can be dealt with by a slight change.

Further, since one operation command can predict the execution of the operation over the entire range of one target trajectory, even if the distance between the respective positions from the starting point is not sufficient to accelerate to a predetermined speed, a plurality of operations can be performed. An operation plan can be made so as to accelerate via a point, whereby the operating speed of the robot arm tip can be accelerated to a predetermined speed (see FIG. 5). Further, even in the deceleration stop, it is possible to plan to decelerate via a plurality of points, so that the deceleration can be performed at a predetermined deceleration rate (see FIG. 5). Accordingly, the cycle time (tact time) can be reduced.

Embodiment 2 Embodiment 2 is a modification of Embodiment 1, in which the argument of an operation command, that is, data referred to by the operation command is used as composite data.
An example of the syntax of an operation instruction using this composite data will be described below in the case where the operation instruction is LMOVE.

LMOVE Position Information, Speed, and Accuracy (1) As is clear from the above example, as described above, the syntax of the operation command is such that position information, speed data, and accuracy data are added to the operation command.

In the second embodiment, a trajectory is defined, so that a new data structure can be defined by the following command.

DEFINE TRJ {LOC, REAL, REAL} (2) The data structure is a data structure definition TRJ
Represents the first data: the position information, the second data: the real number, and the third data: the real number.

The following data structure is defined under these conditions.

STRUCT TRJ CD [...] (3) This is because each element of the composite data group CD [...] of this data structure is the data structure definition TR defined above.
J indicates that the data is composed of three pieces of data, and also indicates the configuration of the composite data group CD [...].

Since the composite data group CD [...] Is configured as described above, not only the position information on each array element of the composite data group CD [. Speed and accuracy (trajectory smoothness)
Can be stored. Therefore, the trajectory is represented in more detail than when only the structure of the position data is used.

Next, an operation plan of a robot using the composite data group CD [...] Having such a configuration will be described.

For example, if LMOVE CD [...] is executed, the composite data group CD
While the contents of [...] are referred to, it is determined from the definition (see (3) above) that the array is position information, real value 1 and real value 2, and as a result, the syntax of this operation instruction Is determined to match the syntax described above (see (1) above), the first data in the data arranged in the composite data group CD [...] Is extracted as position information, and the second The data is retrieved as speed and the third data is retrieved as precision. Then, this allows LMO
An operation plan is made assuming that the VE reference data is complete, and a command is sent to the operation control unit (see FIG. 6).

Here, it is assumed that the values of the first data, the second data, and the third data extracted from a certain composite data CD [...] Are P (i), V (i), and AC (i), respectively. Then, P (i) changes from point P (i-1) to point P (i).
, V (i) becomes the target moving speed in that section, and AC (i) connects point P (i-1) and point P (i) as shown in FIG. Point P on a straight line
(I) A point Q _{2 of a} straight line connecting the point P (i) and the point P (i + 1) inwardly from, for example, an arc trajectory from the vicinity near position Q _1.
It indicates the distance s to the point Q ₂ from the point P distance s or point P of (i) to the point Q ₁ (i) at the time of merging the.

FIG. 6 is a block diagram showing a control device C for a robot according to the second embodiment which is assumed to have such a function.
As shown in FIG. 6, the robot controller C operates the composite data storage unit 5 for storing composite data including the position data, the operation program storage unit 6 in which the operation program 61 is stored, and the robot. The trajectory control means 7 is provided as a main part.

As described above, the composite data storage means 5 stores the position data group D in a predetermined arrangement.
The speed data and the accuracy data (positioning information indicating the smoothness of the locus near the teaching point) at each position are also stored in association with each position. That is, the position data, the speed data, and the accuracy data are stored as the composite data group CD [...]. FIG. 8 shows this composite data group CD [12... N] as an example. The composite data group CD [12... N] shown in FIG.
, P (1), P (2),..., P (n)
V (1), V (2),..., V (n) at points P (1), P (2),..., P (n) are arranged in this order. And accuracy data AC (1), AC (2),..., AC (n) are arranged (see FIG. 8).

Also, in the second embodiment, the first embodiment
Similarly to the above, the CAD data of the work W, which is the work target of the robot, is converted into position data, and the position data is input to the position data storage means 5. In this case, similarly to the first embodiment, a serial number suffix i (i ≧ i) is applied to the entire range of the position data group D according to the positional relationship.
1) are assigned, and the addresses are arranged in an ordered state (see FIG. 8). Also, the speed data V and the accuracy data AC are input in a similar manner or by a user or the like as appropriate.

The operation program storage means 6 stores the composite data group CD stored in the composite data storage means 5.
An operation program 61 having steps (hereinafter referred to as operation instructions) for processing the entire range or a predetermined range of [...] in a predetermined order is stored (see FIG. 9). This operation command is designated, for example, as LMOVE CD [...].

The trajectory control means 7 executes an operation command executing section 71 for executing an operation command of the operation program 61 stored in the operation program storage means 6, and controls the robot in accordance with a command from the operation command executing section 71. An operation control unit 72 is provided as a main part.

The operation instruction execution unit 71 sorts the composite data group CD [...] Stored in the composite data storage means 5 in the order (CD [... Then, an operation command is sequentially generated from the read data set, and the operation command is sent to the operation control unit 72.

The operation control section 72 follows the target trajectory of the robot based on the operation command from the operation command execution section 71,
It controls to operate at the specified speed and accuracy. That is, the robot arm tip moves the target trajectory specified by the operation command execution unit 71 to the specified speed V
In addition to performing servo control of joints and the like so as to move with accuracy AC, for example, in the case of a coating robot, it controls operation of a coating gun held at the tip of an arm.

Thus, the robot arm tip moves on the target trajectory formed by the data set specified by the operation command at the target speed, and at each specified point, determines an inward path based on the accuracy data, and Control is performed so as to move on the route.

As is clear from the above description, in the second embodiment, the composite data group CD [...] Constitutes the orbit data, and the composite data storage means 5 constitutes the orbit data storage means. Is understood.

Thus, in the second embodiment, similarly to the first embodiment, the operation plan is changed, and the composite data group CD [...] is in the range from P (1) to P (m). Is forced to change to a range from P (1) to P (q) (for example, q = m + 3),
There is no need to change the operation program itself.

As described above, in the second embodiment, similarly to the first embodiment, the operation program 61 can be created independently of the determination of the number of position data for generating the target trajectory. Further, even if the number of position data once determined changes later, the operation program 61 does not need to be changed.

As described above, the present invention has been described based on the embodiments. However, the present invention is not limited to only the embodiments, and various modifications can be made. For example, in the first embodiment, a case of performing a linear operation is described as an example, but an arc operation or a curved operation may be performed.

[0066]

As described above, according to the present invention, the following excellent effects can be obtained.

(1) Even if the number of position data increases / decreases due to a change in the target trajectory, the operation program is not changed, and even if a change is required, the change can be handled only by changing the range information of the operation command. Can be. For this reason, it is possible to create the operation program independently and carefully while observing the flow of operation processing, separately from the generation of position data for storing and setting corresponding to various works, The program can be managed separately from the position data.

(2) With only one operation command, the entire range from the start point to the end point of the target trajectory can be calculated and predicted in advance, and the robot can be continuously operated from the start point position to the end point position of the target trajectory. Will be able to

(3) By including the orientation information in the operation command, the execution direction with respect to the target trajectory can be reliably set and easily changed, and even if the execution direction is changed in the opposite direction, It is only necessary to change the direction information of the operation command, and it is not necessary to rearrange a large number of position data.

(4) The trajectory data is composed as a complex data group including position data, velocity data and accuracy data, and is used as trajectory information of a teaching point on the trajectory, thereby enabling fine designation on the trajectory. By focusing on only the trajectory data separated from the operation instruction program over the entire range of the target trajectory, a desired one can be set.

(5) Since the trajectory data can be designated by one operation command, the operation plan can be set to a desired one over the entire range of the target trajectory. For this reason, the target trajectory is accelerated through a plurality of points as necessary from the start point, and decelerated through the plurality of points as necessary to the end point. Can be operated continuously at a specified speed, thereby avoiding a decrease in speed due to the repetition of a single operation for each short pitch as in the past, thereby shortening the cycle time (tact time). Work efficiency can be easily achieved.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a control device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of an example of a position data group stored in a position data storage unit.

FIG. 3 is an explanatory diagram showing a work and points corresponding to each position data.

FIG. 4 is an explanatory diagram of an example of an operation program stored in an operation program storage unit.

FIG. 5 is an explanatory diagram showing a state where acceleration / deceleration is performed over a plurality of points.

FIG. 6 is a block diagram illustrating a control device according to a second embodiment of the present invention.

FIG. 7 is an explanatory diagram showing an inner circumference.

FIG. 8 is an explanatory diagram of an example of a composite data group stored in a composite data storage unit.

FIG. 9 is an explanatory diagram of an example of an operation program stored in an operation program storage unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Position data storage means (trajectory data storage means) 2, 6 Operation program storage means 21, 61 Operation program 3, 7 Trajectory control means 31, 71 Operation instruction execution part 32, 72 Operation control part 5 Composite data storage means C control device

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F059 AA05 AA07 FA08 FC02 FC14 5H004 GA18 GA40 GB16 HA07 HB07 JA04 JA22 JB08 KA40 5H269 AB33 BB05 BB08 EE01 EE03 EE13 9A001 DD01 HH19 KK32

Claims (10)

[Claims] 1. A trajectory control device for presetting trajectory data serving as a basis of a target trajectory of a robot and controlling the trajectory of the robot by trajectory control means for operating the robot by following a target trajectory generated based on the trajectory data. A sequence of arranging the trajectory data in a predetermined array; and specifying the entire range or a predetermined range of the trajectory data arranged in the predetermined array, and then having them in a specific order. A procedure for defining a data set, a procedure for processing the data set in accordance with the defined order and sequentially generating an operation command, and a procedure for performing a trajectory control based on the operation command. Robot control method. 2. The robot control method according to claim 1, wherein the trajectory data is a position data group including a required number of position data. 3. Position data, velocity data, and accuracy data can be designated as reference data of an operation command by an operation command syntax, and the trajectory data corresponds to position data and position data corresponding to the reference data of the operation command. Can be defined as a complex data group composed of a required number of complex data including speed data and accuracy data, and those complex data groups are pre-taught and input, and the complex data is used when the operation command is executed. 2. The robot control method according to claim 1, wherein the method is used by being converted in association with reference data of each position data, speed data and accuracy data of the operation command. 4. The robot control method according to claim 2, wherein the arm tip of the robot is accelerated over a plurality of position data. 5. The robot control method according to claim 2, wherein the arm tip of the robot is decelerated over a plurality of position data. 6. The robot control method according to claim 2, wherein the position data is created based on numerical data of a work. 7. A trajectory data storage unit for storing trajectory data serving as a basis of a target trajectory of the robot, an operation program storage unit for storing an operation program for operating the robot, and an operation for controlling the trajectory of the robot. Orbit control means having an instruction execution unit and an operation control unit, wherein the orbit data is arranged in a predetermined array in the orbit data storage means, and the orbit data is arranged in the predetermined array in the operation program. An operation command that defines the entire range or the predetermined range as a data set having a specific order is provided, and the operation command execution unit sets the entire range or the predetermined range of the trajectory data according to the order specified in the operation command. Read, and then sequentially generate operation commands based on the read trajectory data and send them to the operation control unit. Operation control unit, the control apparatus for a robot which is characterized in that the orbit control based on the input operation command. 8. The robot control device according to claim 7, wherein the trajectory data is a position data group composed of a required number of position data. 9. Position data in which position data, speed data and accuracy data can be designated as reference data of an operation command in an operation command syntax, and the trajectory data corresponds to reference data of the operation command and the position data. Can be defined as a complex data group composed of a required number of complex data including speed data and precision data, and the complex data group is previously taught and input, and the complex data group is operated at the time of execution of the operation command. 8. The robot control device according to claim 7, wherein the control data is converted and used in association with the reference data of each of the position data, speed data and accuracy data. 10. A robot comprising the robot control device according to claim 7, 8, or 9.