JP2014014902A5 - Robot system - Google Patents
Robot system Download PDFInfo
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- JP2014014902A5 JP2014014902A5 JP2012154584A JP2012154584A JP2014014902A5 JP 2014014902 A5 JP2014014902 A5 JP 2014014902A5 JP 2012154584 A JP2012154584 A JP 2012154584A JP 2012154584 A JP2012154584 A JP 2012154584A JP 2014014902 A5 JP2014014902 A5 JP 2014014902A5
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- force value
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- 230000036544 posture Effects 0.000 claims 10
- 230000000875 corresponding Effects 0.000 claims 2
- 239000011159 matrix material Substances 0.000 claims 2
Description
本発明は、ロボットシステム等に関係する。 The present invention relates to a robot system and the like.
Claims (10)
ロボットと、
前記ロボットの機械機構に対応して設けられる力覚センサーから力覚値を取得して、前記力覚値の補正処理を行う力覚値補正部と、
前記補正処理後の前記力覚値に基づいて、前記ロボットの制御を行う制御部と、
を含み、
前記力覚値補正部は、
前記ロボットの複数の姿勢において得られた複数の前記力覚値に基づいて、前記補正処理を行うことを特徴とするロボットシステム。 A robot system ,
With robots,
A force value correction unit that acquires a force value from a force sensor provided corresponding to the mechanical mechanism of the robot and performs correction processing of the force value;
A control unit that controls the robot based on the force value after the correction process;
Including
The force value correction unit
Robot system on the basis of the plurality of the power objective value obtained in a plurality of postures of the robot, and performs the correction processing.
前記力覚値補正部は、
前記ロボットの第１〜第Ｎ（Ｎは２以上の整数）の姿勢において得られた第１〜第Ｎの力覚値に基づいて、前記機械機構の質量中心位置を推定し、推定した前記質量中心位置に基づいて、前記補正処理を行うことを特徴とするロボットシステム。 In claim 1,
The force value correction unit
The first to N robot (N is an integer of 2 or more) based on ChikaraSatoshichi first to N obtained in the attitude of the mass the estimated center of mass position of the mechanical system, it was estimated A robot system that performs the correction processing based on a center position.
前記力覚値補正部は、
前記機械機構の質量、前記質量中心位置、及び前記ロボットの前記姿勢に基づいて、前記機械機構により前記力覚センサーに作用する前記力覚値を推定することで、前記補正処理を行うことを特徴とするロボットシステム。 In claim 2,
The force value correction unit
The correction processing is performed by estimating the force value acting on the force sensor by the mechanical mechanism based on the mass of the mechanical mechanism, the center position of the mass, and the posture of the robot. A robot system .
前記力覚値補正部は、
前記ロボットの第１の姿勢において得られた第１の力覚値に基づいて、前記機械機構の前記質量中心位置を推定する処理を行い、
前記制御部は、
前記力覚値補正部により前記質量中心位置の推定が不可と判定された場合には、前記ロボットの姿勢を前記第１の姿勢とは異なる第２の姿勢に変更する制御を行い、
前記力覚値補正部は、
前記制御部により前記ロボットが第２の姿勢となる制御が行われた後に取得された第２の力覚値に基づいて、前記機械機構の前記質量中心位置を推定し、推定した前記質量中心位置に基づいて、前記補正処理を行うことを特徴とするロボットシステム。 In claim 2 or 3,
The force value correction unit
Based on the first haptic value obtained in the first posture of the robot , a process of estimating the mass center position of the mechanical mechanism is performed,
The controller is
If the force value correction unit determines that the center of mass position cannot be estimated, control is performed to change the posture of the robot to a second posture different from the first posture;
The force value correction unit
The mass center position of the mechanical mechanism is estimated based on a second haptic value acquired after the control unit performs control for the robot to be in the second posture, and the estimated mass center position The robot system is characterized in that the correction process is performed based on the above.
前記力覚値補正部は、
推定した前記質量中心位置が所定誤差以内ではないと判定された場合には、エラー処理を実行することを特徴とするロボットシステム。 In any of claims 2 to 4,
The force value correction unit
If the estimated the centroid position is determined not to be within a predetermined error, a robot system and executes error processing.
前記力覚値補正部により推定された前記質量中心位置が所定誤差以内ではないと判定された場合には、
前記制御部は、
前記ロボットの姿勢を所与の姿勢とする制御を行い、
前記力覚値補正部は、
前記制御部により前記ロボットが前記所与の姿勢となる制御が行われた後の前記力覚値を取得し、取得した前記力覚値に対応する値をオフセット値として設定し、設定した前記オフセット値によるオフセット除去処理を、前記エラー処理として実行することを特徴とするロボットシステム。 In claim 5,
When it is determined that the mass center position estimated by the force value correction unit is not within a predetermined error,
The controller is
Control the robot posture to a given posture,
The force value correction unit
The control unit acquires the force value after the robot is controlled to be in the given posture, sets a value corresponding to the acquired force value as an offset value, and sets the offset A robot system , wherein offset removal processing by value is executed as the error processing.
前記力覚センサーが、Ｘ軸、Ｙ軸及びＺ軸の並進力Ｆｘ，Ｆｙ，Ｆｚと、各軸まわりのモーメントＭｘ，Ｍｙ，Ｍｚを取得する６軸力覚センサーである場合に、
前記力覚値補正部は、
Ｆｘ，Ｆｙ及びＭｚにより決定される第１の平面と、Ｆｙ，Ｆｚ及びＭｘにより決定される第２の平面と、Ｆｚ，Ｆｘ及びＭｙにより決定される第３の平面を求め、
前記第１〜第３の平面の交点を前記質量中心位置として推定することを特徴とするロボットシステム。 In any one of Claims 2 thru | or 6.
When the force sensor is a six-axis force sensor that obtains translational forces Fx, Fy, Fz on the X, Y, and Z axes and moments Mx, My, Mz around each axis,
The force value correction unit
Obtaining a first plane determined by Fx, Fy and Mz, a second plane determined by Fy, Fz and Mx, and a third plane determined by Fz, Fx and My;
A robot system , wherein an intersection of the first to third planes is estimated as the mass center position.
前記第１の平面のｘ切片をＡ１，ｙ切片をＢ１、ｚ切片をＣ１とし、前記第２の平面のｘ切片をＡ２，ｙ切片をＢ２、ｚ切片をＣ２とし、前記第３の平面のｘ切片をＡ３，ｙ切片をＢ３、ｚ切片をＣ３として、行列Ｍ及びベクトルｑを
前記力覚値補正部は、
前記質量中心位置を表す３次元ベクトルｐを
Ｍｐ＝ｑ
に従って求めることで、前記質量中心位置を推定することを特徴とするロボットシステム。 In claim 7,
The first plane x-intercept is A1, y-intercept B1, z-intercept is C1, the second plane x-intercept is A2, y-intercept B2, z-intercept is C2, and the third plane The x-intercept is A3, the y-intercept is B3, the z-intercept is C3, and the matrix M and vector q are
The force value correction unit
A three-dimensional vector p representing the center of mass position is expressed as Mp = q
The robot system is characterized in that the center of mass position is estimated by obtaining according to:
前記力覚値補正部は、
前記行列Ｍが正則でない場合に、前記質量中心位置の推定が不可であると判定することを特徴とするロボットシステム。 In claim 8,
The force value correction unit
Robot system the matrix M and judging the if not regular, it is impossible to estimate the center of mass position.
前記力覚値補正部は、
前記質量中心位置及び、前記機械機構の質量を含む情報を実行時パラメーターとして算出する実行時パラメーター算出部と、
算出された前記実行時パラメーターを記憶する実行時パラメーター記憶部と、
を含むことを特徴とするロボットシステム。 In any one of Claims 2 thru | or 9.
The force value correction unit
A runtime parameter calculator that calculates information including the mass center position and the mass of the mechanical mechanism as runtime parameters;
A runtime parameter storage unit for storing the calculated runtime parameter;
A robot system characterized by including:
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012154584A JP6003312B2 (en) | 2012-07-10 | 2012-07-10 | Robot system |
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|---|---|---|---|
| JP2012154584A JP6003312B2 (en) | 2012-07-10 | 2012-07-10 | Robot system |
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| Publication Number | Publication Date |
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| JP2014014902A JP2014014902A (en) | 2014-01-30 |
| JP2014014902A5 true JP2014014902A5 (en) | 2015-08-20 |
| JP6003312B2 JP6003312B2 (en) | 2016-10-05 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5931167B1 (en) * | 2014-12-11 | 2016-06-08 | ファナック株式会社 | Human cooperative robot system |
| DE112016002797B4 (en) | 2015-06-22 | 2019-12-12 | Mitsubishi Electric Corporation | CALIBRATION DEVICE AND ROBOT SYSTEM WITH SUCH A CALIBRATION DEVICE |
| KR101991571B1 (en) * | 2017-07-26 | 2019-06-20 | 김철준 | Air cleaner |
| KR102543596B1 (en) * | 2018-08-31 | 2023-06-19 | 삼성전자주식회사 | An electronic device and a method for caculating at least one parameter for measuring an external force |
| US20240131725A1 (en) | 2021-04-30 | 2024-04-25 | Fanuc Corporation | Robot control device |
| CN116038726B (en) * | 2022-12-28 | 2024-02-20 | 深圳市人工智能与机器人研究院 | Nucleic acid sampling human-computer interaction device, method and robot based on visual and auditory sense |
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| JPH0639070B2 (en) * | 1985-09-30 | 1994-05-25 | 松下電器産業株式会社 | Robot device force sensor calibration method |
| JPS6284991A (en) * | 1985-10-09 | 1987-04-18 | 株式会社日立製作所 | Method of computing weight and position of centroid by forcesensor |
| JP2702015B2 (en) * | 1991-10-25 | 1998-01-21 | 日立建機株式会社 | Weight and center of gravity position correction device for force control work machine |
| JP3086104B2 (en) * | 1993-05-07 | 2000-09-11 | 日立建機株式会社 | Weight and center of gravity position correction device for force control work machine |
| JPH07205075A (en) * | 1994-01-25 | 1995-08-08 | Nippon Steel Corp | Weight compensation method of end effector at force control robot |
| JP2681035B2 (en) * | 1995-03-23 | 1997-11-19 | 工業技術院長 | Force control robot for force detection compensation |
| JP5618066B2 (en) * | 2010-08-18 | 2014-11-05 | 株式会社Ihi | Force control robot calibration apparatus and method |
| JP5720876B2 (en) * | 2010-11-29 | 2015-05-20 | 株式会社Ihi | Processing robot and gravity compensation method thereof |
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