JP2004148466A - Robot controller - Google Patents

Robot controller Download PDF

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Publication number
JP2004148466A
JP2004148466A JP2002318409A JP2002318409A JP2004148466A JP 2004148466 A JP2004148466 A JP 2004148466A JP 2002318409 A JP2002318409 A JP 2002318409A JP 2002318409 A JP2002318409 A JP 2002318409A JP 2004148466 A JP2004148466 A JP 2004148466A
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JP
Japan
Prior art keywords
robot
means
work
output
reference
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2002318409A
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Japanese (ja)
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JP2004148466A5 (en
Inventor
Yukio Hashiguchi
Kazutoshi Imai
Shinji Okumura
一利 今井
信治 奥村
幸男 橋口
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Yaskawa Electric Corp
株式会社安川電機
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Priority to JP2002318409A priority Critical patent/JP2004148466A/en
Publication of JP2004148466A publication Critical patent/JP2004148466A/en
Publication of JP2004148466A5 publication Critical patent/JP2004148466A5/ja
Application status is Pending legal-status Critical

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Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot controller allowing a robot to stably continue working even if loading variation, etc. occurs, as well as allowing an operator to concentrate only on his desired target works. <P>SOLUTION: The robot controller contains a capacity control means 4 and a work instruction input means 5. It is also equipped with: a norm action orientation generating means 7 providing movable directions for the robot in response to outputs from the work instruction input means 5; a capacity control parameter setting means 6 defining capacity control parameters of the capacity control means 4 for the robot in response to outputs from the norm action orientation generating means 7; an operative condition monitoring means 8 determining the robot's working condition from both its feedback positions and the outputs of the norm action orientation generating means 7; a capacity control parameter correction factor generating means 9 correcting parameter values from the outputs of the operative condition monitoring means 8; and a working condition indicating means 10 showing the operator each output from the norm action orientation generating means 7, the operative condition monitoring means 8 and the capacity control parameter correction factor generating means 9. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control device for a robot having a force control unit that works in cooperation with an operator.
[0002]
[Prior art]
As a related device related to a conventional robot control device having a force control unit that works in cooperation with an operator, an auxiliary device that makes it difficult for the operator to feel uncomfortable, easily performs an accurate operation, and reduces fatigue associated with the operation. (For example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-13-075649
[Patent Document 2]
JP-A-09-179632
[0004]
Hereinafter, the conventional invention described in Patent Document 1 will be briefly described with reference to the drawings.
11 and 12 show a conventional invention. In the drawings, FIG. 11 shows an overall image of a work assisting device B according to this embodiment. It shows a device that assists the transporting operation and that can actually transport the heavy object W by simply applying the required force when the operator is transporting a lighter object.
The work assisting device B includes a fixed rail 100, a first movable body 101 slidable in one direction of freedom along the fixed rail 100, and slidable in two directions of freedom with respect to the first movable body 101. A second movable body 102, a third movable body 103 rotatable in three directions of freedom with respect to the second movable body 102, and a fourth movable body swingable in four directions of freedom with respect to the third movable body 103. The movable body 104, a fifth movable body 105 swingable in five degrees of freedom with respect to the fourth movable body 104, and a sixth movable body swingable in six degrees of freedom with respect to the fifth movable body 105 106, a seventh movable body 107 that can swing in seven directions of freedom with respect to the sixth movable body 106, and can swing in eight directions of freedom with respect to the seventh movable body 107 so that the heavy object W can be fixed. And the movable bodies 101 to 10 They are moved respectively by the actuator A1~A8 not shown in FIG. 11.
The operator P grips the eighth movable body 108 as the final movable body, first moves the eighth movable body 108 to a place where the heavy object W is stored, and fixes the heavy object W to the eighth movable object 108. I do. Next, the heavy object W fixed to the eighth movable member 108 is transferred by moving or rotating the eighth movable member 108 or the heavy object W in a direction necessary for the transfer operation. The force required for the operator P to move or rotate the eighth movable body 8 or the heavy object W is adjusted by adjusting the outputs of the actuators A1 to A108, so that the heavy object can be used without using the work assisting device B. The force required when conveying an object lighter than W is required.
[0005]
The block diagram of FIG. 12 shows the connection relationship between the position sensor, the controller, the driver, and the actuator, and the driver adjusts the power applied to the actuator according to a signal from the controller. The driver is provided for each actuator. Equation (1) in FIG. 12 shows a conceptual equation of motion of the whole system in which the heavy object W is fixed to the work assisting device B, where MV, DV, and KV are the mass matrix of the whole system and the viscosity coefficient, respectively. Matrix, spring constant matrix, which is measured in advance. In this embodiment, the spring constant matrix KV is zero because the weight W is not restrained by the spring.
x indicates the position of the heavy object W with respect to one degree of freedom, and is detected by the position sensor. The first derivative of the position x corresponds to the velocity, and the second derivative corresponds to the acceleration. The information of the position detected by the position sensor is obtained by time-differentiating by the controller.
Instead, a speed sensor and an acceleration sensor may be attached to the movable body 108. Alternatively, a sensor that detects an operation force applied by the operator may be attached to the movable body 108 to detect a value instead of acceleration.
From the above information, the value of the right side of the equation (1) shown in FIG. 12 can be calculated, and the force FT required to exercise the actual system of the heavy object and the work assist device for each degree of freedom is obtained. Can be
If the FT force is output together for each degree of freedom by the first to eighth actuators A1 to A8 (the sum of the forces here is not a simple algebraic sum, but a final movable force via each movable body. This means that the worker P is exercising at that time without any operation force.
However, when the output of the actuator is adjusted in this way, the operator feels uncomfortable, and high-quality transport work is not performed.
[0006]
Therefore, in this embodiment, the calculation of the equation (2) shown in FIG. 12 is performed.
Here, M is a proportional coefficient to acceleration and corresponds to the mass of the virtual object felt by the worker, D is a proportional coefficient to speed and corresponds to the viscosity coefficient felt by the worker, and K is a proportional coefficient to position and felt by the worker. It corresponds to the spring constant.
Thus, the output of the actuator is adjusted so that the operator can obtain the force calculated by the equation (2) shown in FIG. For this purpose, the right side of the equation (3) shown in FIG. 12, that is, the whole system of the heavy object and the movable body supporting the heavy object is calculated from the force FT required to perform the motion they are currently performing. A force FA is calculated by subtracting a resultant force Fh, which is a sum of a force proportional to the acceleration of the heavy object W, a force proportional to the speed, and a force proportional to the position, and adjusts the force FA so as to be output from the actuator.
In this embodiment, when calculating the equations (2) and (3), the proportional coefficient M for acceleration, the proportional coefficient D for speed, and the proportional coefficient K for position are switched during the transfer operation. As described above, the conventional work assisting device is a method in which the work content is divided into three phases of a starting phase, an intermediate phase, and a positioning phase, and a corresponding proportional coefficient is increased or decreased when each phase is switched.
[0007]
[Problems to be solved by the invention]
However, the conventional auxiliary device has not lost its area as an auxiliary device, and lacks a robot-like element for assisting operation with a working purpose. For this reason, when a load fluctuates in a member while the member and the member are being conveyed in a coordinated manner (during the same work phase described in the related art), the auxiliary device itself operates. Since the condition is not monitored, it is impossible to cope with the load variation, and there is a problem that the operator is physically and mentally burdened.
In addition, there has been a problem that a smooth cooperative operation cannot be realized because the operator cannot recognize the operation intention of the auxiliary device or cannot accurately transmit the intention of the operator to the auxiliary device.
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a robot control device that adjusts a force control parameter adaptively according to a work purpose, and smoothly and reliably performs an auxiliary work of a worker.
[0008]
[Means for Solving the Problems]
In order to solve the above problem, a robot control device according to claim 1 is a control device for a robot that works in cooperation with a worker, the control device including a force control unit and a work instruction input unit that inputs a work instruction of the worker. A reference operation direction generating unit that specifies a reference operable direction of the robot according to an output of the work command input unit; and the force control of the robot according to an output of the reference operation direction generation unit. Force control parameter setting means for setting force control parameters of the means, operation state monitoring means for judging the operation state of the robot from the feedback position of the robot, and the output of the reference operation direction generation means, and the operation state monitoring Force control parameter correction amount generating means for correcting the parameter value set by the force control parameter setting means from the output of the means, and the reference operation The output of the counter generating means and the output of the operating condition monitoring means and an output of the power control parameter correction quantity generating means characterized by comprising an operation status presentation means for presenting to the operator.
According to the robot control device of the first aspect, the robot grasps the work purpose of the worker and automatically controls the force control parameters according to the reference operation data. Work can be continued in a stable manner, and the operator only needs to concentrate on the desired work.
Therefore, the worker can perform cooperative work with the robot smoothly without imposing a mental or physical burden on the worker other than the originally desired target work. Further, since the operator can grasp the operation state of the robot, it is possible to safely cooperate with the operation of the robot.
[0009]
According to a second aspect of the present invention, in the robot controller according to the first aspect, the work command input unit is selected by a work pattern selection unit that selects a work pattern registered in advance and the work pattern selection unit. It is characterized by having a work pattern setting means for setting operation conditions of the robot necessary for each work pattern.
According to the robot control device of the second aspect, since the work pattern of the robot can be directly set, it is easy to grasp the work pattern, and it is particularly suitable for an operator who has experience in teaching a robot.
[0010]
According to a third aspect of the present invention, there is provided the robot control device according to the first aspect, wherein the work command input unit inputs time-series work pattern data of the worker.
According to the robot control device of the third aspect, the operator only needs to demonstrate the work pattern, and even an operator who is unfamiliar with the teaching work of the robot can easily set the operation pattern.
[0011]
4. The robot control device according to claim 1, wherein the reference operation direction generation unit generates a time series data of a control point position of the robot and the control point. It is characterized in that reference operation data composed of a fixed offset value from the time series data of the position is generated.
According to the robot controller of the fourth aspect, since the allowable range of the trajectory deviation is defined as an offset by a simple method, the load of the arithmetic processing is small, and the amount of data to be stored can be reduced. .
[0012]
According to a fifth aspect of the present invention, in the robot controller according to any one of the first to fourth aspects, the operation state monitoring unit includes reference operation data generated by the reference operation direction generation unit and reference operation data of the robot. The difference between the feedback positions is integrated for a preset time, and if the integrated value is equal to or larger than a threshold, a difference between the integrated value and the threshold is output.
According to the robot control device of the fifth aspect, since the determination is made based on the time-integrated value, it is possible to determine a stable work state that is not easily affected by noise.
[0013]
7. The robot control device according to claim 6, wherein in the robot control device according to any one of claims 1 to 4, the operation state monitoring unit calculates a speed of the robot from a feedback position of the robot and calculates the calculated speed. The reference data generated by the reference operation direction generating means is modified in accordance with the formula, and the difference between the modified reference data and the feedback position of the robot is integrated for a preset time, and the integrated value is equal to or larger than a threshold. If there is, a difference between the integrated value and the threshold value is output. According to the robot control device of the sixth aspect, even if the operation speed of the worker changes, the reference data is deformed in accordance with the change, so that erroneous detection due to the change in the speed of the worker does not occur, and an accurate work state is obtained. It becomes possible to grasp.
[0014]
According to a seventh aspect of the present invention, in the robot controller according to any one of the first to sixth aspects, the force control parameter correction amount generation unit corrects the output of the operation state monitoring unit by a proportional constant. Generating a quantity.
According to the robot control device of the seventh aspect, since the correction method is simple, the calculation load can be reduced.
[0015]
8. The robot control device according to claim 8, wherein the operation state presenting unit is configured to output a sound (a sound intensity change) according to an output of the operation state monitoring unit. And changes in sound quality).
According to the robot control device of the eighth aspect, even when both hands of the worker cannot be used or the work posture is such that the monitor screen cannot be seen, the work state of the robot can be accurately grasped. Yes, work safety is improved.
[0016]
According to a ninth aspect of the present invention, in the robot control apparatus according to any one of the first to seventh aspects, the force control parameter setting unit is defined in advance in accordance with an output of the reference operation direction generation unit. Setting a limit value of a torque command of the force control means based on the table information, and the force control parameter correction amount generation means sets the feedback position of the robot within an offset value generated by the reference operation direction generation means. It is characterized in that a correction amount for correcting such a limit value of the torque command is generated.
According to the robot control device of the ninth aspect, the robot becomes harder as the robot deviates from the reference operation direction, so that the worker can judge whether the operation direction is good or not with a sense of the hand, thereby improving workability.
[0017]
According to a tenth aspect of the present invention, in the robot controller according to any one of the first to ninth aspects, the operation state presenting unit prompts a change of an operation direction based on an output history of the operation state monitoring unit. Information (rotation angle, etc.) is presented, and the work command input means has a correction amount setting means for operation change.
According to the robot control device of the tenth aspect, even when the operation direction is changed during the operation, the operation direction can be easily and accurately changed because the operation history of the robot is utilized. , Workability is improved.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a robot control apparatus according to an embodiment of the present invention will be described with reference to FIGS. This embodiment relates to the contents of claims 1 to 10.
FIG. 1 is a diagram showing a basic configuration of a robot control device according to claims 1 to 10, and FIGS. 2 to 7 are diagrams showing the contents of an embodiment according to claims 1 to 10.
Hereinafter, description will be given based on the drawings.
In FIG. 1, an operator 1 is carrying a robot 3 and a work 2.
The robot 3 is connected to a robot control device 11. The robot control device 11 has a force control unit 4, and inputs a work command of the worker 1, a work command input unit 5, and a motion trajectory serving as a reference of the robot 3 according to an output of the work command input unit 5. Normative motion direction generating means 7 for generating, force control parameter setting means 6 for setting force control parameters of the force control means 4 in accordance with a command input to the work command input means 5, and a feedback position of the robot 3 Operating state monitoring means 8 for determining the operating state of the robot 3 from the output of the reference operating direction generating means 7 and parameter values set by the force control parameter setting means 6 from the output of the operating state monitoring means 8 A force control parameter correction amount generating means 9 for calculating the correction amount of the reference, an output of the reference operation direction generating means 7, an output of the operation state monitoring means 8, and the force control parameter. The output of the meter correction quantity generating means 9 are provided with the operating status presentation means 10 to be presented to the operator.
Further, ΣW is a working coordinate system of the robot 3. In this embodiment, as the force control means 4, a flexible control device which is a known technique in Patent Document 2 shown in FIG. 2 is used, but other known means such as impedance control is used. Is also good.
In FIG. 2, reference numeral 45 denotes a unit for calculating a minute displacement between coordinates based on measurement information from a position detector (not shown) of the robot 3, and the work 45 set by the force control parameter setting unit. A corrected torque command 43 is input to a servo amplifier via a means 42 for applying a force or torque limit value 46 based on the coordinate system ΣW to the means 45 for calculating the minute displacement and converting the same into a joint angle torque limit value. The flexibility of the robot 3 is realized.
[0019]
Next, a specific operation will be described.
The worker 1 carries the work 2 in the y direction of the work coordinate system ΣW in cooperation with the robot 3. Prior to the start of the work, the worker 1 uses the work command input means 5 to input as a work command to carry out the transport work in the y direction of the work coordinate system ΣW.
Here, specifically, the work command input means 5 proposed in claim 2 of the present invention is used. FIG. 3 shows the work command input means 5 proposed in claim 2. In the work command input means 5, the worker 1 presses the "horizontal movement" selection switch 51A by the work pattern selection means 51 composed of the selection switches 51A and 51B shown in FIG.
When the selection switch 51A is pressed, a horizontal movement setting screen 52A appears on the work pattern setting means 52, requesting the operator 1 to set an operation item, and the operator 1 sets an operation direction, an operation speed, the work 2 Approximate weight and allowable position deviation width are set. When both hands of the worker 1 cannot be used, the setting screen 52A may be input by voice. The operation items set on the setting screen 52A are input to the reference operation direction generating means 7, and the reference operation is performed in each of the X, Y, and Z axis directions as shown in FIG. Reference motion data including pattern trajectories A, B, and C and offset trajectories 1A, 2A, 1B, 2B, 1C, and 2C is generated.
Further, the force control parameter setting means 6 receives the output of the work command input means 5 and controls the force control means 4 so that the work coordinate system ΣW is soft in the y-axis direction and hard in the x-axis and Z-axis directions. The force limit value 46 is set to 0 (N) in the Y-axis direction, 5 (N) in the X-axis direction, and 5 (N) in the Z-axis direction.
The work command input means 5 proposed in claim 3 acquires time-series data of the hand position of the worker 1 by, for example, motion capture or the like, and outputs the data as it is to the reference motion direction generating means, or It may be approximated by a regression curve or the like.
[0020]
Next, when the worker 1 grasps the work 2 and starts moving in the y direction of the work coordinate system ΣW, the robot 3 holds the weight of the work 2 by the effect of the force control means 4. The transport operation is passively performed while following the operation coordinate system ΣW in the y direction. When there is no load fluctuation or when the error of the set weight is small, the time series data of the feedback position of the robot 3 is inside the offset trajectories 1A, 2A, 1B, 2B, 1C, and 2C, and the desired work quality is maintain.
However, in an actual work site, load fluctuations and errors in the set weight occur, so that the time-series data of the feedback position of the robot 3 is outside the offset trajectories 1A, 2A, 1B, 2B, 1C, and 2C. The work quality may deteriorate and the work quality may deteriorate.
Therefore, in this embodiment, the operation state monitoring means 8 proposed in claim 5 is used. Specifically, as shown in FIG. 7, the operation state monitoring means 8 integrates the difference between the reference work pattern trajectory and the feedback position trajectory at a predetermined time interval (ΔT) (the area of the horizontal stripe area in FIG. 7). Then, the position deviation is determined based on the size of the area surrounded by the offset locus and the area. By integrating as shown in FIG. 7, the influence of measurement errors due to noise or the like (shift from a temporary offset locus) can be eliminated, which is practical.
A correction amount obtained by multiplying the position deviation amount by a constant by the force control parameter correction amount generation unit proposed in claim 7 for an axis having a position deviation as a result of the determination by the operation state monitoring unit 8. Is added to the force control means 4, and the axial direction causing the displacement becomes hard, and the displacement is corrected. At this time, the operation state of the robot 3 is presented to the worker 1 via the operation state presenting means 10 to call attention of the worker 1 and ensure safety. At this time, if the warning sound is increased or the timbre is changed as the positional deviation increases, the working state can be more accurately conveyed to the worker, as proposed in claim 8, and the safety can be improved. More.
[0021]
Further, depending on the physical condition at that time, the working speed of the worker 1 may not be equal to the set speed. In such a case, in the operation state monitoring means 8, the reference work pattern trajectories A, B, and C and the offset trajectories 1A, 2A, 1B, 2B, 1C, and 2C are provided as proposed in claim 6. The reference work pattern trajectory data is determined using the reference work pattern trajectory data deformed according to the feedback speed calculated from the feedback position of the robot 3. Specifically, for example, the reference work pattern locus data is
When y = f (t),
t = t × Vfb / V0
Here, V0 is the operation speed set on the setting screen 52A,
Vfb is the feedback speed of the robot.
And transform.
[0022]
Next, when the movement direction of the robot 1 is clearly indicated to the worker 1 by force sense, the worker 1 is subjected to the torque limitation shown in FIG. Direction can be made conscious.
In FIG. 8, Tmin is a limit value of the torque command set by the force control parameter setting means 6, and the force control parameter correction amount generation means changes in accordance with the position shift amount, that is, as it deviates from the center A of the reference operation. The torque command limit value is corrected until the maximum Tmax is reached. The trajectory of the feedback position along the time axis of the worker 1 is shown in FIG. What has deviated from the center A of the reference operation at the start of the operation comes along the center A of the reference operation as time elapses. 8 and 9 show only the setting in the X direction, the Y and Z directions can be set in the same manner.
In addition, when the setting error of the working coordinate system ΣW of the robot 1 is large, there is a large divergence between the operating direction conscious of the worker 1 and the operating direction of the robot 1, so that the coordinate system needs to be changed during the work. In some cases. In this case, as proposed in claim 10, the operation state presenting means 10 obtains from the output history of the operation monitoring means 8 by the joint work with the worker 1 as shown in FIG. A vector Vb in the operating direction is calculated, and a correction angle θ is calculated from a vector Va (corresponding to FIG. 6) in the operating direction set in advance, and the correction angle θ is transmitted to the worker 1 by voice to urge the necessity of correction. .
The operator 1 inputs the correction angle θ from the work command input means 5 and rotates the work coordinate system ΣW of the robot 1 by the correction angle θ in response to the X′-Y ′ shown in FIG. Become. The rotation of the work coordinate system ΣW is a well-known technique and will not be described.
[0023]
【The invention's effect】
As described above, according to the robot control device of the first aspect, since the robot grasps the work purpose of the worker and automatically controls the force control parameters according to the reference operation data, the load fluctuation and the like are performed. The robot can stably continue the operation even if the error occurs, and the operator only needs to concentrate on the desired target operation. For this reason, the worker can perform cooperative work with the robot smoothly without imposing a mental or physical burden on the worker other than the original desired work. Further, since the operator can grasp the operation state of the robot, it is possible to safely cooperate with the operation of the robot.
According to the robot control device of the second aspect, since the work pattern of the robot can be directly set, it is easy to grasp the work pattern, which is particularly suitable for a worker who has experience teaching a robot, and the work efficiency is improved. I do.
According to the robot control device of the third aspect, the operator only needs to demonstrate the work pattern, and even an operator who is unfamiliar with the teaching work of the robot can easily set the operation pattern.
According to the robot control device of the fourth aspect, since the allowable range of the trajectory deviation is defined as an offset by a simple method, the load of the arithmetic processing is small, and the amount of data to be stored can be reduced. And practical.
According to the robot control device of the fifth aspect, since the determination is made based on the time-integrated value, it is possible to determine a stable work state that is not easily affected by the nozzle.
According to the robot control device of the sixth aspect, even if the operation speed of the worker changes, the reference data is deformed in accordance with the change, so that an erroneous inspection due to the change in the speed of the worker does not occur, and an accurate work state is obtained. It becomes possible to grasp.
According to the robot control device of the seventh aspect, since the correction method is simple, the calculation load can be reduced, which is practical.
According to the robot control device of the eighth aspect, since the operation state is presented by the strength of the sound or the like, even if both hands of the worker cannot be used or the worker is in a working posture in which the monitor screen cannot be viewed, The work state can be accurately grasped, and work safety is improved.
According to the robot control device of the ninth aspect, the robot becomes harder as the robot deviates from the reference operation direction, so that the worker can judge whether the operation direction is good or not with the sense of the hand holding the work, and thus intuitively. Easy to understand and workability is improved.
According to the robot control device of the tenth aspect, even when the operation direction is changed during the operation, the operation direction can be easily and accurately changed because the operation history of the robot is utilized. , Workability is improved.
[Brief description of the drawings]
FIG. 1 is a diagram showing a basic configuration of an embodiment of the present invention.
FIG. 2 is a diagram showing a force control means 4 according to the embodiment of the present invention.
FIG. 3 is a diagram showing a work instruction input unit 5 according to the embodiment of the present invention.
FIG. 4 is a diagram showing an operation pattern selection unit 51 according to the embodiment of the present invention.
FIG. 5 is a diagram showing an operation pattern setting means 52 according to the embodiment of the present invention.
FIG. 6 is a diagram showing reference work pattern data generated by the reference operation direction generating means 7 according to the embodiment of the present invention.
FIG. 7 is a diagram showing a process of the operation state monitoring means 8 according to the embodiment of the present invention.
FIG. 8 is a diagram showing a torque limiting pattern generated by a force control parameter setting unit 6 and a force control parameter correction amount generation unit 9 according to the embodiment of the present invention.
FIG. 9 is a diagram showing a feedback trajectory of the worker 1 according to the embodiment of the present invention.
FIG. 10 is a diagram showing the setting error presentation of the coordinate system of the operation state presentation means 10 according to the embodiment of the present invention.
FIG. 11 is a configuration diagram of a work assisting device in a conventional example.
FIG. 12 is a diagram showing a connection relationship between devices in a conventional example.
[Explanation of symbols]
1 worker
2 Work
3 Robot
4 Force control means
5 Work instruction input means
6 Force control parameter setting means
7 Reference motion direction generation means
8 Operating state monitoring means
9 Force control parameter correction amount generation means
10 Operation state presentation means
11 Robot controller
41 Torque command
42 Torque limiter
43 Corrected torque command
44 Servo amplifier
45 Jt arithmetic means
46 Working coordinate force and torque limit setting means
51 Work pattern selection means
51A Horizontal movement selection switch
51B Vertical movement selection switch
52 Work pattern setting means
52A Horizontal movement operation pattern setting means
100 fixed rail
101 first movable body
102 Second movable body
103 Third movable body
104 fourth movable body
105 5th movable body
106 sixth movable body
107 7th movable body
108 8th movable body
Va Preset motion vector
Vb Vector of motion direction obtained by joint work with worker 1
P worker

Claims (10)

  1. A control device for a robot working in cooperation with a worker, comprising a force control unit and a work instruction input unit for inputting a work instruction of the worker,
    Reference operation direction generating means for specifying an operable direction to be a reference of the robot in accordance with an output of the work instruction input means;
    Force control parameter setting means for setting a force control parameter of the force control means of the robot according to an output of the reference operation direction generation means;
    An operation state monitoring unit that determines an operation state of the robot from a feedback position of the robot and an output of the reference operation direction generation unit;
    Force control parameter correction amount generation means for correcting the parameter value set by the force control parameter setting means from the output of the operation state monitoring means,
    A robot control device comprising: an operation state presentation unit that presents an output of the reference operation direction generation unit, an output of the operation state monitoring unit, and an output of the force control parameter correction amount generation unit to an operator. .
  2. The work command input means, a work pattern selection means for selecting a work pattern registered in advance, and a work pattern setting means for setting operating conditions of the robot required for each work pattern selected by the work pattern selection means; The robot control device according to claim 1, further comprising:
  3. 2. The robot control device according to claim 1, wherein the work command input means inputs work pattern data in a time series of the worker.
  4. The reference operation direction generating means generates reference operation data including time series data of the control point position of the robot and a constant offset value from the time series data of the control point position. Item 4. The robot control device according to any one of Items 1 to 3.
  5. The operation state monitoring means integrates the difference between the reference operation data generated by the reference operation direction generation means and the feedback position of the robot for a preset time, and if the integrated value is equal to or greater than a threshold, the integration is performed. The robot controller according to claim 1, wherein a difference between the value and the threshold is output.
  6. The operation state monitoring means calculates the speed of the robot from the feedback position of the robot, deforms the reference data generated by the reference motion direction generating means according to the calculated speed, and converts the deformed reference data and the reference data. 5. The method according to claim 1, wherein the difference between the feedback positions of the robot is integrated for a preset time, and if the integrated value is equal to or larger than a threshold, a difference between the integrated value and the threshold is output. 2. The robot control device according to claim 1.
  7. The robot control device according to claim 1, wherein the force control parameter correction amount generation unit generates a correction amount multiplied by a proportional constant to an output of the operation state monitoring unit.
  8. The said operation state presentation means presents a work state by the sound (change of sound intensity | strength or change of sound quality) according to the output of the said operation state monitoring means, The claim 1 characterized by the above-mentioned. Robot controller.
  9. The force control parameter setting means sets a torque command limit value of the force control means based on predetermined table information according to an output of the reference operation direction generating means, and generates the force control parameter correction amount. 8. The method according to claim 1, wherein the means generates a correction amount for correcting a torque command limit value such that a feedback position of the robot is within an offset value generated by the reference motion direction generating means. The robot control device according to claim 1.
  10. The operation state presenting means presents information (rotation angle, etc.) for prompting a change in the operation direction from the history of the output of the operation state monitoring means, and the work command input means has a correction amount setting means for the operation change. The robot control device according to claim 1, wherein:
JP2002318409A 2002-10-31 2002-10-31 Robot controller Pending JP2004148466A (en)

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