JP2014174574A - Speed command data generation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve easiness and a degree of freedom in creating speed command data.SOLUTION: A speed command data generation device 10 creates speed command data indicating a relationship that speed and time of each axis should satisfy when a tip of an industrial robot moves along a predetermined track. The speed command data generation device 10 comprises: a pattern holding section 120 which holds a plurality of different patterns indicating time variation of speed; a pattern acquisition section 106 which acquires a plurality of patterns selected by a user out of the plurality of patterns held by the pattern holding section 120; and a pattern combining section 108 which creates speed command data by combining the plurality of patterns acquired by the pattern acquisition section 106.

Description

  The present invention relates to a speed command data generation device that generates speed command data.

  The motion controller is a device that controls an industrial robot such as a semiconductor transfer robot or an industrial machine such as an XY stage by servo drive. When using a motion controller, usually, position command data including the spatial coordinates of teaching points that define the locus to be drawn by the target part of the controlled machine and speed command data including the speed between the teaching points are separately stored in a PC ( (Personal Computer) etc. and give it to the motion controller.

  Conventionally, a motion controller that receives speed command data in a command format is known. The speed command data that can be given as a command is, for example, a trapezoidal speed waveform as shown in Patent Document 1, an S-shaped acceleration / deceleration waveform, or the like.

The trapezoidal velocity waveform and S-shaped acceleration / deceleration waveform have the following advantages and disadvantages.
(Trapezoidal velocity waveform)
Advantage: Because the speed / acceleration limit of the actuator of the industrial machine can be applied to the height / tilt of the trapezoidal velocity waveform, the industrial machine can be moved as fast as possible by using the capacity of the actuator to the limit.
Disadvantage: Industrial machine vibration increases when acceleration changes.

(S-curve acceleration / deceleration waveform)
Advantage: By smoothing the change of acceleration, vibration of industrial machinery can be suppressed.
Disadvantages: It takes longer to move than the trapezoidal velocity waveform.

  Thus, the trapezoidal velocity waveform and the S-shaped acceleration / deceleration waveform have a trade-off relationship.

JP 2012-135835 A

  However, in the conventional method for generating the speed command data, one is basically selected from the given speed waveforms. Therefore, for example, even when the user desires a compromise between the trapezoidal velocity waveform and the S-shaped acceleration / deceleration waveform, the user must select one of them, which is inconvenient.

  Further, when trying to define the relationship between the speed and the time with a free curve, for example, it is conceivable to provide an intermediate point between the start point and the end point and connect them with a cubic spline. However, in this case, the parameters are complicated, and the user settings may be complicated.

  This invention is made | formed in view of such a subject, The objective is to provide the technique which can raise the ease and freedom degree at the time of producing | generating speed command data.

  One embodiment of the present invention relates to a speed command data generation device. This speed command data generating device generates speed command data indicating the relationship between the speed of the target part or its drive part and the time when the target part of the mechanical device moves along a predetermined trajectory. A pattern acquisition unit that is a generation device that holds a plurality of different patterns indicating temporal changes in speed, and a pattern acquisition that acquires a plurality of patterns selected by a user from among a plurality of patterns held by the pattern holding unit And a pattern combination unit that generates speed command data by combining a plurality of patterns acquired by the pattern acquisition unit.

  The “speed” may be an amount that moves per unit time, or may be a displacement per unit time.

  It should be noted that any combination of the above-described constituent elements, or those obtained by replacing the constituent elements and expressions of the present invention with each other between apparatuses, methods, systems, computer programs, recording media storing computer programs, and the like are also included in the present invention. It is effective as an embodiment of

  ADVANTAGE OF THE INVENTION According to this invention, the ease and freedom at the time of producing | generating speed command data can be improved.

It is a mimetic diagram showing an industrial robot system provided with a speed command data generation device concerning an embodiment. It is a schematic diagram for demonstrating teaching operation | movement which a user designates operation | movement of the front-end | tip of the industrial robot of FIG. 1 by a coordinate. It is a block diagram which shows the function and structure of the speed command data generation apparatus of FIG. 4A to 4C are schematic diagrams showing three examples of velocity waveforms held by the pattern holding unit of FIG. It is a data structure figure which shows an example of the point sequence data showing a velocity waveform. It is a typical screen figure of a speed waveform designation | designated screen. It is a schematic diagram for demonstrating scaling of a velocity waveform. It is a schematic diagram for demonstrating scaling of the speed waveform in case a coefficient is negative. It is a schematic diagram which shows an example of the speed command data produced | generated by the pattern combination part. It is a flowchart which shows an example of a series of processes in the speed command data generation device of FIG. It is a data structure figure which shows an example of a correspondence holding | maintenance part.

  Hereinafter, the same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated description is appropriately omitted.

  FIG. 1 is a schematic diagram showing an industrial robot system 2 including a speed command data generation device 10 according to an embodiment. The industrial robot system 2 includes a speed command data generation device 10, a motion controller 20, an industrial robot 30, a first communication cable 40, and a second communication cable 50. The speed command data generation device 10 may be realized by a PC or the like. The industrial robot 30 may be an arm type robot for the purpose of transporting semiconductors.

  The speed command data generation device 10 and the motion controller 20 are connected by a first communication cable 40 such as a LAN (Local Area Network). The motion controller 20 and the industrial robot 30 are connected by a second communication cable 50 such as an analog signal line or a digital signal line.

  FIG. 2 is a schematic diagram for explaining the teaching operation in which the user designates the operation of the tip 32 of the industrial robot 30 by coordinates. The user specifies a series of movements of the tip 32 from the start point to the end point by giving a teach point 1 (start point), a teach point 2, a teach point 3, and a teach point 4 (end point). Each teaching point corresponds to a spatial coordinate. These teaching points define the trajectory drawn by the tip 32 of the industrial robot 30.

  Returning to FIG. 1, the speed command data generation device 10 generates operation command data including position command data and speed command data based on a user input. The position command data is data indicating the spatial coordinates and order of teaching points. The speed command data is a relationship that the speed and time of each axis of the industrial robot 30 that drives the tip 32 should satisfy when the tip 32 of the industrial robot 30 moves along the trajectory defined by the position command data. It is data which shows.

  Note that the speed command data may be data indicating the relationship between the speed of the tip 32 and the time when the tip 32 moves along the trajectory defined by the position command data. In this case, the motion controller 20 may convert the speed of the tip 32 into the speed of each axis of the industrial robot 30.

  The speed command data generation device 10 transmits the generated operation command data to the motion controller 20 via the first communication cable 40. The motion controller 20 controls the industrial robot 30 in real time based on the received operation command data. The motion controller 20 interpolates the speed command data included in the received operation command data into the control cycle of the industrial robot 30 to make a command to the industrial robot 30. The motion controller 20 may be configured using a known motion control technique that transmits an appropriate command to each axis of the industrial robot 30 based on the speed command and the position command.

  FIG. 3 is a block diagram showing the function and configuration of the speed command data generation device 10 of FIG. Each block shown here can be realized by hardware such as a computer (CPU) (central processing unit) and other elements and mechanical devices, and software can be realized by a computer program or the like. Here, The functional block realized by those cooperation is drawn. Therefore, it is understood by those skilled in the art who have touched this specification that these functional blocks can be realized in various forms by a combination of hardware and software.

  The speed command data generation device 10 includes a display 102, an input device 104 such as a mouse and a keyboard, a pattern acquisition unit 106, a pattern combination unit 108, an operation command data generation unit 110, an operation command data transmission unit 112, An externally generated pattern capturing unit 114, a scaling acquisition unit 116, a scaling application unit 118, and a pattern holding unit 120 are provided.

  The pattern holding unit 120 holds a plurality of different patterns, i.e., speed waveforms, indicating the time change of the speed of each axis of the industrial robot 30. The velocity waveform is divided into three types: acceleration, constant velocity, and deceleration. Further, in the case of acceleration or deceleration, the speed waveform is classified according to the shape of the speed change with respect to time, such as whether it is a linear change, an S-shaped change or a sine wave-like change. The pattern holding unit 120 holds the velocity waveform classified in this way and the waveform ID that identifies the velocity waveform in association with each other. The user may register a predetermined number of velocity waveforms in advance in the pattern holding unit 120 as initial data.

  4A to 4C are schematic diagrams showing three examples of velocity waveforms held by the pattern holding unit 120. FIG. FIG. 4A shows a linear acceleration type velocity waveform. Here, the relationship between the speed of one axis and the time is shown. The relationship between the speed of the other axes and the time is also a similar linear acceleration type speed waveform. FIG. 4B shows an S-shaped acceleration type velocity waveform, and FIG. 4C shows a sinusoidal acceleration type velocity waveform.

  The velocity waveform held by the pattern holding unit 120 is represented by point sequence data in which pairs of velocity and time are arranged in time series. Hereinafter, “speed waveform” may be used in the meaning of the point sequence data representing the speed waveform, and “point sequence data” may be used in the meaning of the speed waveform represented by the point sequence data.

  FIG. 5 is a data structure diagram showing an example of the point sequence data 126 representing the velocity waveform. The point sequence data 126 holds the time and the speed of each axis of the industrial robot 30 in association with each other in time series. The time unit and the speed unit of the point sequence data may be given as user options in the speed command data generation device 10.

  In the example of FIG. 5, the time of the point sequence data 126 indicates the elapsed time from the start of the operation of one speed waveform. The time of the point sequence data may be an elapsed time between points (between each entry). This selection may be given as a user option in the speed command data generation device 10. In the example of FIG. 5, the speed of the point sequence data 126 is a relative speed with respect to the start of operation when the start of operation of one speed waveform is a predetermined value, that is, zero.

  Returning to FIG. 3, the pattern acquisition unit 106 acquires a plurality of velocity waveforms selected by the user from the plurality of velocity waveforms held by the pattern holding unit 120. The pattern acquisition unit 106 causes the display 102 to display a velocity waveform designation screen 128 for accepting designation of velocity waveforms by the user.

  FIG. 6 is a representative screen diagram of the speed waveform designation screen 128. The speed waveform designation screen 128 has a designation area 130 for inputting information on a speed waveform desired to be designated by the user, a button 132 for moving a line, an OK button 134, and a clear input button 136. The designation area 130 is a sequential input area, an acceleration / deceleration / constant speed input area, a shape input area, and a time expansion / reduction rate input area for each axis (only axis 1 is shown in FIG. 6). The speed enlargement / reduction rate input area (only axis 1 is shown in FIG. 6) for each axis and the relative mode / absolute mode are displayed in a table format in association with each other. The pattern acquisition unit 106 receives designation of a plurality of velocity waveforms for generating velocity command data via the velocity waveform designation screen 128.

  The order indicates the order in which the velocity waveform of the corresponding entry should appear. In the acceleration / deceleration / constant speed input area, “0” is input for constant speed, “1” for acceleration, and “2” for deceleration. The shape input area includes “0” for a constant speed straight line, “1” for an acceleration / deceleration straight line, “2” for an acceleration / deceleration S-shape, and “3” for an acceleration / deceleration sine curve. "Is input respectively. The time expansion / reduction ratio and the speed expansion / reduction ratio are both coefficients for scaling the velocity waveform of the corresponding entry. The mode will be described later.

  The pattern acquisition unit 106 increases one entry in the specified area 130 when the button 132 for shifting lines is designated. The pattern acquisition unit 106 reduces the entry in the specified area 130 by one when the button 133 for reducing a line is designated. When the clear input button 136 is designated, the pattern acquisition unit 106 clears the information input to the designated area 130 until then. When the OK button 134 is designated, the pattern obtaining unit 106 obtains information that has been input to the designated area 130 until then.

  The pattern acquisition unit 106 refers to the pattern holding unit 120, and associates the sequence of point sequence data corresponding to the combination of acceleration / deceleration / constant velocity and shape included in the information input in the designated area 130 with the order. Get. For example, in the example of FIG. 6, the pattern acquisition unit 106 acquires the sequence “1” in association with the point sequence data representing the sinusoidal acceleration type velocity waveform, and obtains the order “2” and the constant velocity type velocity waveform. The point sequence data to be represented are acquired in association with each other, the sequence "3" is acquired in association with the point sequence data representing the linear acceleration type velocity waveform, and the sequence "4" is represented to represent the constant velocity type velocity waveform. The column data is acquired in association with each other, and the sequence “5” and the point sequence data representing the S-shaped deceleration type velocity waveform are acquired in association with each other.

Returning to FIG. 3, the scaling acquisition unit 116 acquires the time expansion / reduction ratio and the speed expansion / reduction ratio as the scaling specification information among the information input to the specification area 130.
The scaling application unit 118 applies the scaling designation information acquired by the scaling acquisition unit 116 to the corresponding time or axis speed of the corresponding point sequence data acquired by the pattern acquisition unit 106. The scaling application unit 118 multiplies the time of the point sequence data to which scaling is to be applied by the corresponding time enlargement / reduction ratio, and the speed extension / Multiply the reduction ratio.

  FIG. 7 is a schematic diagram for explaining the scaling of the velocity waveform. In FIG. 7, when time expansion (time expansion / reduction ratio> 1) is applied to the basic S-acceleration type velocity waveform 138 (140), time reduction (time expansion / reduction ratio <1) is applied. In the case of (142), the speed reduction (speed enlargement / reduction ratio <1) is applied (144), and the speed enlargement (speed enlargement / reduction ratio> 1) is applied. Here, the relationship between the speed of one axis and the time is shown.

  FIG. 8 is a schematic diagram for explaining the scaling of the velocity waveform when the coefficient is negative. When the acquired speed enlargement / reduction ratio is a negative value, the original speed waveform 146 and the speed waveform 148 after scaling are symmetric with respect to the time axis. That is, if the original speed waveform 146 is an acceleration type, the speed waveform 148 after scaling is a deceleration type (negative acceleration), and vice versa. Here, the relationship between the speed of one axis and the time is shown.

  Returning to FIG. 3, the pattern combination unit 108 generates speed command data by combining or synthesizing a plurality of point sequence data acquired by the pattern acquisition unit 106. When connecting two point sequence data along the time axis, the pattern combination unit 108 adjusts the speed of the subsequent point sequence data based on the speed at the end of the previous point sequence data. Further, the pattern combination unit 108 combines the point sequence data to which the scaling designation information is applied by the scaling application unit 118 and the remaining point sequence data among the plurality of point sequence data acquired by the pattern acquisition unit 106. The speed command data is generated.

The pattern combination unit 108 includes a pattern arrangement unit 122 and a speed adjustment unit 124.
The pattern arrangement unit 122 arranges the plurality of point sequence data along the time axis based on the order associated with each of the plurality of point sequence data acquired by the pattern acquisition unit 106. At this time, if there is point sequence data to which scaling is applied by the scaling application unit 118, the pattern arrangement unit 122 adopts the point sequence data after applying the scaling.

  For example, in the example of FIG. 6, the pattern placement unit 122 generates point sequence data (after scaling application) representing a sinusoidal acceleration type velocity waveform, point sequence data representing a constant velocity type velocity waveform, and linear acceleration type velocity waveform. The point sequence data (after scaling application), the point sequence data representing the constant velocity type velocity waveform, and the point sequence data (after scaling application) representing the S-shaped deceleration type velocity waveform are arranged on the time axis in this order.

  In the relative mode, the speed adjusting unit 124 adjusts and connects a plurality of point sequence data arranged along the time axis by the pattern arranging unit 122 so that discontinuity does not occur in the speed. The speed adjustment unit 124 sets the speed corresponding to the last time of the previous point sequence data (hereinafter referred to as the final speed) for the two adjacent point sequence data on the time axis as the speed of the subsequent point sequence data. Add as an offset. In this case, since the speed corresponding to the first time of the point sequence data held in the pattern holding unit 120 (hereinafter referred to as the start speed) is zero, the final speed of the previous point sequence data and the start of the subsequent point sequence data Can be aligned or the same with speed.

  FIG. 9 is a schematic diagram illustrating an example of speed command data generated by the pattern combination unit 108. FIG. 9 corresponds to the example of FIG. Here, the relationship between the speed of one axis and the time is shown. Since the speed command data is a combination of point sequence data, the speed command data itself has the same data structure as the point sequence data.

  Note that the speed adjustment unit 124 does not perform the above speed adjustment for the point sequence data for which the absolute mode is designated in the designated area 130. In this case, the user may separately adjust the speed so that no discontinuity occurs.

Returning to FIG. 3, the operation command data generation unit 110 generates operation command data including the speed command data generated by the pattern combination unit 108 and the position command data. The operation command data generation unit 110 may apply a unit specified by the user to the time and / or speed of the speed command data.
The operation command data transmission unit 112 transmits the operation command data generated by the operation command data generation unit 110 to the motion controller 20 via the first communication cable 40.

  The externally generated pattern capturing unit 114 acquires point sequence data generated by an external device of the speed command data generation device 10 and registers it in the pattern holding unit 120 as point sequence data representing a new speed waveform. The externally generated pattern capturing unit 114 may acquire the point sequence data in the form of a CSV file or the like.

  In the embodiment described above, examples of the holding unit are a hard disk and a semiconductor memory. Further, based on the description of the present specification, each unit is configured by a CPU (not shown), a module of an installed application program, a module of a system program, a semiconductor memory that temporarily stores the content of data read from the hard disk, or the like. It will be understood by those skilled in the art who have touched this specification that it can be realized.

The operation of the speed command data generation device 10 having the above configuration will be described.
FIG. 10 is a flowchart illustrating an example of a series of processes in the speed command data generation device 10. The speed command data generation device 10 receives the designation of the speed waveform from the user via the speed waveform designation screen 128 (S202). The speed command data generation device 10 extracts information on a plurality of designated speed waveforms from the pattern holding unit 120 (S204). The speed command data generation device 10 combines information on the extracted plurality of speed waveforms (S206). The speed command data generation device 10 transmits speed command data obtained as a result of the combination to the motion controller 20 (S208).

  According to the speed command data generation device 10 according to the present embodiment, the user can define the speed command data relatively freely. In particular, by registering more speed waveforms in the pattern holding unit 120, the degree of freedom can be arbitrarily increased. Therefore, as compared with a device using a setting method using commands and mathematical expressions, the user can generate more preferable speed command data in a form incorporating his / her experience and intuition according to the application.

  In the speed command data generation device 10 according to the present embodiment, the user selects a speed waveform to be combined from the speed waveforms registered in advance in the speed command data generation device 10. Accordingly, since complicated command line input and mathematical expression description are not required, the operation on the user side is simpler and easier to understand.

  When trying to define the relationship between speed and time with a free curve, for example, it is conceivable to express the waveform from the start point to the end point using mathematical formulas or figures. In the case of expressing with a mathematical expression, for example, it is conceivable to provide a midpoint between the start point and the end point and to connect them with a cubic spline. However, in this case, the parameters are complicated, and the generation work may be complicated. In addition, in the case of expressing with a graphic, the operation on the user side can be complicated, for example, it is necessary to graphically describe and modify the waveform. The speed command data generation device 10 according to the present embodiment solves these problems and provides a user interface that is easier to understand.

  Moreover, in the speed command data generation device 10 according to the present embodiment, the speed waveform is represented by point sequence data. Therefore, it is easy to create and add compared with the case where it is expressed analytically by a mathematical formula or the like, and the expandability is high. Data used in past experiments can also be applied. When combining point sequence data corresponding to experimental data, it is more preferable to use the absolute mode.

  In the speed command data generation device 10 according to the present embodiment, the speed of the point sequence data held by the pattern holding unit 120 is described as a relative speed with respect to the start speed (= zero). Further, the speed adjusting unit 124 performs processing for matching the speed between the preceding and following point sequence data. Therefore, the user does not have to be so aware of the speed discontinuity when creating the speed command data. Moreover, the reusability of point sequence data can be improved.

  In addition, when the starting speed of the initial point sequence data input by the user is not zero, the speed command data generation device 10 may perform a process of automatically setting the starting speed to zero.

  Moreover, in the speed command data generation device 10 according to the present embodiment, it is possible to take in point sequence data from the outside. Therefore, it is possible to cope with a case where the user wants to use a speed waveform that is not stored in advance in the speed command data generation device 10. In particular, even when the user wants to set a velocity waveform based on a specific format, such as defining a velocity waveform using a cubic spline, the user sets such a velocity waveform outside the velocity command data generation device 10. The speed command data generating device 10 can take in the data. Therefore, there is no need to change the configuration of the speed command data generation device 10 or add a new member.

  Further, in the speed command data generation device 10 according to the present embodiment, it is possible to specify time expansion / reduction of speed waveform, speed expansion / reduction, or both. Therefore, the application range of one point sequence data can be expanded, and reusability can be further enhanced.

  The configuration and operation of the speed command data generation device 10 according to the embodiment have been described above. This embodiment is an exemplification, and it is understood by those skilled in the art that various modifications can be made to each component and combination of processes, and such modifications are within the scope of the present invention.

  In the embodiment, the case has been described in which the pattern acquisition unit 106 receives designation of a velocity waveform via the velocity waveform designation screen 128. However, the present invention is not limited to this. For example, the pattern acquisition unit 106 is connected via a network such as the Internet or magnetically. The designation of the velocity waveform may be received via a storage medium such as a storage medium or an optical storage medium.

  In the embodiment, the case where the industrial robot 30 is controlled by the single motion controller 20 has been described. However, the present invention is not limited to this. In the embodiment, one idea is that the number of axes that can be stored in one point sequence data is as long as the capacity of the pattern holding unit 120 allows. However, since the data area capacity of the motion controller 20 is limited and the number of axes that the motion controller 20 can process is also limited, the industrial robot system according to the modified example may use a plurality of motion controllers. Good.

  In this case, the speed command data generation device refers to the correspondence relationship holding unit 160 that holds the correspondence relationship between the motion controller and each axis speed in the point sequence data, and the correspondence relationship holding unit 160 to obtain one piece of point sequence data. A dividing unit that divides the data into sub-point sequence data for each motion controller.

  FIG. 11 is a data structure diagram illustrating an example of the correspondence relationship holding unit 160. The correspondence relationship holding unit 160 holds a controller ID that identifies a motion controller and an axis number corresponding to the motion controller in association with each other.

  In the embodiment, the case where the speed command data generation device 10 generates speed command data related to the industrial robot 30 has been described, but the present invention is not limited to this. For example, the technical idea according to the present embodiment may be applied to a mechanical device that requires trajectory generation, such as an XY stage or a processing machine.

  2 industrial robot system, 10 speed command data generation device, 20 motion controller, 30 industrial robot, 106 pattern acquisition unit, 108 pattern combination unit, 116 scaling acquisition unit, 118 scaling application unit, 120 pattern holding unit.

Claims (6)

A speed command data generating device that generates speed command data indicating a relationship between a speed and time of a target part or a driving part thereof when the target part of a mechanical device moves along a predetermined trajectory,
A pattern holding unit that holds a plurality of different patterns indicating temporal changes in speed;
A pattern acquisition unit for acquiring a plurality of patterns selected by a user from among a plurality of patterns held by the pattern holding unit;
A speed command data generation apparatus comprising: a pattern combination unit that generates the speed command data by combining a plurality of patterns acquired by the pattern acquisition unit.   The speed command data generation device according to claim 1, wherein the pattern held by the pattern holding unit is represented by point sequence data in which a set of speed and time is arranged in time series. It further comprises a point sequence data acquisition unit for acquiring point sequence data from the outside,
The speed command data generation device according to claim 2, wherein the pattern acquisition unit acquires a pattern represented by the point sequence data acquired by the point sequence data acquisition unit.   The pattern combination unit adjusts the speed of the subsequent pattern based on the speed of the end of the previous pattern when connecting the two patterns along the time axis. The speed command data generation device according to claim 1. A scaling acquisition unit for acquiring a coefficient for scaling specified by the user;
A scaling application unit that applies the coefficient acquired by the scaling acquisition unit to one of the plurality of patterns acquired by the pattern acquisition unit;
The pattern combination unit generates the speed command data by combining the pattern to which the coefficient is applied by the scaling application unit and the remaining pattern among the plurality of patterns acquired by the pattern acquisition unit. The speed command data generation device according to any one of claims 1 to 4, wherein the speed command data generation device is provided. A computer program for causing a computer to realize a function of generating speed command data indicating a relationship between a speed and time of a target part or a driving part thereof when the target part of a mechanical device moves along a predetermined trajectory. ,
A function of acquiring a plurality of patterns selected by a user from among a plurality of different patterns indicating a temporal change in speed;
A computer program for causing the computer to realize a function of generating the speed command data by combining a plurality of acquired patterns.

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