JP2003025264A - Double arm control device and double arm control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute double arm simultaneous action at a higher speed and more efficiently. SOLUTION: A teaching part 2 teaches a movement start position and a target position of a master arm and a slave arm as a teaching point, a free locus movement control part 3 moves both the arms based on this teaching point respectively from the movement start position to the target position by free locus control, during this time a movement locus data acquisition part 4 acquires the respective movement locus data of both the arms stored in a movement locus data memory part 5, a via data calculation part 6 calculates a via point data based on each movement locus data of the movement locus data memory part 5 and relative position attitude relation data of a relative position attitude relation data memory part 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dual-arm control device and a dual-arm control method for performing a collaborative work by cooperatively or synchronously operating two arms of a dual-arm robot or the like, and particularly to a common object. The present invention relates to a dual-arm control device and a dual-arm control method for a dual-arm robot that grips, moves, and assembles with the dual arms of a master arm and a slave arm.

[0002]

2. Description of the Related Art Generally, a robot grips an object,
When moving or assembling, if the object is long such as a roller, the grippable part is limited, or the object is heavy, use two arms (two arms). A method of gripping, moving, and assembling is effective. However, it is not easy to actually control the operation of the two arms independently, and it is necessary to control each arm independently according to each teaching program and repeat alignment of both arms at predetermined time intervals. The movement of the two arms is synchronized by.

Conventionally, in a double-arm robot for emphasizing a dual arm composed of a master arm and a slave arm, which is described in JP-A-6-71580 and JP-A-7-20915, teaching point data is transmitted to the master arm. Teach, determine the passing point that the master arm should move sequentially by interpolation calculation based on the teaching point data, send the passing point data to the slave arm, and set the passing point data of the master arm and the predetermined point. Based on the data indicating the relative position / posture relationship between the master arm and the slave arm, the slave arm determines the moving point to move to next, and the moving point to move the master arm and slave arm to the next, respectively. The master arm is controlled to move synchronously and the master arm transmits data to the slave arm and the master arm transmits data. It synchronizes the double arm by repeating the movement of the point of the arm and the slave arm following,
It was performing dual-arm coordinated control.

By the way, the above-mentioned dual-arm robot has a linear interpolation function for operating the taught two points on a linear trajectory. With the linear interpolation function, the velocity pattern of the robot tip can also be set.When performing dual-arm coordinated control using these functions, the relative position error of the twin-arm tip can be suppressed to a small value. It becomes possible to operate. When an object is transferred by a dual-arm robot, the object is grasped by the dual arms by the linear interpolation function and lifted in the Z direction (upward), then moved horizontally to the transfer position, and then in the Z direction. There are many movements to lower (downward),
The locus of movement does not have to be limited, and higher speed operation is required. However, since there is a limit to the high-speed movement by linear interpolation control, in order to move at higher speed and to operate a complicated path that cannot use linear interpolation control due to the recent diversification of parts and assembly operations, a dual-arm robot is required. A free trajectory control has been proposed in which each axis of both arms constituting the arm is moved to a target position at the highest speed.

[0005]

However, in the free trajectory control for moving each axis of the dual arms to the target position at the highest speed, cooperative control of the dual arms is performed so as to keep the relative position of the operating dual arms constant. Is not easy. Therefore, conventional dual-arm coordinated control has not reached the point of considering speedup because of the difficulty of the control. Further, even in the conventional control method of controlling the respective arms independently according to their respective teaching programs and repeating the alignment of the two arms at predetermined time intervals to synchronize the movements of the two arms, a free locus is particularly preferable. Since the teaching point for aligning both arms at each time interval is provided on the target trajectory instead of the idea of control, the movement and assembling work has not been speeded up so much.

Further, in the techniques described in the above-mentioned JP-A-6-71580 and JP-A-7-20915, the destination of the slave arm is determined in units of successive interpolation points according to the movement of the master arm, And it moves synchronously, and since the passing point is calculated by interpolation calculation, there is no need to teach, and complicated teaching work can be avoided,
It is said that the double-arm emphasis can be performed with sufficient accuracy without any movement gap between both arms simply by teaching the movement start position and the target position of the master arm. If there is a delay due to communication, and when the object is gripped at points separated from each other, the relative position error between both arms caused by the delay due to communication can be absorbed even in that part,
Sufficient accuracy may be obtained, but gripping accuracy is also required when positional accuracy such as assembly is required,
In such a case, a relative position error between both arms due to a delay due to communication becomes non-negligible, and there is a problem that the operation of both arms is inconsistent.

Further, there is a problem that if the relative position error between both arms caused by the time delay due to communication becomes larger, it becomes difficult to increase the speed. The present invention has been made to solve the above problems, and an object of the present invention is to enable simultaneous operation of dual arms to be performed at high speed and efficiently.

[0008]

In order to achieve the above object, the present invention provides a dual arm simultaneous operation control for cooperating the dual arms of a master arm and a slave arm to grasp and operate a common object. In the dual-arm control device, a relative position / attitude relationship data storage unit that stores relative position / attitude relationship data representing a relative position and attitude relationship between the master arm and the slave arm, which have been given in advance, and the master arm. Teaching means for teaching the movement start position and the target position of the slave arm as teaching points, and the master arm and the slave arm respectively from the movement start position to the target position based on the teaching point taught by the teaching means. Free locus movement control means for moving by free locus control,
Movement locus data acquisition means for obtaining movement locus data of each of the master arm and the slave arm moved by the free locus movement control means, and the master arm and slave arm obtained by the movement locus data acquisition means. A movement locus data storage means for storing each movement locus data, each movement locus data stored in the movement locus data storage means, and relative position / posture relational data stored in the relative position / posture relational data storage means. A waypoint data calculation means for calculating the waypoint data based on the above is provided.

Further, in a dual-arm control device for performing dual-arm simultaneous operation control for coordinating the dual arms of the master arm and the slave arm to grip and manipulate a common object, Relative position / posture relation data storage means for storing relative position / posture relation data representing the relative position and posture relation with the slave arm, and the movement start position and target position of the master arm and slave arm are taught as teaching points. Teaching means, free locus movement control means for moving the master arm and the slave arm from the movement starting position to the target position by free locus control based on the teaching points taught by the teaching means, and its free movement. Above the master arm moved by the locus movement control means Movement locus data acquisition means for obtaining movement locus data of each slave arm, movement locus data storage means for storing movement locus data of each of the master arm and slave arm obtained by the movement locus data acquisition means, and Each movement locus data stored in the movement locus data storage means and the relative position /
Teaching the waypoint data calculation means for calculating a plurality of waypoint data based on the relative position / orientation relation data stored in the attitude relation data storage means and each waypoint data calculated by the waypoint data calculation means The master arm and the slave arm are moved by free path control so as to pass through the respective via points indicated by the respective via point data, and the master point and the master arm by the via point movement control means. A moving time storage means for storing a moving time between each via point when the slave arm is moved, a moving time for each via point of the master arm stored in the moving time storage means, and the slave arm. And the moving time of the arm with the slower moving time is selected and stored for each between waypoints. It may be provided with via-points between every movement time storage means that.

Further, in a twin-arm control device for performing a dual-arm simultaneous operation control for coordinating the dual arms of the master arm and the slave arm and gripping and manipulating a common object, the master arm given in advance Relative position / posture relation data storage means for storing relative position / posture relation data representing the relative position and posture relation with the slave arm, and the movement start position and target position of the master arm and slave arm are taught as teaching points. Teaching means, free locus movement control means for moving the master arm and the slave arm from the movement starting position to the target position by free locus control based on the teaching points taught by the teaching means, and its free movement. The master arm moved by the locus movement control means, A movement locus data acquisition unit that acquires movement locus data of each slave arm, a movement locus data storage unit that stores each movement locus data of the master arm and the slave arm acquired by the movement locus data acquisition unit, Each movement locus data stored in the movement locus data storage means and the relative position /
Teaching the waypoint data calculating means for calculating waypoint data based on the relative position / orientation relationship data stored in the posture relationship data storage means and each waypoint data calculated by the waypoint data calculating means Via-point movement control means for moving the master arm and the slave arm by free path control so as to pass through the respective via points indicated by the respective via-point data, and the master arm and the slave arm by the via-point movement control means. Speed pattern storage means for storing the speed pattern between the respective via points when each is moved, the speed pattern for each via point of the master arm stored in the speed pattern storage means and the slave arm Compare the speed pattern for each waypoint with the speed pattern of the slower arm for each waypoint. May be provided with speed pattern synthesis storage means for storing selected and synthesized to.

Further, in a dual-arm control method for performing dual-arm simultaneous operation control for coordinating the dual arms of the master arm and the slave arm to grasp and operate a common object, in the dual-arm control method, When the movement start position and the target position are taught as teaching points and are moved by free trajectory control, respectively, a plurality of via points of the master arm and their respective points are provided on the movement locus of the master arm between the movement start position and the target position. A plurality of via points of the slave arm corresponding to the via points may be provided. Furthermore, in the above-mentioned dual-arm control method, the master arm and the slave arm are respectively moved from the movement start position to the target position, and each movement locus data of the master arm and the slave arm is acquired. Waypoint data indicating each waypoint may be calculated based on the acquired movement trajectory data.

Also, in a dual-arm control method for performing dual-arm simultaneous operation control for coordinating the dual arms of the master arm and the slave arm to grip and manipulate a common object, in the master arm and the slave arm. When teaching the movement start position and the target position as teaching points and moving them by free trajectory control, offset the relative position difference between the movement locus of the master arm and the master arm between the movement start position and the target position. A plurality of via points of the master arm and a plurality of via points of the slave arm corresponding to the via points at an intermediate point between the movement locus of the slave arm combined with the master arm between the movement start position and the target position. It is good to provide points and.

Further, in the above-described dual-arm control method, the master arm and the slave arm are moved based on the taught movement start position and the target position, and each of the master arm and the slave arm is moved. The movement locus data is acquired, and the obtained movement locus data of the slave arm is offset from the relative position difference between the master arm and the slave arm, and the slave is combined with the master arm between the movement start position and the target position. The movement locus data of the arm may be calculated, and the intermediate point between the point on the movement locus of the master arm and the point on the movement locus of the slave arm corresponding to the point may be calculated as the via point.

Further, in the above-mentioned dual-arm control method, when the master arm and the slave arm are taught by teaching the movement start position and the target position as teaching points and moved, the movement time between the plurality of via points is increased. Should be set. Further, in the above-described dual-arm control method, when the movement start position and the target position of the master arm and the slave arm are taught and moved as teaching points, the movement start position and the target position including the via point are included. It is preferable to control the speed so that the operating speed of the master arm and the operating speed of the slave arm are the same.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be specifically described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a dual-arm robot system that is an embodiment of the present invention. In this dual-arm robot system, a dual-arm robot composed of a master arm 20 and a slave arm 21 and a dual-arm of a master arm 20 and a slave arm 21 cooperate with each other by free trajectory control to grip and operate a common object. And a controller 22 corresponding to a dual-arm control device for performing dual-arm simultaneous operation control.

Master arm 20 and slave arm 21
Is provided with an arm drive mechanism for gripping an object and moving it freely, and a detection section which is various sensors for detecting the position of the tip of the arm.
It drives based on the teaching of information such as gripping of the target object, movement start position, target position, etc. from 2 and sends the position data detected by the detection unit to the controller 22. Controller 22
Is realized by a microcomputer including a CPU, a ROM, a RAM, etc., and stores relative position error and attitude relation data indicating the relative position and attitude relation between the master arm 20 and the slave arm 21.
And dual arm simultaneous operation control by free trajectory control of the slave arm 21 and the control processing according to the present invention.

Here, an example of a double-arm robot in which the master arm 20 and the slave arm 21 are independent of each other is shown, but one robot has two arms. However, the same operation can be performed, and the configurations of the work table and the component supply table are not particularly limited.

Next, as a normal operation which is a premise of the description of the control operation according to the present invention in this dual-arm robot system, an object (for example, an object placed on the component supply table 23 is
An operation example of transferring the roller 24 from the point A of the component supply table 23 to the point B of the work table 25 will be described. When the object 24 is moved from the point A of the component supply table 23 to the point B of the work table 25 by the master arm 20 and the slave arm 21, the linear interpolation control draws a locus as shown by a broken line in FIG.

In this case, the master arm 20 and the slave arm 21 are operated in a coordinated manner to vertically move from point A to point D, then linearly move from point D to point C, and then to C.
The point is moved vertically from point to point B, the movement start position is point A, and the target position is point D, point C, and point B, respectively.
The teaching points from the controller 22 are points A and D.
It becomes point, C point, and B point. Such a master arm 20
In the case of an operation in which the posture of the slave arm 21 is not changed, the movement distances of the two arms are equal.

On the other hand, when the master arm 20 and the slave arm 21 are operated by the normal free trajectory control, the operation is as follows. FIG. 2 is a diagram showing a relative position error between both arms when the master arm 20 and the slave arm 21 are simultaneously operated by normal free trajectory control. Object 2 with dual arms of master arm 20 and slave arm 21
4 shows an example of the relative position error of both arms when the object 24 is gripped at both ends and the object 24 is moved from the point A of the component supply table 23 to the point B of the work table 25 by the simultaneous double-arm operation.

On the absolute coordinates, a relative position error (that is, a relative position difference between the tips of both arms at the start position) is generated between the master arm 20 and the slave arm 21 by the length of the object 24. In this embodiment, for the sake of convenience, the initial relative position difference is offset and the movement start positions of both arms are shown on the coordinate. The offset amount can be obtained from information such as the size, shape and gripping position of the object 24. In the following description, it is assumed that the movement locus and the relative position error of both arms of the movement locus refer to a coordinate position in which the movement start positions of both arms are combined by offsetting the initial relative position difference.

In the case of the relative position error shown in FIG. 2, the master arm 20, the slave arm 21, and both arms point A →
When moving between D point, D point → C point, and C point → B point by free trajectory control, the relative position error is 55 [m] at maximum.
m]. Although specific values are shown for clarity of the following description, the value of 55 [mm] varies depending on the specifications of the dual-arm robot and control conditions such as speed in free trajectory control.

FIG. 3 is a diagram showing the loci of movement of both arms when the master arm 20 and the slave arm 21 are simultaneously operated by normal free locus control. In the figure, the curved line indicated by the broken line indicates the movement locus 30 of the master arm 20, and the curved line indicated by the alternate long and short dash line indicates the movement locus 31 of the slave arm 21.
This shows each target position A point → D point, D point → C
This is the fastest locus when moving from point C to point B. The operation mode with the shortest movement time (movement at the highest speed) is called free trajectory control. However, if this relative position error remains, the object 24 may be destroyed during movement,
The object 24 cannot be held while moving, and simultaneous dual-arm operation cannot be performed.

Therefore, in the function relating to the dual arm control method according to the fourth aspect of the present invention, the controller 22 selects a plurality of waypoints from the movement locus 30 of the master arm 20 and teaches the master arm 20 at the same time. By determining the position of the corresponding slave arm 21 and teaching it to the master arm 20 and the slave arm 21 respectively, and grasping and moving the target object 24, it is possible to prevent the target object 24 from being broken or unable to be held. In addition, the object 24 can be moved to the target position at the fastest speed.

That is, the controller 22 controls the master arm 20 and the slave arm 21 as a dual-arm simultaneous operation control for coordinating the two arms of the master arm 20 and the slave arm 21 to hold and manipulate a common object. Of the master arm 2 between the movement start position and the target position when the movement start position and the target position are taught as teaching points and are moved by free trajectory control.
The function of providing a plurality of via points of the master arm 20 and a plurality of via points of the slave arm 21 corresponding to the respective via points on the movement locus of 0 is fulfilled. In this manner, the relative position error between the master arm 20 and the slave arm 21 can be suppressed, and the dual arm simultaneous operation control can be performed at a higher speed than the normal free path control.

Next, in the function relating to the dual arm control method according to claim 5 of the present invention, the controller 22 is
In addition to the function related to the dual-arm control method described in claim 4, the master arm 20 and the slave arm 21 are respectively moved from the movement start position to the target position without gripping an object, and the master arm 20 And a function of acquiring each movement locus data of the slave arm 21 and calculating waypoint data indicating each waypoint based on each obtained movement locus data.

FIG. 4 is a flow chart showing the processing relating to the dual arm control method according to claim 5 of the present invention. In this process, the controller 22 teaches the movement start position and the target position to the master arm and the slave arm in step (indicated by “S” in the figure) 1, respectively, and in step 2
In step 3, the master arm is started and moved to the target position by free trajectory control, and in step 3, movement trajectory data based on information sent from the detection units provided in various parts of the master arm is acquired, and in step 4 Then, it is judged whether or not the master arm has reached the target position (final position of the movement destination), and the acquisition processing of the movement trajectory data in step 3 is continued until it reaches the target position, and when it reaches, the process proceeds to step 5.

At step 5, the slave arm is moved to the target position by free trajectory control and moved, and at step 6, movement trajectory data based on the information sent from the detection units provided at various positions of the slave arm are obtained. It is acquired, and it is determined in step 7 whether or not the slave arm has reached the target position (final position of the movement destination), the acquisition processing of the movement trajectory data in step 6 is continued until it is reached, and when it is reached, the process proceeds to step 8. .

At step 8, a plurality of via points of the master arm are calculated (may be selected) on the movement locus of the master arm based on the movement locus data of the master arm. In step 9, the above-mentioned waypoints of the master arm are taught on the movement locus of the master arm. That is, each of the calculated via points is taught as the target position of the master arm. Further, since the movement start position and the final target position do not change, the instruction is given as it is. In step 10, the via point of the slave arm is calculated based on the calculated each via point and the relative position error of both arms stored in advance and the posture relation data, and in step 11, the calculated via point of the slave arm is calculated. Teach as the target position. In this case also, since the movement start position and the final target position do not change, the teaching will be continued.

To explain further, the master arm 20 and the slave arm 21 are taught the movement start position and the target position without gripping the object 24, and the movement locus data are moved to the target position for each arm by the free locus control. To get. In the above description, the case where the controller 22 acquires the data based on the data of the detection unit of each arm has been described, but if the controller 22 can directly acquire the movement trajectory, it may be used, or the current position acquisition may be performed. A program may be created to acquire the current position of the arm tip portion for each sampling time, and the acquisition method of the movement trajectory data is not particularly limited.

Further, in the process shown in the flowchart of FIG. 4, the case where the movement locus data of the slave arm 21 is also obtained in the same manner as the master arm 20 is shown, but a via point is set on the movement locus of the master arm 20. When provided, the movement trajectory data of the slave arm 21 does not have to be acquired. After obtaining the movement trajectory data of the master arm 20,
A required waypoint is selected from the acquired movement trajectory data and taught to the master arm 20. Further, the intermediate point of the slave arm 21 is calculated and taught from the intermediate point of the master arm 20 and the relative position error between the offset master arm 20 and the slave arm 21 and the posture relationship data described above, and the object 24 is grasped. Then, the process of moving is executed.

In this way, it is possible to easily find the waypoints necessary for suppressing the relative position error between the master arm 20 and the slave arm 21 and for performing the dual arm simultaneous operation control at a higher speed than the normal free path control. be able to.

Next, in the function relating to the dual-arm control method according to the sixth aspect of the present invention, a plurality of via points provided between the movement start position and the target position are connected to the movement locus of the master arm 20 and the slave arm 21. Set to the midpoint of the movement track. This is due to the size of the difference between the movement loci of the master arm 20 and the slave arm 21 and the difference between the postures of the two arms, and a via point is provided at an intermediate point between the movement loci of the master arm 20 and the slave arm 21. By
The relative position error between both arms becomes smaller, and the movement can be made faster depending on the operation.

In other words, the controller 22 controls the master arm 20 and the slave arm 21 as a dual-arm simultaneous operation control for coordinating the two arms of the master arm 20 and the slave arm 21 to grip and operate a common object. Of the master arm 2 between the movement start position and the target position when the movement start position and the target position are taught as teaching points and are moved by free trajectory control.
The movement locus of 0 and the relative locus difference with respect to the master arm 20 are offset and a plurality of movements of the master arm 20 are set at an intermediate point between the movement locus of the slave arm 21 which is combined with the master arm 20 between the movement start position and the target position. It fulfills the function of providing waypoints and a plurality of waypoints of the slave arm 21 corresponding to the respective waypoints.

In addition, if there is little difference between providing a via point on the moving locus of the master arm 20 or providing it at an intermediate point, teaching is easier by providing the via point on the moving locus of the master arm 20. . In this way, in order to suppress the relative position error between the master arm 20 and the slave arm 21 and to perform the dual arm simultaneous operation control at a higher speed than the normal free trajectory control, a more optimal via point according to the movement trajectory. Can be asked.

Next, in the function relating to the dual arm control method according to claim 7 of the present invention, the controller 22 is
In addition to the function relating to the dual arm control method according to claim 6, the master arm 20 and the slave arm 21 are moved based on the taught movement start position and target position, respectively, and the master arm 20 and the slave arm are moved. Each movement locus data of the arm 21 is acquired, and the obtained movement locus data of the slave arm 20 is offset by the relative position difference between the master arm 20 and the slave arm 21 to obtain the master arm 20 between the movement start position and the target position. Calculate the combined trajectory data of the slave arm 21,
The intermediate point between the point on the movement locus of the master arm 20 and the point on the movement locus of the slave arm 20 corresponding to the point is calculated as the via point.

FIG. 5 is a flow chart showing the processing relating to the dual arm control method according to claim 7 of the present invention. In this process, the controller 22 teaches the movement start position and the target position to the master arm and the slave arm, respectively, in step (indicated by "S" in the figure) 21, and moves the master arm to the target position by free trajectory control in step 22. The movement is started and moved, and in step 23, movement locus data based on information sent from detection units provided at various positions of the master arm is acquired during the movement, and in step 24
Then, it is determined whether or not the master arm has reached the target position (the final position of the movement destination), the acquisition processing of the movement trajectory data in step 23 is continued until the master arm is reached, and when it is reached, the process proceeds to step 25.

At step 25, the slave arm is started to move to the target position by free trajectory control and moved, and at step 26, movement trajectory data based on information sent from the detectors provided at various positions of the slave arm are obtained. After obtaining, in step 27, it is determined whether or not the slave arm has reached the target position (the final position of the movement destination), and the acquisition process of the movement locus data in step 26 is continued until it reaches the target position. . In step 28, the master arm is placed on the movement locus passing through the intermediate position of the movement loci of the master arm and the slave arm (the intermediate position of the relative position error between both movement loci) based on the movement locus data of the master arm and the slave arm. Calculate multiple waypoints.

In step 29, each via point of the master arm is taught on a movement locus passing through an intermediate position between movement loci of the master arm and the slave arm. That is, each of the calculated via points is taught as the target position of the master arm. Further, since the movement start position and the final target position do not change, the instruction is given as it is. In step 30, the via point of the slave arm is calculated based on the calculated each via point and the previously stored relative position error of both arms and the posture relation data, and in step 31, the calculated via point of the slave arm is calculated. Teach as the target position. In this case also, since the movement start position and the final target position do not change, the teaching will be continued.

Further description will be made. FIG. 6 is an explanatory diagram when the intermediate position of each movement locus of the master arm 20 and the slave arm 21 is obtained as a waypoint. Similar to the above, the movement loci of the master arm 20 and the slave arm 21 are obtained. The curve shown by the broken line in the figure is the master arm 20.
A moving locus 30 of the slave arm 21 is indicated by a chain line, and a curved line indicated by a solid line is a movement locus 3 of the slave arm 21.
A movement locus 32 passing through the middle of 0 and 31 is shown, respectively.

In this processing, a plurality of waypoints are provided on the movement locus 32. The waypoint is, for example, the master arm 2
A point G, which is an intermediate position between an arbitrary E point on the movement locus 30 of 0 and a point F on the movement locus 31 of the slave arm 21 at the shortest distance, may be obtained. Alternatively, it may be obtained from two points on a plane 34 that is perpendicular to the linear locus 33 that connects the movement start position A and the target position B. That is, a point J, which is an intermediate position between the point H on the movement locus 30 of the master arm 20 and the point I on the movement locus 31 of the slave arm 21, may be obtained. The method of calculating the waypoint is not particularly limited.
Then, the obtained intermediate position is taught to the master arm 20 as a via point of the master arm 20, and from this via point and the offset relative position / posture relation data of the master arm 20 and the slave arm 21 described above, the intermediate position of the slave arm 21 is passed. A process of calculating a point and teaching it to the slave arm 21 to grip and move the target portion 24 is executed.

In this way, the via points necessary for suppressing the relative position error between the master arm 20 and the slave arm 21 and for performing the dual arm simultaneous operation control at a higher speed than the normal free path control are more accurate. You can ask.

Next, as shown in FIG. 3, the error of the movement loci of both the master arm 20 and the slave arm 21 is smaller than the relative position error. This is because the operating speed of each arm varies depending on the posture of the arm, and an error due to a time lag occurs. In addition, as shown in FIG. 1, in operations such as transfer and transportation of the object 24,
When the movements by the free trajectory control are performed without changing the posture of the dual arms using the points A, D, B, and C as the teaching points, the moving distances of the dual arms become equal, and as described above, The dual arm simultaneous operation control method according to claims 4 to 7 is particularly effective. But if a complex route is required,
The movement locus of each arm becomes complicated, and the movement distance of each arm may not always match.

Therefore, in the function relating to the dual arm control method described in claim 8 of the present invention, the processing according to any one of claims 4 to 7 of the invention described above is performed, and at the same time, from the movement start position to the waypoint and the target. Set the moving time between each teaching point to the position. That is, in addition to the function relating to the dual-arm control method according to any one of claims 4 to 7 described above, the controller 22 teaches the movement start position and the target position of the master arm 20 and the slave arm 21 as teaching points. When each is moved as described above, between a plurality of via points provided on the movement locus of the master arm 20 between the movement start position and the target position or at an intermediate point between the movement locus of the master arm 20 and the movement locus of the slave arm 21. Fulfills the function of setting the movement time of.

FIG. 7 is a flow chart showing a first processing example of the dual arm control method according to the eighth aspect of the present invention. In this process, the controller 22 teaches the movement start position and the target position to the master arm and the slave arm in step (indicated by “S” in the figure) 41, respectively, and moves the master arm to the target position by the free trajectory control in step 42. The movement is started and moved, and in step 43, movement locus data based on information sent from detection units provided at various positions of the master arm is acquired during the movement, and in step 44, the master arm moves to the target position (final position of the movement destination). It is determined whether or not the position has been reached, and the acquisition process of the movement trajectory data in step 43 is continued until the position is reached, and when the position is reached, the process proceeds to step 45.

In step 45, the slave arm is moved to the target position by free trajectory control and moved, and in step 46, movement trajectory data based on the information sent from the detectors provided at various places of the slave arm are moved. In step 47, it is determined whether or not the slave arm has reached the target position (the final position of the movement destination), and the acquisition processing of the movement locus data in step 46 is continued until it reaches the target position. .

In step 48, a plurality of via points of the master arm are calculated (may be selected) on the movement locus of the master arm based on the movement locus data of the master arm. In step 49, the above-mentioned respective via points of the master arm are taught on the movement locus of the master arm. That is, each of the calculated via points is taught as the target position of the master arm. Further, since the movement start position and the final target position do not change, the instruction is given as it is. In step 50, the via point of the slave arm is calculated based on the calculated each via point and the pre-stored relative position error of both arms and the posture relation data, and in step 51, the calculated via point of the slave arm is calculated. Teach as the target position. In this case also, since the movement start position and the final target position do not change, the teaching will be continued.

In step 52, the master arm and the slave arm are started to move to the above-mentioned respective via points (target positions) by free trajectory control, and in step 53, the master arm and the slave arm are moved based on the information from the detection parts of the master arm and the slave arm. The travel time data between each via point of the arm and the slave arm is acquired, the travel time data of both arms is compared for each via point in step 54, the slower travel time data is selected, and in step 55. The movement time data selected for each waypoint is set as the movement time of the master arm and the slave arm.

FIG. 8 is a flow chart showing a second processing example of the dual arm control method according to the eighth aspect of the present invention. In this process, the controller 22 teaches the movement start position and the target position to the master arm and the slave arm in step (indicated by “S” in the figure) 61, and moves the master arm to the target position by free trajectory control in step 62. The movement is started and moved, and in step 63, movement locus data based on information sent from detection units provided at various positions of the master arm are acquired during the movement, and in step 64, the master arm moves to the target position (final position of the movement destination). It is determined whether or not the position has been reached, and the acquisition processing of the movement trajectory data in step 63 is continued until the position is reached, and when the position is reached, the process proceeds to step 65.

At step 65, the slave arm is moved to the target position by free trajectory control and moved, and at step 66, movement trajectory data based on information sent from the detection units provided at various positions of the slave arm are obtained. It is acquired, and it is determined in step 67 whether or not the slave arm has reached the target position (final position of the movement destination), the acquisition processing of the movement trajectory data in step 66 is continued until it reaches, and when it is reached, the process proceeds to step 68. . In step 68, the master arm is placed on the movement locus passing through the intermediate position of the movement loci of the master arm and the slave arm (the intermediate position of the relative position error between both movement loci) based on the movement locus data of the master arm and the slave arm. Calculate multiple waypoints.

In step 69, each via point of the master arm is taught on a movement locus passing through an intermediate position between movement loci of the master arm and the slave arm. That is, each of the calculated via points is taught as the target position of the master arm. Further, since the movement start position and the final target position do not change, the instruction is given as it is. In step 70, the via point of the slave arm is calculated based on the calculated each via point and the previously stored relative position error of both arms and the posture relation data, and in step 71, the calculated via point of the slave arm is calculated. Teach as the target position. In this case also, since the movement start position and the final target position do not change, the teaching will be continued.

In step 72, the master arm and the slave arm start moving to the above-mentioned respective via points (target positions) by free trajectory control, and in step 73, the master arm and slave arm are moved based on the information from the detection parts of the master arm and slave arm. The movement time data between each via point of the arm and the slave arm is acquired, the movement time data of both arms is compared for each way point in step 74, the slower movement time data is selected, and in step 75. The movement time data selected for each waypoint is set as the movement time of the master arm and the slave arm.

Further description will be made. For each arm, move between each teaching point from the movement start position to the via point and the target position by free path control so that the movement time of each arm is the shortest,
The movement time for each arm is acquired. Then, the movement times of both arms are compared for each waypoint, and the slower movement time is set as the movement time between each teaching point from the movement start position of both arms to the waypoint and the target position. This is more accurate if you use the mode that moves to each teaching point surely, but since the original moving speed decreases, from the viewpoint of accelerating simultaneous dual-arm operation, the path function of a dual-arm robot is generally used. The effect can also be obtained by using a method of passing through the vicinity of the teaching point and moving to the final target position without reducing the speed, which is said to occur.

FIG. 9 is a diagram showing a change in relative position error between both arms when the object 24 is gripped and moved by the two arms after the processing shown in FIG. 7 or FIG. As described above, the relative position error is suppressed to be extremely small as compared with the case where no waypoint is provided, and by adjusting the number and position of waypoints, the required accuracy can be obtained.

In this way, even when the moving distances of the two arms are different, or when a complicated path is required, the relative position error of both arms can be easily suppressed, and the accuracy of dual arm simultaneous operation can be improved. Can be raised. In addition, the simultaneous dual arm control can be performed faster than the normal free path control.

Next, as shown in FIG. 9, the relative position error of both arms becomes smaller, but the waveform becomes wavy at each waypoint. This is because the operation speed varies depending on the posture of each arm between the waypoints, and the influence of the error due to the time lag appears. To suppress this, the number of waypoints should be increased (finely). The increase in the number of via points causes a problem that the teaching work becomes complicated. Therefore,
In the function related to the dual arm control method according to claim 9 of the present invention, when more accuracy is required, the processing according to any one of claims 4 to 7 of the present invention is performed and the movement starts. The operation speed of each arm between the teaching points from the position to the via point and the target position is controlled to be the same.

That is, in addition to the function related to the dual-arm control method according to any one of claims 4 to 7, the controller 22 has a movement start position and a target position of the master arm 20 and the slave arm 21. When teaching each as a teaching point and moving the teaching points, the speed control is performed so that the operation speed of the master arm 20 and the operation speed of the slave arm 21 between the movement start position including the via point and the target position become the same. Fulfill.

FIG. 10 is a flow chart showing a first processing example of the dual arm control method according to claim 9 of the present invention. In this processing, the controller 22 teaches the movement start position and the target position to the master arm and the slave arm in step (indicated by “S” in the figure) 81,
In step 82, the master arm is started to move to the target position by free trajectory control and moved, and in step 83, movement trajectory data based on information sent from detection units provided at various positions of the master arm is acquired, In step 84, it is determined whether or not the master arm has reached the target position (final position of the movement destination), the acquisition processing of the movement trajectory data in step 83 is continued until the master arm is reached, and when it is reached, the process proceeds to step 85.

In step 85, the slave arm is started to move to the target position by free path control, and is moved. In step 86, movement path data based on information sent from the detectors provided at various positions of the slave arm are obtained. It is acquired, and it is determined in step 87 whether or not the slave arm has reached the target position (the final position of the movement destination), the acquisition processing of the movement trajectory data in step 86 is continued until it reaches, and when it is reached, the process proceeds to step 88. .

In step 88, a plurality of waypoints of the master arm are calculated (may be selected) on the movement locus of the master arm based on the movement locus data of the master arm. In step 89, the above-mentioned respective via points of the master arm are taught on the movement locus of the master arm. That is, each of the calculated via points is taught as the target position of the master arm. Further, since the movement start position and the final target position do not change, the instruction is given as it is. In step 90, the via point of the slave arm is calculated based on the calculated each via point and the pre-stored relative position error of both arms and the posture relation data, and in step 91, the calculated via point of the slave arm is calculated. Teach as the target position. In this case also, since the movement start position and the final target position do not change, the teaching will be continued.

In step 92, the master arm and the slave arm are started to move to the above-mentioned respective via points (target positions) by free trajectory control, and in step 93, the master arm and the slave arm are mastered based on the information from the detection parts of the master arm and the slave arm. The moving speed pattern data between the via points of the arm and the slave arm is acquired, and the moving speed pattern data of both arms are compared for each via point in step 94.
Calculate the moving speed pattern data by selecting the slower moving speed pattern data and combining them,
In step 95, the calculated moving speed pattern data is set to control the speed of both arms.

FIG. 11 is a flow chart showing a second processing example of the dual arm control method according to claim 9 of the present invention. In this processing, the controller 22 teaches the movement start position and the target position to the master arm and the slave arm in step (indicated by "S" in the figure) 101, respectively, and moves the master arm to the target position by free trajectory control in step 102. Start moving and move, step 1
In 03, the movement locus data based on the information sent from the detection units provided at various positions of the master arm are acquired during the movement, and in step 104, it is determined whether or not the master arm has reached the target position (the final position of the movement destination). Is determined and the movement locus data acquisition process of step 103 is continued until the time is reached, and when the time is reached, the process proceeds to step 105.

In step 105, the slave arm is moved to the target position by free trajectory control,
In step 106, movement locus data based on information sent from detection units provided at various positions of the slave arm are acquired during the movement, and in step 107, it is determined whether the slave arm has reached the target position (final position of the movement destination). Judge whether
The acquisition process of the movement trajectory data in step 106 is continued until the arrival, and when the arrival is reached, the process proceeds to step 108. In step 108, the master arm is placed on the movement locus passing through the intermediate position of the movement loci of the master arm and the slave arm (the intermediate position of the relative position error between both movement loci) based on the above-mentioned movement locus data of the master arm and the slave arm. Calculate multiple waypoints.

In step 109, each via point of the master arm is taught on a movement locus passing through an intermediate position between movement loci of the master arm and the slave arm. That is, each of the calculated via points is taught as the target position of the master arm. Further, since the movement start position and the final target position do not change, the instruction is given as it is. In step 110, the via point of the slave arm is calculated based on the calculated each via point and the previously stored relative position error of both arms and the posture relation data, and in step 111, the calculated via point of the slave arm is calculated. Teach as the target position. In this case also, since the movement start position and the final target position do not change, the teaching will be continued.

In step 112, the master arm and the slave arm start to move to the above-mentioned respective via points (target positions) by free trajectory control, and in step 113, the master arm and the slave arm are moved based on the information from the detecting parts of the master arm and the slave arm. The moving speed pattern data between the via points of the arm and the slave arm is acquired, the moving speed pattern data of both arms is compared for each via point in step 114, and the slower moving speed pattern data is selected. The moving speed pattern data is calculated by combining them, and the calculated moving speed pattern data is set in step 115 to control the speed of both arms.

Further description will be made. For each arm, move between each teaching point from the movement start position to the via point and the target position by free path control so that the movement time of each arm is the shortest,
Obtain the moving speed pattern. Then, the moving speed pattern trajectories of both arms are compared, a moving speed pattern is obtained by selecting and combining the moving speed patterns of the slow arms during each movement, and the speed control of both arms is performed by the moving speed pattern. .

FIG. 12 is a diagram showing a change in relative position error between both arms when the object 24 is gripped and moved by the two arms after the processing shown in FIG. 10 or 11. In this way, the moving speed becomes slightly slower, but the relative position error becomes smaller. By controlling the speed of both arms with the moving speed pattern obtained by the above-described processing, the speed can be controlled with a moving speed pattern that matches the slow speed of each arm, and both arms can be moved with high accuracy. In this way, even when the movement distance of the dual arms is different, or even when a complicated route is required, it is possible to suppress the relative position error of both arms and perform high-speed simultaneous dual-arm control. It is possible to improve the accuracy of simultaneous dual-arm operation.

Next, the function of the dual-arm control system according to claim 1 of the present invention in the dual-arm robot system shown in FIG. 1 will be described. FIG. 13 is a functional block diagram showing the functional configuration of the controller 22 shown in FIG. 1 related to the dual-arm control device according to claim 1 of the present invention. The controller 22 performs dual arm simultaneous operation control for coordinating the dual arms of the master arm 20 and the slave arm 21 to grip and manipulate a common object, and at the same time, tracks the movement trajectory of the master arm 20 and the slave arm 21. A storage unit (not shown) for storing, a relative position / orientation relationship data storage unit 1, a teaching unit 2, a free trajectory movement control unit 3, a movement trajectory data acquisition unit 4, a movement trajectory data storage unit 5, and a waypoint data calculation. It comprises a section 6.

The relative position / orientation relation data storage unit 1 is realized by a memory such as a RAM of the controller 22,
Relative position / attitude relationship data representing the relative position and attitude relationship between the master arm 20 and the slave arm 21 obtained from information such as the size, shape, and gripping position of the object 24 is stored. Relative position / orientation relationship data of a plurality of objects is stored separately for each object. The teaching unit 2 teaches the movement start positions and target positions of the master arm 20 and the slave arm 21 as teaching points. The free trajectory movement control unit 3 performs control to move the master arm 20 and the slave arm 21 from the movement start position to the target position by free trajectory control based on the teaching points taught by the teaching unit 2.

The movement locus data acquisition unit 4 performs processing for obtaining movement locus data of each of the master arm 20 and the slave arm 21 moved by the free locus movement control unit 3. The movement trajectory data storage unit 5 is a memory that stores each movement trajectory data of the master arm 20 and the slave arm 21 acquired by the movement trajectory data acquisition unit 4. The waypoint data calculation unit (waypoint calculation unit) 6 stores the movement locus data stored in the movement locus data storage unit 5 and the relative position / posture relation data stored in the relative position / posture relation data storage unit 1. Based on this, processing for calculating waypoint data is performed.

The controller 22 teaches the movement start position and the target position to the master arm 20 or both arms (master arm 20 and slave arm 21) by the teaching unit 2, and the free path movement control unit 3 grips the object 24. Without moving, the master arm 20 or both arms are moved from the movement start position to the target position by free trajectory control,
The movement locus data acquisition unit 4 acquires movement locus data of the master arm 20 or both arms and stores it in the movement locus data storage unit 5. After that, the waypoint data calculation unit 6
Master arm 2 stored in movement locus data storage unit 5
0 or movement path data of both arms and relative position / posture relation data stored in the relative position / posture relation data storage unit 1 in advance, and each via point data is calculated. Then, the controller 22 teaches the calculated waypoint data for each arm, calculates each axis control amount of each arm with the taught waypoint data as a target position, and performs free trajectory control to the final target position. To move.

In this way, the required waypoint can be easily obtained, the relative position error between the two arms can be suppressed, and the dual arm simultaneous operation control can be performed at a higher speed than the normal free path control.

Next, the function relating to the dual-arm control device according to the second aspect of the present invention in the dual-arm robot system shown in FIG. 1 will be described. FIG. 14 is a functional block diagram showing a functional configuration of the controller 22 shown in FIG. 1 related to the dual-arm control device according to claim 2 of the present invention.
The same parts as those in No. 3 are denoted by the same reference numerals and the description thereof will be omitted. The controller 22 is newly provided with a waypoint movement control unit 7, a movement time storage unit 8 and a movement time storage unit 9 for each waypoint in addition to the above units 1 to 6.

The waypoint movement control unit 7 teaches each waypoint data calculated by the waypoint data calculation unit 6 and passes the master arm 20 and the slave arm 21 through each waypoint indicated by each waypoint data. As described above, the control for moving is performed by the free trajectory control. The travel time storage unit 8 is
The transit time between the transit points when the master arm 20 and the slave arm 21 are respectively moved by the transit point movement control unit 7 is measured and stored in the memory in the controller 22. The movement time may be measured directly on the controller 22 side, or may be calculated and obtained based on the information sent from the detection unit provided in each arm. The inter-route point moving time storage unit 9 compares the moving time of the master arm 20 between each via point stored in the moving time storage unit 8 with the moving time of each slave arm 21 between each via point. A process of selecting the moving time of the arm having the slower moving time for each waypoint and storing it in the memory in the controller 22 is performed.

The controller 22 teaches the movement start position and the target position to the master arm 20 or both arms (the master arm 20 and the slave arm 21) by the teaching unit 2, and the free path movement control unit 3 grips the object 24. Without moving, the master arm 20 or both arms are moved from the movement start position to the target position by free trajectory control,
The movement locus data acquisition unit 4 acquires movement locus data of the master arm 20 or both arms and stores it in the movement locus data storage unit 5. After that, the waypoint data calculation unit 6
Master arm 2 stored in movement locus data storage unit 5
0 or movement path data of both arms and relative position / posture relation data stored in the relative position / posture relation data storage unit 1 in advance, and each via point data is calculated.

Further, the waypoint movement control unit 7 teaches the waypoint data calculated above, and again moves both arms by free path control for each waypoint, and the movement time storage unit 8 makes each arm between waypoints. The moving time data of is acquired and stored in the memory (storage unit). After that, the transit time storage unit 9 for each waypoint
However, it compares the movement time data of each arm between waypoints stored in memory, selects the movement time data of the arm with the slowest movement time for each waypoint, and uses the selected movement time data for each waypoint. It is stored in the memory in the controller 22 as moving time data for each interval. And the controller 22
Teaches the calculated waypoint data for each arm, sets the taught waypoint data as the target position, and stores the movement time of both arms for each waypoint in the movement time storage unit 9 for each waypoint. Each axis control amount of each arm is calculated so as to be a set value based on the moved time data, and the robot is moved to the final target position by free trajectory control.

In this way, even when the moving distances of the two arms are different, or when a complicated route is required, the relative position error of both arms can be easily suppressed and the accuracy of dual arm simultaneous operation can be improved. The simultaneous dual arm control can be performed faster than the normal free path control.

Next, the function of the dual-arm control system according to claim 3 of the present invention in the dual-arm robot system shown in FIG. 1 will be described. FIG. 15 is a functional block diagram showing a functional configuration of the controller 22 shown in FIG. 1 related to the dual-arm control device according to claim 3 of the present invention.
The same parts as those in No. 3 are denoted by the same reference numerals and the description thereof will be omitted. The controller 22 includes a new waypoint movement control unit 7 and speed pattern storage unit 1 in addition to the units 1 to 6 described above.
0, a velocity pattern synthesis storage unit 11 is provided.

The waypoint movement control unit 7 teaches each waypoint data calculated by the waypoint data calculation unit 6 and passes the master arm 20 and the slave arm 21 through each waypoint indicated by each waypoint data. As described above, the control for moving is performed by the free trajectory control. Speed pattern storage unit 1
0 is the master arm 20 by the waypoint movement control unit 7.
The speed pattern (moving speed pattern) between the via points when the slave arm 21 and the slave arm 21 are moved is calculated and stored in the memory in the controller 22. The speed pattern synthesis storage unit 11 compares the speed pattern between the via points of the master arm 20 stored in the speed pattern storage unit 10 with the speed pattern between the via points of the slave arm 21, and the speed is slow. The speed pattern of the other arm is selected for each inter-route point, combined, and stored in the memory in the controller 22.

The controller 22 teaches the movement start position and the target position to the master arm 20 or both arms (master arm 20 and slave arm 21) by the teaching unit 2, and the free path movement control unit 3 grips the object 24. Without moving, the master arm 20 or both arms are moved from the movement start position to the target position by free trajectory control,
The movement locus data acquisition unit 4 acquires movement locus data of the master arm 20 or both arms and stores it in the movement locus data storage unit 5. After that, the waypoint data calculation unit 6
Master arm 2 stored in movement locus data storage unit 5
0 or movement path data of both arms and relative position / posture relation data stored in the relative position / posture relation data storage unit 1 in advance, and each via point data is calculated.

Further, the waypoint movement control unit 7 teaches the waypoint data calculated above, and again moves both arms by free path control for each waypoint, and the speed pattern storage unit 10 causes each arm between the waypoints to move. The speed pattern of is acquired and stored in the memory (storage unit). After that, the speed pattern synthesis storage unit 1
1 compares the speed patterns of the respective via points of each arm stored in the memory, selects the speed pattern of the slow arm for each of the via points, synthesizes the respective speed patterns, and Store in memory. Then, the controller 22 teaches the calculated waypoint data for each arm, sets the taught waypoint data as the target position, and determines the speeds of both arms as the speed patterns stored in the speed pattern synthesis storage unit 11. The control amount of each axis of each arm is calculated so as to achieve the following, and the locus is controlled to move to the final target position.

In this way, even when the moving distances of the two arms are different, or when a complicated route is required, the relative position error of both arms can be easily suppressed and the accuracy of the simultaneous operation of the two arms can be improved. The simultaneous dual-arm operation control can be performed even faster than the above.

[0083]

As described above, according to the dual-arm control device and the dual-arm control method of the present invention, simultaneous dual-arm operation can be performed at higher speed and more efficiently.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a dual-arm robot system that is an embodiment of the present invention.

FIG. 2 is a diagram showing a relative position error between the master arm 20 and the slave arm 21 shown in FIG. 1 when they are simultaneously operated by normal free trajectory control.

FIG. 3 is a diagram showing movement loci of both arms when the master arm 20 and the slave arm 21 shown in FIG. 1 are simultaneously operated by normal free locus control.

FIG. 4 is a flow chart diagram showing processing relating to the dual arm control method according to claim 5 of the present invention in the controller 22 of the dual arm robot system shown in FIG. 1.

5 is a flow chart diagram showing processing relating to the dual arm control method according to claim 7 of the present invention in the controller 22 of the dual arm robot system shown in FIG. 1. FIG.

FIG. 6 is an explanatory diagram when obtaining an intermediate position of each movement locus of the master arm 20 and the slave arm 21 shown in FIG. 1 as a waypoint.

FIG. 7 is a flowchart showing a first example of processing relating to the dual-arm control method according to claim 8 of the present invention in the controller 22 of the dual-arm robot system shown in FIG. 1.

8 is a flow chart showing a second processing example relating to the dual arm control method according to claim 8 of the present invention in the controller 22 of the dual arm robot system shown in FIG. 1. FIG.

9 is a diagram showing a change in relative position error between both arms when the object 24 is gripped and moved by the two arms after the processing shown in FIG. 7 or FIG.

10 is a flowchart showing a first processing example of the controller 22 of the dual-arm robot system shown in FIG. 1 according to the dual-arm control method according to claim 9 of the present invention.

FIG. 11 is a flowchart showing a second processing example of the controller 22 of the dual-arm robot system shown in FIG. 1 according to the dual-arm control method according to claim 9 of the present invention.

FIG. 12 is a diagram showing a change in relative position error between both arms when the object 24 is gripped and moved by the two arms after the processing shown in FIG. 10 or FIG. 11;

13 is a functional block diagram showing a functional configuration of the controller 22 shown in FIG. 1 related to the dual-arm control device according to claim 1 of the present invention.

14 is a functional block diagram showing a functional configuration of the controller 22 shown in FIG. 1 with respect to the dual-arm control device according to claim 2 of the present invention. FIG.

FIG. 15 is a functional block diagram showing a functional configuration of the controller 22 shown in FIG. 1 with respect to the dual-arm control device according to claim 3 of the present invention.

[Explanation of symbols]

1: Relative position / orientation relation data storage unit 2: Teaching unit 3: Free trajectory movement control unit 4: Movement trajectory data acquisition unit 5: Movement trajectory data storage unit 6: Via point data calculation unit 7: Via point movement control unit 8 : Moving time storage 9: Moving time storage between via points 10: Speed pattern storage 11: Speed pattern synthesis storage 20: Master arm 21: Slave arm 22: Controller 23: Component supply stand 24: Object 25: Work table 30: Master locus movement locus 31: Slave arm movement locus 32: Intermediate movement locus 33 between each movement locus of the master arm and slave arm 33: Straight line locus 34: Plane

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Takuya Uchida             1-3-3 Nakamagome, Ota-ku, Tokyo Stocks             Company Ricoh (72) Inventor Tomoyasu Hirasawa             1-3-3 Nakamagome, Ota-ku, Tokyo Stocks             Company Ricoh (72) Inventor Tadakatsu Harada             1-3-3 Nakamagome, Ota-ku, Tokyo Stocks             Company Ricoh F term (reference) 3C007 AS06 BS26 JS02 KS17 LS01                       LS15 LV02 MT04                 5H269 AB21 AB33 BB03 BB09 EE10                       KK03 KK10 SA01 SA12 SA18                 5H303 AA10 BB03 BB09 BB15 DD01                       EE03 HH02 QQ08

Claims (9)

[Claims] 1. A dual-arm control device for performing dual-arm simultaneous operation control for coordinating the dual arms of a master arm and a slave arm to grip and manipulate a common object, the master arm being given in advance. Relative position / posture relation data storage means for storing relative position / posture relation data representing relative position and posture relation with the slave arm, and teaching the movement start position and target position of the master arm and the slave arm as teaching points Teaching means for moving the master arm and the slave arm based on a teaching point taught by the teaching means to move the master arm and the slave arm from the movement start position to the target position by free locus control, respectively. The master arm and the thread moved by the locus movement control means. Movement locus data acquisition means for obtaining movement locus data of each arm, and movement locus data storage means for storing movement locus data of each of the master arm and the slave arm obtained by the movement locus data acquisition means, There is provided waypoint data calculation means for calculating waypoint data based on each movement trajectory data stored in the trajectory data storage means and the relative position / orientation relation data stored in the relative position / orientation relation data storage means. A dual-arm control device characterized by that. 2. A dual-arm control device for performing dual-arm simultaneous operation control for coordinating the dual arms of a master arm and a slave arm to grip and manipulate a common object, the master arm being given in advance. Relative position / posture relation data storage means for storing relative position / posture relation data representing relative position and posture relation with the slave arm, and teaching the movement start position and target position of the master arm and the slave arm as teaching points Teaching means for moving the master arm and the slave arm based on a teaching point taught by the teaching means to move the master arm and the slave arm from the movement start position to the target position by free locus control, respectively. The master arm and the thread moved by the locus movement control means. Movement locus data acquisition means for obtaining movement locus data of each arm, and movement locus data storage means for storing movement locus data of each of the master arm and the slave arm obtained by the movement locus data acquisition means, A waypoint data calculation means for calculating a plurality of waypoint data based on each movement trajectory data stored in the trajectory data storage means and the relative position / orientation relation data stored in the relative position / orientation relation data storage means; , A waypoint that teaches each waypoint data calculated by the waypoint data calculating means and moves the master arm and the slave arm by free path control so as to pass through each waypoint indicated by each waypoint data. Movement control means, and the master arm and the slave arm by the waypoint movement control means. Moving time storage means for storing the moving time between the respective via points when the respective arms are moved, the moving time for each via point of the master arm stored in the moving time storage means and the slave arm's moving time. A moving time storage means for each via point is provided for comparing the moving time for each via point and selecting and storing the moving time of the arm having the slower moving time for each via point. Dual-arm control device. 3. A dual-arm control device for performing dual-arm simultaneous operation control for cooperating the dual arms of a master arm and a slave arm to grip and manipulate a common object, the master arm being given in advance. Relative position / posture relation data storage means for storing relative position / posture relation data representing relative position and posture relation with the slave arm, and teaching the movement start position and target position of the master arm and the slave arm as teaching points Teaching means for moving the master arm and the slave arm based on a teaching point taught by the teaching means to move the master arm and the slave arm from the movement start position to the target position by free locus control, respectively. The master arm and the thread moved by the locus movement control means. Movement locus data acquisition means for obtaining movement locus data of each arm, and movement locus data storage means for storing movement locus data of each of the master arm and the slave arm obtained by the movement locus data acquisition means, Waypoint data calculation means for calculating waypoint data on the basis of each movement trajectory data stored in the trajectory data storage means and the relative position / orientation relation data stored in the relative position / orientation relation data storage means; Via-point movement control in which each via-point data calculated by the via-point data calculating means is taught to move the master arm and the slave arm by free trajectory control so as to pass through each via-point indicated by each via-point data. Means for controlling the master arm and the slave arm by the waypoint movement control means. Speed pattern storage means for storing speed patterns between the respective via points when they are respectively moved; speed pattern for each inter-point points of the master arm stored in the speed pattern storage means; It is characterized in that a speed pattern combination storage means is provided for comparing the speed pattern for each waypoint and selecting the speed pattern of the arm with the slower speed for each waypoint and combining and storing it. Dual-arm control device. 4. A dual-arm control method for performing dual-arm simultaneous operation control for coordinating the dual arms of a master arm and a slave arm to grip and manipulate a common object, the dual-arm control method comprising: When teaching the movement start position and the target position as teaching points and moving them by free trajectory control, a plurality of via points of the master arm and the respective via points are provided on the movement trajectory of the master arm between the movement start position and the target position. A dual-arm control method comprising providing a plurality of via points of the slave arm corresponding to the via points. 5. The dual-arm control method according to claim 4, wherein the master arm and the slave arm are respectively moved from the movement start position to the target position, and movement locus data of the master arm and the slave arm are obtained. A dual-arm control method comprising: acquiring and calculating waypoint data indicating each of the waypoints based on the acquired movement trajectory data. 6. A dual-arm control method for performing simultaneous dual-arm control for gripping and manipulating a common object by making the dual arms of a master arm and a slave arm cooperate with each other. When the movement start position and the target position are taught as teaching points and moved by free trajectory control, the movement locus of the master arm between the movement start position and the target position and the relative position difference between the master arm are offset. A plurality of via points of the master arm and a plurality of vias of the slave arm corresponding to the via points at an intermediate point of the movement locus of the slave arm combined with the master arm between the movement start position and the target position. A double-arm control method comprising providing points and. 7. The dual arm control method according to claim 6, wherein the master arm and the slave arm are respectively moved based on the taught movement start position and target position, and the master arm and the slave arm are moved. Each movement locus data is obtained, the obtained movement locus data of the slave arm is offset from the relative position difference between the master arm and the slave arm, and is combined with the master arm between the movement start position and the target position. The moving path data of the slave arm is calculated, and an intermediate point between a point on the moving path of the master arm and a point on the moving path of the slave arm corresponding to the point is calculated as a waypoint. Arm control method. 8. The dual-arm control method according to claim 4, wherein when the master arm and the slave arm are taught by teaching a movement start position and a target position as teaching points, respectively. A dual-arm control method comprising setting a moving time between the plurality of waypoints. 9. The dual-arm control method according to claim 4, wherein the master arm and the slave arm are moved by teaching the movement start position and the target position as teaching points, respectively. A dual-arm control method comprising performing speed control such that an operation speed of the master arm and an operation speed of the slave arm between a movement start position including the waypoint and a target position become the same.