JP2016043449A - Robot operation determination device, robot operation determination program and robot operation determination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily determine an avoidance operation of an obstacle for a robot having a redundant degree of freedom.SOLUTION: A control apparatus 10 is equipped with: a command value acquisition part 14 which acquires a command value of a position attitude in a work space of a fingertip of a robot having a redundant freedom; and a fingertip position attitude calculation part 16 and an avoidance operation determination part 18 which determine a most proximity distance between each link of the robot and an obstacle and a proximity direction while maintaining a position attitude of the fingertip within a range predetermined from a command value on the basis of the command value, assume a link i having a most proximity distance of a smallest value as a virtual fingertip, and determine an avoidance operation of the link on the basis of a most proximity distance and a proximity direction of the link.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot motion determination device, a robot motion determination program, and a robot motion determination method.

  Conventionally, a great deal of labor has been required to teach robots operations and operations. In particular, when it is necessary to teach robot operation in consideration of spatial constraints, a great amount of man-hours are required. In addition, when there is a spatial restriction, for example, when the robot's operation space is limited, such as when a robot is introduced into an existing production line, or when the robot performs complicated operations such as assembly of electronic devices. This is the case when it is necessary to operate while avoiding collisions with surrounding objects (obstacles) including robots, as in the case of performing required work.

  Further, when adopting a robot system having a large degree of freedom (having redundant degrees of freedom) in order to enhance versatility, a greater number of man-hours are required. In a robot system having redundant degrees of freedom, conventionally, based on the linear relationship between the joint angular velocity vector and the hand velocity vector of the entire mechanism system, a method (zero space method) using the Jacobian matrix that is the coefficient matrix is used. However, based on the individual mechanistic features, the redundancy degree of freedom is parameterized to convert it into a form having no degree of redundancy and control.

JP-A-8-52674 JP 9-212225 A

  However, in the case of the above-mentioned null space method, most of the vectors projected to the null space reflect the robot's own mechanism restrictions such as joint angular velocity limitation and joint angle limitation of the robot. None considered the external environment constraints of the system.

  On the other hand, in the case of the above-described method of parameterizing the redundancy degree of freedom, avoidance control based on the distance from the obstacle is performed using the parameterized degree of freedom degree of redundancy. However, in the case of a relatively simple redundant mechanism such as a human arm, it can be formulated. However, in the case of a complicated mechanism with many redundant degrees of freedom, it is difficult to formulate a physically meaningful parameter. .

  In one aspect, an object of the present invention is to provide a robot operation determination device, a robot operation determination program, and a robot operation determination method capable of easily determining an obstacle avoidance operation of a robot having redundant degrees of freedom. And

  In one aspect, the robot motion determination device is a robot motion determination device that determines the motion of a robot having a redundancy degree of freedom, and a reception unit that receives a command value of a position and orientation on a work space of a hand possessed by the robot; Based on the command value, while determining the position and orientation of the hand within a predetermined range from the command value, the closest distance and the approach direction between each link of the robot and the obstacle are obtained, and the closest distance is specified. A determination unit that regards the link as a virtual hand and determines an avoidance operation of the specific link based on a closest distance and a proximity direction of the specific link.

  In one aspect, the robot motion determination program is a robot motion determination program that causes a computer to determine the motion of a robot having a redundancy degree of freedom, and accepts a command value of a position and orientation on the work space of the hand of the robot. Based on the command value, while determining the position and orientation of the hand within a predetermined range from the command value, the closest distance and the approach direction between each link of the robot and the obstacle are obtained, and the closest distance is specified. It is a robot operation determination program that causes the computer to execute a process of regarding a link as a virtual hand and determining an avoidance operation of the specific link based on a closest distance and a proximity direction of the specific link.

  In one aspect, the robot motion determination method is a robot motion determination method in which a computer determines a motion of a robot having redundancy degrees of freedom, and accepts a command value of a position and orientation on the work space of the hand of the robot. Based on the command value, while determining the position and orientation of the hand within a predetermined range from the command value, the closest distance and the approach direction between each link of the robot and the obstacle are obtained, and the closest distance is specified. This is a robot operation determination method in which the computer executes a process of regarding a link as a virtual hand and determining an avoidance operation of the specific link based on the closest distance and proximity direction of the specific link.

  It is possible to easily determine an obstacle avoidance operation of a robot having redundant degrees of freedom.

It is a figure showing roughly the composition of the working device concerning one embodiment. It is a hardware block diagram of the control apparatus of FIG. It is a flowchart which shows the process of a control apparatus. It is a figure which shows an example of a working track. It is a flowchart which shows the specific process of step S16 of FIG. FIGS. 6A and 6B are diagrams (part 1) for explaining the processing in step S16. Fig.7 (a)-FIG.7 (c) are the figures for demonstrating the process of step S16 (the 2). It is a figure which shows the example of the robot system to which the method of one Embodiment is applied. FIGS. 9A to 9C are diagrams showing changes in joint angles when obstacle avoidance is not performed in the robot system of FIG. FIG. 10A to FIG. 10C are diagrams showing changes in joint angles when obstacle avoidance is performed in the robot system of FIG.

  Hereinafter, an embodiment of a working device will be described in detail with reference to FIGS. FIG. 1 schematically shows the configuration of the working device 100.

  As shown in FIG. 1, the work device 100 includes a robot 50 and a control device 10 as a robot motion determination device. The robot 50 is, for example, a vertical articulated robot as shown in FIG. 6A, and has mechanical redundancy (7 degrees of freedom) with respect to the hand command value (6 degrees of freedom of position / posture) in the work space. More than a degree). The robot 50 includes a base, a plurality of links provided on the base and connected by joints, and a hand (hand). The joint angle of each joint can be detected by an encoder or the like, and the joint angle of each joint is changed by a motor or the like. In the robot 50, the position / posture of the hand (hand) is changed according to each indirect joint angle.

  The control device 10 determines the operation of the robot 50 based on the command value of the hand of the robot 50 on the work space, and controls the robot 50. In this case, the control device 10 determines the operation of the robot 50 so as to avoid a collision with an object (obstacle) existing around the robot 50.

  FIG. 2 shows a hardware configuration of the control device 10. As shown in FIG. 2, the control device 10 includes a CPU (Central Processing Unit) 90, a ROM (Read Only Memory) 92, a RAM (Random Access Memory) 94, and a storage unit (here, an HDD (Hard Disk Drive)). 96, an input / output interface 97, a display section 93, an input section 95, a portable storage medium drive 99, and the like. Each component of the control device 10 is connected to a bus 98. In the control device 10, a program (including a robot operation determination program) stored in the ROM 92 or the HDD 96 or a program (including a robot operation determination program) read from the portable storage medium 91 by the portable storage medium drive 99. When executed by the CPU 90, the function of each unit shown in FIG. 1 is realized.

  As illustrated in FIG. 1, the control device 10 causes the CPU 90 to execute a program so that the joint angle acquisition unit 12, the command value acquisition unit 14 as a reception unit, the hand position / posture calculation unit 16, and the avoidance operation determination unit 18. As a function is realized. The hand position / posture calculation unit 16 and the avoidance operation determination unit 18 are examples of the determination unit.

  The joint angle acquisition unit 12 acquires the joint angle of the robot 50 from an encoder or the like provided at each joint of the robot 50. The command value acquisition unit 14 acquires a command value (position / posture) of the hand of the robot 50 on the work space input by a user or the like, and transmits the command value to the avoidance operation determination unit 18. The hand position / posture calculation unit 16 calculates the position / posture of the hand from the joint angle acquired by the joint angle acquisition unit 12. The avoidance operation determination unit 18 maintains the hand position / posture substantially in accordance with the command value based on the command value acquired by the command value acquisition unit 14 and the hand position / posture calculated by the hand position / posture calculation unit 16. A motion (avoidance operation) is determined so that each link does not contact an obstacle existing around the robot 50. Further, the avoidance operation determination unit 18 controls the operation of the robot 50 so as to achieve the determined movement.

  Next, the processing of the control device 10 will be described in detail along the flowcharts of FIGS. 3 and 5 with reference to other drawings as appropriate. As a premise of the processing in FIGS. 3 and 5, it is assumed that the data of the position of the obstacle (XYZ coordinates of each vertex, etc.) is held by the avoidance operation determination unit 18.

  In the process of FIG. 3, first, in step S10, the command value acquisition unit 14 acquires a command value related to the position and orientation of the hand. The command value is, for example, data on a work trajectory on the work target as shown by a broken line in FIG. 4 (time-series data of the position and orientation of the hand while the hand moves from the position P1 to P2). Shall.

Next, in step S11, the joint angle acquisition unit 12 acquires an initial value (current joint angle) ⁰ θ of the joint angle of each joint. In this case, the joint angle acquisition unit 12 acquires an initial value of the joint angle from an encoder or the like provided at each joint of the robot.

Next, at step S12, the hand position and orientation calculation unit 16 calculates the tip unit position and orientation r (= ⁰ r) from the current joint angle ⁰ theta. Then, in step S14, avoidance operation determining section 18, the position of the hand from the difference between the current value ⁽⁰ r), the target value of the position and orientation of the first hand on the working track and ⁽¹ r) of the position and orientation of the hand the amount of change of the posture (velocity ^{vector) Δr (= 1 r- 0 r} ) is calculated. Hereinafter, Δr is also referred to as a hand speed.

  Next, in step S16, the avoidance operation determination unit 18 executes a subroutine for calculating a joint angle change amount (joint angular velocity) Δθ from the hand speed Δr. In this process, specifically, the process according to the flowchart of FIG. 5 is executed.

Here, the relationship between the position and orientation r of the hand of the robot 50 and the joint angle θ is generally a nonlinear equation as shown in the following equation (1).
r = f (θ) (1)

  When the robot 50 performs work on the work space, the command value is given as the position and orientation r of the hand of the robot 50, and the joint angle θ is obtained as the operation of the robot 50 from this value. When trying to calculate this from equation (1), f (θ) is generally a complex nonlinear simultaneous equation, and it is difficult to analytically find this solution.

  Therefore, the following equation (2) in which both sides of the equation (1) are differentiated in time to obtain a linear relationship is used.

Here, J (θ) is called a Jacobian matrix, and each element J _ij (θ) is defined by the following equation (3).

式（２）をθドットについて解くと、θとｒの次元が等しい場合は、

Solving equation (2) for θ dots, if θ and r are equal in dimension,

θの次元がｒの次元より大きい場合は、

If the dimension of θ is greater than the dimension of r,

となる。本実施形態では、冗長自由度を持つロボットを対象としているので、式（４）’を用いるものとする。

It becomes. In the present embodiment, a robot having a redundancy degree of freedom is targeted, and therefore Expression (4) ′ is used.

Here, J ⁺ (θ) is a pseudo inverse matrix of the Jacobian matrix, and J ⁺ = J ^T · (J ^T · J) ⁻¹ , (I−J ⁺ · J) represents a projection onto the null space.

  Further, ξ is an arbitrary vector having the same dimension as θ dots.

  When Expression (4) ′ is used, the joint angular velocity Δθ of the entire mechanical system is expressed as the following Expression (5).

  Hereinafter, based on the above formulas (1) to (5), the process of FIG. 5 (step S16) will be described.

  In the process of FIG. 5, first, in step S50, the avoidance action determination unit 18 calculates the distance and proximity direction between each link of the robot 50 and the obstacle. Specifically, as shown by arrows in FIG. 6A, the closest point (point ahead of the arrow) and the distance (length of the arrow) between each link of the robot and the obstacle are calculated. Next, in step S52, the avoidance action determination unit 18 pays attention to the link i that minimizes the distance from the obstacle, and regards the link i as a virtual hand link (virtual hand link i) as a specific link. The

Next, in step S54, the avoidance action determination unit 18 calculates the Jacobian matrix J _i of the partial mechanism up to the virtual hand link i. Specifically, the following method is used.

First, the avoidance operation determination unit 18 calculates a vector connecting the virtual hand link i and the closest point of the obstacle, and sets the avoidance (speed) vector of the virtual hand position as r _i dots (see the following equation (6)). . Here, the direction of the vector is a direction from the obstacle point to the link point, and the magnitude thereof is (1 / closest distance) (see FIG. 6B).

Then, as shown in FIG. 7A, the avoidance action determination unit 18 sets the length to the point on the virtual hand link i where the distance from the obstacle is the shortest as the link length L of the virtual hand link i. . Then, the avoidance operation determination unit 18 calculates the Jacobian matrix J _i in the mechanism up to the virtual hand link i assuming that the link length is L, as shown in FIG.

Next, in step S56, the avoidance operation determination unit 18 regards the avoidance vector as a partial mechanism hand speed from the base to the link i, and calculates an avoidance joint angular velocity vector ξ. Specifically, avoidance vector (r _i dots) and determining the avoidance joint angular velocity vector ξ by the following equation from the Jacobian matrix J _i in mechanism to the virtual hand link i (6) (see arrows in FIG. 7 (c)).

  Next, in step S58, the avoidance operation determination unit 18 obtains the joint angular velocity Δθ of the entire robot mechanical system. Specifically, the avoidance operation determination unit 18 obtains Δθ using ξ obtained by the above equation (5) or the above equation (6). In this process, it can be said that the control device 10 obtains the joint angular velocity Δθ of the entire robot mechanism system by projecting the joint angular velocity vector of FIG. . Thereafter, the process proceeds to step S18 in FIG.

  In step S18 of FIG. 3, the avoidance operation determination unit 18 updates the current joint angle θ using the joint angular velocity Δθ (θ ← θ + Δθ).

Then, in step S20, avoidance operation determining unit 18 updates the position and orientation r _{new new} of the hand from the updated joint angle theta _{new new.} In this case, r _new = f (θ _new ) is obtained from the above equation (1).

Next, in step S22, the avoidance action determination unit 18 determines whether or not an error (r _new ⁻¹ r) between the target value and the hand position and orientation r _new obtained from the updated joint angle θ _new is equal to or less than a threshold value. . If the error is equal to or smaller than the threshold value, that is, if the obstacle can be avoided without changing the hand from the target (command value), the determination in step S22 is affirmed, and the avoidance operation determination unit 18 proceeds to step S24. To do. On the other hand, if the error is larger than the threshold value, the process returns to step S14, and the processes and determinations of steps S14 to S22 are repeated.

When the determination in step S22 is affirmative and the process proceeds to step S24, the avoidance operation determination unit 18 updates the target value of the hand position / posture to the next value (next position / posture on the work trajectory), and returns to step S12. . In this case, the avoidance action determination unit 18 replaces r _new with ⁰ r ( ⁰ r ← r _new ). Thereafter, the processes after step S12 are repeated until the target value no longer exists.

  When driving the robot 50, the control device 10 drives each motor of the robot 50 based on the joint angular velocity Δθ of the entire mechanism system of the robot obtained in step S58. Accordingly, it is possible to move the hand of the robot 50 substantially along the work path while avoiding contact between the obstacle and the robot 50.

  Here, FIG. 8 shows an example in which a mechanism (robot system) including a vertical articulated robot and a 6-degree-of-freedom stage is adopted as the robot. In FIG. 8, a robot system having redundant degrees of freedom is realized by a vertical articulated robot and a 6-degree-of-freedom stage. Since the vertical articulated robot and the 6-degree-of-freedom stage are stored in the enclosure shown in FIG. 8, the enclosure can be an obstacle for the vertical articulated robot.

  9 (a) to 9 (c), when the robot system of FIG. 8 does not avoid an obstacle, the hand of the vertical articulated robot is moved from one end of an object placed on a stage with 6 degrees of freedom. An example of calculating each joint angle when moving to the end (see P1 and P2 in FIG. 4) is shown. FIGS. 10A to 10C show calculation examples of joint angles when an obstacle is avoided by the method of this embodiment. 9 (a) and 10 (a), q1 to q6 indicate the angle change of each joint of the vertical articulated robot, and th1 to th3 in FIGS. 9 (b) and 10 (b) are 6 FIG. 9C and FIG. 10C show the change in angle of each joint of the 6-degree-of-freedom stage. (Actually, movement amounts in the θx, θy, and θz directions) are shown. Moreover, the horizontal axis of each figure has shown the waypoint number of the working track.

  In this case, the trajectory of the hand of the vertical articulated robot with respect to the object on the 6-degree-of-freedom stage is substantially the same regardless of whether the obstacle is avoided or not, as shown in FIGS. The change in angle varies depending on whether or not an obstacle is avoided.

As described above in detail, according to the present embodiment, the command value acquisition unit 14 acquires the command value of the position and orientation on the work space of the hand of the robot 50 having the redundancy degree of freedom, and the avoidance operation determination unit 18, while maintaining the position and orientation of the hand within a predetermined range from the command value based on the command value ((r _new ⁻¹ r) is equal to or less than the threshold value), the closest distance and proximity between each link of the robot and the obstacle The direction is obtained, the link i with the shortest closest distance is regarded as a virtual hand, and the avoidance action of the link i is determined based on the closest distance and the proximity direction of the link i. Thus, by providing a target work trajectory (command value), it is possible to easily determine an avoidance operation using redundancy of the degree of freedom of the robot.

  In the present embodiment, the avoidance operation determination unit 18 specifies a point on the link that has the shortest distance from the obstacle when determining the avoidance operation of the link i having the shortest distance from the obstacle. Then, the avoidance speed vector is determined based on the closest distance, the proximity direction, and the specified point. Thereby, an avoidance speed vector can be determined appropriately.

  In the present embodiment, the avoidance operation determination unit 18 calculates the relationship (Jacobi matrix) between the joint angular velocity vector at the joint between the base of the robot 50 and the link i and the avoidance vector of the link i, and this relationship is calculated. The point avoidance vector on the link i is converted into a joint angular velocity vector at the joint between the base of the robot 50 and the link i. Thereby, an avoidance vector can be easily converted into a joint angular velocity vector.

  In the present embodiment, the avoidance operation determination unit 18 projects the joint angular velocity vector of the joint existing between the base of the robot 50 and the link i to the null space of the entire mechanism system of the robot 50, thereby Determine avoidance behavior for the entire system. Thereby, for example, even in a complicated robot system in which a vertical articulated robot as shown in FIG. 8 and a 6-degree-of-freedom stage are combined, a command value (a target work trajectory) is given to the entire mechanism. It is possible to perform avoidance operation control using redundancy of joint degrees of freedom. In the case of manual teaching by a skilled operator, it is assumed that it takes 1 to 2 hours even for simple trajectory tracking teaching work of a vertical articulated robot. Further, if it is necessary to perform teaching correction in consideration of the teaching work of the 6-degree-of-freedom stage and the possibility of mutual collision as shown in FIG. 8, it is assumed that the work takes several days. On the other hand, if the method of the present embodiment is used, the teaching work can be completed in a few minutes after the command value is given.

  In the above embodiment, the robot 50 is connected to the control device 10 having the functions of the joint angle acquisition unit 12, the command value acquisition unit 14, the hand position / posture calculation unit 16, and the avoidance operation determination unit 18. Although explained, it is not limited to this. For example, a device different from the control device 10 may have the functions of the units 12, 14, 16, and 18 of the control device 10. In this case, a command value may be input from the control device 10 to the device, and a result calculated by the device may be output to the control device 10.

  In the above embodiment, the obstacle is an obstacle as shown in FIG. 6A or an enclosure as shown in FIG. 8, but the present invention is not limited to this. Another robot located in the vicinity of 50 may be used.

  The above processing functions can be realized by a computer. In that case, a program describing the processing contents of the functions that the processing apparatus should have is provided. By executing the program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium (except for a carrier wave).

  When the program is distributed, for example, it is sold in the form of a portable recording medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read Only Memory) on which the program is recorded. It is also possible to store the program in a storage device of a server computer and transfer the program from the server computer to another computer via a network.

  The computer that executes the program stores, for example, the program recorded on the portable recording medium or the program transferred from the server computer in its own storage device. Then, the computer reads the program from its own storage device and executes processing according to the program. The computer can also read the program directly from the portable recording medium and execute processing according to the program. Further, each time the program is transferred from the server computer, the computer can sequentially execute processing according to the received program.

  The above-described embodiment is an example of a preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention.

In addition, the following additional remarks are disclosed regarding description of the above embodiment.
(Supplementary note 1) A robot motion determination device for determining the motion of a robot having redundant degrees of freedom,
A receiving unit for receiving a command value of a position and orientation on a work space of a hand of the robot;
Based on the command value, while maintaining the position and orientation of the hand within a predetermined range from the command value, the closest distance and proximity direction between each link of the robot and the obstacle are obtained, and the specific link with the minimum closest distance And a determination unit that determines an avoidance operation of the specific link based on the closest distance and the proximity direction of the specific link.
(Additional remark 2) When the determination part determines the avoidance operation | movement of the said specific link, it specifies the point on the said specific link with the shortest distance with the said obstacle, The said nearest distance, the said proximity direction, and the said The robot motion determination apparatus according to appendix 1, wherein an avoidance speed vector of the specific link is determined based on a point.
(Supplementary note 3)
Calculating a relationship between a joint angular velocity vector of a joint existing between the base of the robot and the specific link and an avoidance speed vector of the specific link;
The supplementary note 2, wherein the avoidance velocity vector at the point on the specific link is converted into a joint angular velocity vector of a joint existing between the base of the robot and the specific link using the relationship. Robot motion determination device.
(Additional remark 4) The said determination part projects the joint angular velocity vector of the joint which exists between the said base of the said robot and the said specific link on the null space of the whole mechanism system of the said robot, and the whole mechanism system of the said robot 4. The robot motion determination device according to appendix 3, wherein the avoidance operation is determined.
(Supplementary Note 5) A robot motion determination program for causing a computer to determine the motion of a robot having redundant degrees of freedom,
Accepting the command value of the position and orientation on the work space of the hand of the robot,
Based on the command value, while maintaining the position and orientation of the hand within a predetermined range from the command value, the closest distance and proximity direction between each link of the robot and the obstacle are obtained, and the specific link with the minimum closest distance Is determined as a virtual hand, and the avoidance action of the specific link is determined based on the closest distance and the proximity direction of the specific link.
A robot operation determination program for causing a computer to execute processing.
(Additional remark 6) In the process to determine, when determining the avoidance operation of the specific link, a point on the specific link with the shortest distance to the obstacle is specified, and the closest distance, the proximity direction, The robot motion determination program according to appendix 5, wherein an avoidance speed vector of the specific link is determined based on the point.
(Supplementary note 7) In the process of determining,
Calculating a relationship between a joint angular velocity vector of a joint existing between the base of the robot and the specific link and an avoidance speed vector of the specific link;
The supplementary note 6, wherein the avoidance velocity vector at the point on the specific link is converted into a joint angular velocity vector of a joint existing between the base of the robot and the specific link using the relationship. Robot motion determination program.
(Supplementary Note 8) In the determining process, a joint angular velocity vector of a joint existing between the base of the robot and the specific link is projected onto a null space of the entire mechanism system of the robot, and the mechanism system of the robot 8. The robot motion determination program according to appendix 7, wherein an overall avoidance motion is determined.
(Supplementary note 9) A robot motion determination method in which a computer determines a motion of a robot having redundant degrees of freedom,
Accepting the command value of the position and orientation on the work space of the hand of the robot,
Based on the command value, while maintaining the position and orientation of the hand within a predetermined range from the command value, the closest distance and proximity direction between each link of the robot and the obstacle are obtained, and the specific link with the minimum closest distance Is determined as a virtual hand, and the avoidance action of the specific link is determined based on the closest distance and the proximity direction of the specific link.
A robot motion determination method in which the computer executes processing.
(Additional remark 10) In the process to determine, when determining the avoidance operation of the specific link, a point on the specific link with the shortest distance to the obstacle is specified, and the closest distance, the proximity direction, The robot motion determination method according to appendix 9, wherein an avoidance speed vector of the specific link is determined based on the point.
(Supplementary Note 11) In the determination process,
Calculating a relationship between a joint angular velocity vector of a joint existing between the base of the robot and the specific link and an avoidance speed vector of the specific link;
Item 11. The supplementary note 10, wherein the avoidance velocity vector at the point on the specific link is converted into a joint angular velocity vector of a joint existing between the base of the robot and the specific link using the relationship. How to determine the robot's behavior.
(Supplementary Note 12) In the determining process, a joint angular velocity vector of a joint existing between the base of the robot and the specific link is projected onto a null space of the entire mechanism system of the robot, and the mechanism system of the robot 12. The robot motion determination method according to appendix 11, wherein an overall avoidance motion is determined.

10 Control device (robot motion determination device)
14 Command value acquisition unit (reception unit)
16 Hand position and orientation calculation unit (part of the determination unit)
18 Avoidance action determination unit (part of determination unit)
50 robot 90 CPU (computer)

Claims (6)

A robot motion determination device for determining a motion of a robot having redundant degrees of freedom,
A receiving unit for receiving a command value of a position and orientation on a work space of a hand of the robot;
Based on the command value, while maintaining the position and orientation of the hand within a predetermined range from the command value, the closest distance and proximity direction between each link of the robot and the obstacle are obtained, and the specific link with the minimum closest distance And a determination unit that determines an avoidance operation of the specific link based on the closest distance and the proximity direction of the specific link.   When determining the avoidance operation of the specific link, the determination unit specifies a point on the specific link with the shortest distance from the obstacle, and based on the closest distance, the proximity direction, and the point The robot motion determination apparatus according to claim 1, wherein an avoidance speed vector of the specific link is determined. The determination unit
Calculating a relationship between a joint angular velocity vector of a joint existing between the base of the robot and the specific link and an avoidance speed vector of the specific link;
3. The avoidance velocity vector at the point on the specific link is converted into a joint angular velocity vector of a joint existing between the base of the robot and the specific link using the relationship. The operation determining apparatus for the robot described.   The determination unit projects a joint angular velocity vector of a joint existing between the base of the robot and the specific link to a null space of the entire mechanism system of the robot, and avoidance operation in the entire mechanism system of the robot The robot motion determination device according to claim 3, wherein: A robot operation determination program for causing a computer to determine the operation of a robot having redundant degrees of freedom,
Accepting the command value of the position and orientation on the work space of the hand of the robot,
Based on the command value, while maintaining the position and orientation of the hand within a predetermined range from the command value, the closest distance and proximity direction between each link of the robot and the obstacle are obtained, and the specific link with the minimum closest distance Is determined as a virtual hand, and the avoidance action of the specific link is determined based on the closest distance and the proximity direction of the specific link.
A robot operation determination program for causing a computer to execute processing. A robot motion determination method in which a computer determines a motion of a robot having redundant degrees of freedom,
Accepting the command value of the position and orientation on the work space of the hand of the robot,
Based on the command value, while maintaining the position and orientation of the hand within a predetermined range from the command value, the closest distance and proximity direction between each link of the robot and the obstacle are obtained, and the specific link with the minimum closest distance Is determined as a virtual hand, and the avoidance action of the specific link is determined based on the closest distance and the proximity direction of the specific link.
A robot motion determination method in which the computer executes processing.

Images