JP2008272814A5 - - Google Patents
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- JP2008272814A5 JP2008272814A5 JP2007122268A JP2007122268A JP2008272814A5 JP 2008272814 A5 JP2008272814 A5 JP 2008272814A5 JP 2007122268 A JP2007122268 A JP 2007122268A JP 2007122268 A JP2007122268 A JP 2007122268A JP 2008272814 A5 JP2008272814 A5 JP 2008272814A5
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- robot
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- welding
- sensor
- position data
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Claims (9)
前記溶接トーチに接続され前記溶接トーチへ溶接電流を出力する溶接電源と、
前記溶接トーチ近傍に装着されワークの溶接線の位置を前記溶接トーチに先行して検出するセンサと、
前記センサに接続され前記センサを制御するセンサ制御装置と、
予め教示された教示位置データに従って前記ロボットの駆動軸を制御するとともに、前記溶接電源および前記センサ制御装置に接続され情報の入出力を行うロボット制御装置とを備え、前記センサによって前記溶接線の位置を検出しながら前記溶接トーチの位置を補正するトラッキング制御によって溶接作業を行うロボットシステムにおいて、
前記ロボット制御装置は、前記センサが検出した前記溶接線の位置を前記センサ制御装置から入力するセンサ情報入力手段と、
前記溶接トーチと前記センサとの位置関係を表す位置関係データと、
前記ロボットの現在位置と前記位置関係データとを用いて前記センサが検出した前記溶接線の位置を前記ロボットに基づく座標系における位置に変換する座標変換手段と、
前記座標変換手段によって変換された位置データを時系列で所定数保存する検出位置バッファと、
予め前記センサによって検出した前記溶接線の位置を時系列で保存する記録軌跡データと、
前記位置関係データを用いて前記検出位置バッファ内の位置データから現在の前記溶接トーチの先端位置に該当する第1の位置データを抽出し、前記記録軌跡データから前記第1の位置データに該当する第2の位置データを抽出し、前記第1の位置データと前記第2の位置データとの差分に基づき前記溶接トーチの位置の補正量を算出する補正量算出手段と、
前記補正量と前記教示位置データとから補正した前記ロボットの指令位置を算出する指令位置算出手段とを備えることを特徴とするロボットシステム。 A robot having a plurality of drive shafts and mounting a welding torch at the tip;
A welding power source connected to the welding torch and outputting a welding current to the welding torch;
A sensor that is mounted in the vicinity of the welding torch and detects the position of a welding line of a workpiece in advance of the welding torch;
A sensor control device connected to the sensor and controlling the sensor;
A robot control device that controls the drive shaft of the robot according to teaching position data taught in advance and is connected to the welding power source and the sensor control device and inputs / outputs information; and the position of the welding line by the sensor In a robot system that performs welding work by tracking control that corrects the position of the welding torch while detecting
The robot control device includes sensor information input means for inputting the position of the welding line detected by the sensor from the sensor control device;
Positional relationship data representing the positional relationship between the welding torch and the sensor;
Coordinate conversion means for converting the position of the welding line detected by the sensor using the current position of the robot and the positional relationship data into a position in a coordinate system based on the robot;
A detection position buffer for storing a predetermined number of time-series position data converted by the coordinate conversion means;
Recording trajectory data for preliminarily storing the position of the welding line detected by the sensor;
Using the positional relationship data, first position data corresponding to the current tip position of the welding torch is extracted from position data in the detection position buffer, and corresponding to the first position data from the recording trajectory data. Correction amount calculating means for extracting second position data and calculating a correction amount of the position of the welding torch based on a difference between the first position data and the second position data ;
A robot system comprising command position calculation means for calculating a command position of the robot corrected from the correction amount and the teaching position data.
前記補正量算出手段は、前記第1の位置データ抽出の際に前記溶接トーチの移動速度と前記位置関係データとから、前記センサと前記溶接トーチとが前記溶接線上の同一点を通過する際の時間差を求め、前記検出位置バッファにおいて、前記センサの現在位置の格納場所から前記パラメータの設定値と前記時間差との和の分だけ遡った格納場所に保存された位置データを前記第1の位置データとすることを特徴とする請求項1記載のロボットシステム。 The robot control device includes a delay parameter setting unit that sets a value corresponding to a delay time from when the robot receives a movement command until the robot reaches a command position as a parameter and inputs the parameter to the correction amount calculation unit.
The correction amount calculating means determines whether the sensor and the welding torch pass the same point on the welding line based on the moving speed of the welding torch and the positional relationship data when extracting the first position data. A time difference is obtained, and in the detection position buffer, position data stored in a storage location that is backed by the sum of the parameter setting value and the time difference from the storage location of the current position of the sensor is the first position data. The robot system according to claim 1, wherein:
前記トラッキングモードと前記軌跡記録モードとの切り替えを行うことを特徴とする請求項1乃至3のいずれか1項記載のロボットシステム。 The robot controller corrects the position of the welding torch while detecting the position of the welding line using position data extracted from the recorded trajectory data, and adds the position of the welding line in addition to a tracking mode in which welding operation is performed. A trajectory recording mode for storing the recorded trajectory data,
The robot system according to any one of claims 1 to 3, wherein switching between the tracking mode and the locus recording mode is performed.
The robot controller, the note of the correction amount of the position of the welding torch in the welding operation performed by the tracking control, any of claims 1 to 3 and outputs to the external storage device after the work is completed The robot system according to claim 1 .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007122268A JP2008272814A (en) | 2007-05-07 | 2007-05-07 | Robot system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007122268A JP2008272814A (en) | 2007-05-07 | 2007-05-07 | Robot system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008272814A JP2008272814A (en) | 2008-11-13 |
JP2008272814A5 true JP2008272814A5 (en) | 2011-06-30 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2007122268A Pending JP2008272814A (en) | 2007-05-07 | 2007-05-07 | Robot system |
Country Status (1)
Country | Link |
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JP (1) | JP2008272814A (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017154182A1 (en) * | 2016-03-10 | 2017-09-14 | 三菱電機株式会社 | Numerical control device |
EP3437083B1 (en) * | 2016-03-28 | 2023-07-19 | ABB Schweiz AG | Method, system and apparatus of determining search parameters for welding seam point calibration |
JP7120512B2 (en) | 2019-11-22 | 2022-08-17 | Smc株式会社 | Trajectory control device |
CN111318782B (en) * | 2020-03-27 | 2021-11-05 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
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2007
- 2007-05-07 JP JP2007122268A patent/JP2008272814A/en active Pending
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