JP2016185586A - Robot device control method, robot device, and robot operating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an avoidance mode capable of changing or editing robot teaching data by a free teaching operation, and automatically returning a robot to an original trajectory before entering the avoidance mode when change or edition is finished.SOLUTION: A control device 201 turns on or off an avoidance mode in response to an operation on an avoidance switch 111 of a teaching pendant 101. When the avoidance mode of the switch is turned on, the control device 201 stores trajectory control information corresponding to a trajectory of a reference region of a robot before the avoidance mode is activated in a JOG vector direction storage unit 215. While the avoidance mode is turned on, the control device 201 controls the robot to perform an avoidance motion in response to a manual operation of the teaching pendant 101. When turning off the avoidance mode by the switch, the control device 201 generates return control information for returning the robot to the trajectory before activation of the avoidance mode from a current position, the return control information corresponding to the trajectory control information stored in the JOG vector direction storage unit 215.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control method of a robot apparatus including a robot operation apparatus that inputs control information for controlling a trajectory of a reference part of a robot arm, a robot apparatus, and the robot operation apparatus.

  Some robot apparatuses for industrial use are equipped with a robot operation apparatus that teaches robot operation while actually causing a robot arm to perform an operation at an installed production site. Such a robot operation device (teaching device) is known as a teaching pendant. The teaching pendant is provided with buttons and switch operation means for controlling the angle of each joint of the robot arm or the position and posture of the reference position of the arm tip. The operator can actually operate the robot arm via these operating means of the teaching pendant at the installation site of the robot apparatus, and can store the teaching points as robot control data in the robot control apparatus.

  In this type of robot apparatus, when teaching the assembly and insertion of parts, a trajectory (path) that connects teaching points to teaching points by linear interpolation is generated. For example, the trajectory is generated by performing linear interpolation in the vertical vertical (Z axis) direction or horizontal (X or Y axis) direction according to the moving direction of the component. Such teaching operations can be repeated to teach operating points related to assembly and machining operations to the robot apparatus.

  On the other hand, in a production site where a robot apparatus is installed, jigs and units may be installed later. Such a change in the work process often occurs in accordance with the addition of a process, a change in the specification of a product, and the like. For example, it becomes necessary to change the trajectory in the stored robot control data.

  Due to the change in the work process as described above, an obstacle that interferes with the robot arm may be arranged on a part of the track approaching the assembly position of the target object. In this case, it is necessary to add a teaching point in the middle of the trajectory and change the trajectory so as to avoid an obstacle using the teaching pendant.

  Usually, when assembling or inserting a part with respect to an assembling position, control is performed so that the moving direction in which the part approaches the assembling position is constant. The trajectory toward this assembly position cannot be changed unless there is a large dimension allowance. Of course, even if the above change work is performed, the vector of the last trajectory approaching the assembly position of the part must be the same as before the change.

  However, in a conventional robot operating device such as a teaching pendant, a manual operation is performed so that teaching points are sequentially specified in series from one teaching point to the next teaching point, and the operation between them is linearly interpolated. Basic. For example, in order to add a trajectory for avoiding an obstacle in the middle of one trajectory approaching the assembly position, it is necessary to manually add all the teaching points constituting the path. Also, the last path approaching the assembly position must be taught so that the direction of the vector coincides with that before the change work, but this operation is also conventionally performed again by manual operation using, for example, a teaching pendant. It must be made.

Japanese Patent Laid-Open No. 6-102917

  Conventionally, in the teaching operation of a robot, when there is an obstacle in the course (path) from one teaching point to the next teaching point, teaching points that constitute a path for avoiding the obstacle by manual operation of the teaching pendant ( It was necessary to teach each avoidance point. After performing such avoidance teaching, it is necessary to approach the assembly position, etc., and to return the robot to the original trajectory, all of the conventional manual operation of the teaching pendant is necessary, and a great deal of labor is required by the operator. Was necessary. In particular, in the operation where teaching point data already exists and a part of the route is changed to an avoidance trajectory, even if there is a trajectory before avoidance that could be used without any problems, it is necessary to manually return to the trajectory. The teaching operation was necessary.

  For example, if an obstacle occurs between the work insertion sky and the insertion position, teach the avoidance operation by repeating the teaching pendant operation, then perform a fine jog operation to match the original vector, There was a need to make adjustments. The “jog operation” means an operation of moving a reference point (reference part) of the robot, for example, in a direction set to the key in response to continuous pressing of one key (hereinafter, the term “jogging operation”). “JOG” is also used for “Jog”).

  At this time, if the position adjustment is wrong, there is a possibility that interference of parts and robots with other workpieces and obstacles may occur. Due to the circumstances as described above, conventionally, a great amount of time and labor are required for this type of avoidance teaching.

  Therefore, when performing a specific avoidance teaching (operation), it may be possible to specify a specific mode, for example, an avoidance mode. In this avoidance mode, for example, it is possible to teach an avoidance trajectory by manual operation, and it would be convenient if it was possible to return to the original trajectory before entering the avoidance mode in accordance with the invalidation or termination of the avoidance mode. it is conceivable that.

  However, conventionally, there is no known technique for automatically returning to the original trajectory before entering the exceptional teaching mode as in the avoidance mode and then entering the avoidance mode. For example, Patent Document 1 discloses a method for avoiding a reference position as a method for avoiding the appearance of an obstacle in a work space. This technique is for returning to a reference position by a route that returns to a preset reference position without problems such as interference with other members, and can only return to the reference position. It was not possible to return to orbit.

  In view of the above, an object of the present invention is to make it possible to use an avoidance mode as an exceptional mode that can be used for changing or editing robot teaching data, for example. In this avoidance mode, teaching data can be changed or edited by a free teaching operation, and when the avoidance mode ends, the robot can be automatically returned to the original trajectory before entering the avoidance mode.

  In order to solve the above-mentioned problems, in the present invention, a control device that executes robot control for controlling the trajectory of the reference part of the robot arm, and a robot operation device that inputs control information for controlling the trajectory of the reference part of the robot arm And a control method thereof, wherein the control device avoids changing a trajectory of the reference portion of the robot arm in accordance with an operation of an avoidance mode operation unit arranged in the robot operation device. Enabling or disabling the mode, and when the avoidance mode is enabled, the trajectory control information corresponding to the trajectory of the reference portion before the avoidance mode is enabled is stored in the trajectory storage unit, and the avoidance mode Is activated, a circuit for changing the trajectory of the reference part to the robot arm based on an input from the robot operation device. When the operation is performed and the avoidance mode is invalidated, the avoidance mode corresponding to the trajectory control information stored in the trajectory storage unit from the current position of the reference portion is changed to the reference portion of the robot arm. A configuration for generating return control information to return to the orbit before being validated was adopted.

  With the above-described characteristic configuration, according to the present invention, an avoidance mode that can be used as an exception mode that can be used, for example, for changing or editing robot teaching data can be set or canceled by operating the avoidance mode operation unit. . In the state where the avoidance mode is valid, the teaching data can be changed or edited by a free teaching operation, and when the avoidance mode ends, the robot can be automatically returned to the original trajectory before entering the avoidance mode. it can. The avoidance mode of the present invention can be used in scenes where an obstacle avoidance operation is added, and can automatically return to the original trajectory that required troublesome manual operation. There is an excellent effect that the burden is greatly reduced and the working time can be remarkably shortened.

It is a front view of the teaching pendant provided with the avoidance switch of the robot apparatus which employ | adopted this invention. It is explanatory drawing which showed the structure of the robot apparatus which employ | adopted this invention. It is explanatory drawing which showed the structure of the control system in the robot apparatus which employ | adopted this invention. It is explanatory drawing which showed the state in which the obstacle was installed on the track | orbit in the robot apparatus which employ | adopted this invention. It is explanatory drawing which showed the path | route which carried out the jog movement from the specific teaching point to the obstacle vicinity in the robot apparatus which employ | adopted this invention. In the robot apparatus employing the present invention, it is an explanatory diagram showing a path for avoiding an obstacle by a manual jog operation. It is explanatory drawing which showed the path | route which moves on the jog vector direction before avoidance in the robot apparatus which employ | adopted this invention. It is explanatory drawing which showed the state which resumed jog operation | movement toward the specific target point in the robot apparatus which employ | adopted this invention. It is the flowchart figure which showed the flow of the obstacle avoidance control in the robot apparatus which employ | adopted this invention. It is the flowchart figure which showed the robot control procedure when the avoidance mode became effective. It is the flowchart figure which showed the robot control procedure when the avoidance mode became invalid.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to embodiments shown in the accompanying drawings. The following embodiment is merely an example, and for example, a detailed configuration can be appropriately changed by those skilled in the art without departing from the gist of the present invention. The numerical values taken up in the following description are reference numerical values and do not limit the present invention.

  1 to 3 show an embodiment of a robot apparatus 100 employing the present invention. FIG. 2 shows the overall configuration of the robot apparatus 100 of this embodiment, and FIG. 1 shows the configuration of the teaching pendant 101 used in the robot apparatus 100. FIG. 3 shows the configuration of the control system of the robot apparatus 100.

  In FIG. 2, a teaching pendant 101 as a robot operation device is connected to a control device 201 (robot control device) by a cable, and instructs the control device 201 by a teaching command. The control device 201 controls the operation of the robot arm 301 according to the teaching operation performed with the teaching pendant 101.

  The robot arm 301 is, for example, a vertical articulated robot arm as shown in the figure, and a hand 401 is attached to the end of the arm as an end effector for operating the workpiece W. The robot arm 301 is connected to the control device 201 by a cable.

  In response to the teaching operation of the teaching pendant 101, the control device 201 controls the joints of each part of the robot arm 301 and the operation of the hand 401. Thereby, for example, the work W can be gripped by the hand 401 and moved from the teaching point A to the teaching point B in a trajectory (path, trajectory) as shown by an arrow in FIG. In such robot control, the reference point (reference part) of the robot apparatus 100 positioned at the teaching point A or the teaching point B may be set at an arbitrary location on the tip of the robot arm 301. For example, as such a reference point (reference part), an arbitrary part (position) such as the center of the mounting surface (flange surface) of the hand 401 or the grip center of the hand 401 can be used. In the following, in this embodiment, it is assumed that the reference point of the robot is, for example, the grip center of the hand 401 (substantially coincides with the center of the workpiece W).

  The operation surface of the teaching pendant 101 is configured as shown in FIG. It is used to teach a teaching point as an operation point for moving the reference point of the robot arm 301. Further, the teaching pendant 101 may be used in an operation method in which the angle of each joint of the robot arm 301 is designated, and in an operation method in which the position and posture of each part of the arm are controlled as desired.

  The teaching pendant 101 in FIG. 1 moves in the forward and reverse directions along the coordinate axes (X +, X−, Y +, Y−, Z +, Z−) and around the coordinate axes (RX +, RX−, RY +, RY−, RZ +, RZ). It has a key 114 that can instruct the rotation in the forward and reverse directions. In addition, the teaching pendant 101 of FIG. 1 has a display unit 102 for displaying various information relating to the operation and program state of the robot apparatus 100 (the robot arm 301 and the hand 401 of FIG. 2). An emergency stop key 113 for immediately stopping the operation of the robot apparatus 100 in an emergency is arranged at the upper left of the display unit 102.

  The display unit 102 can display information on the robot operation including the current position or posture of the robot, the speed of movement at the time of robot teaching or the amount of movement at the time of step feed, the position or posture of the taught operation point, and the like. it can.

  Note that the display unit 102 can be configured by a touch panel using a liquid crystal display and a touch sensor, for example. In that case, the display unit 102 constitutes (part of) operation input means for performing the teaching operation of the robot by the operation of the touch key defined on the display in addition to the information display regarding the operation and the program state of the robot. become.

  The display area 1024 in the display unit 102 includes three-dimensional coordinate values (or movement amounts on each axis) of X, Y, and Z at set (or set) teaching points and the three-dimensional coordinate axes. It can be used to display the amount of rotational movement (RX, RY, RZ) around. In addition, the display area 1022 includes, in particular, a currently set teaching point or three-dimensional coordinate values (or movement amounts on each axis) of X, Y, and Z corresponding to the current robot state and the three-dimensional coordinate axes. This is used to display the amount of rotational movement (RX, RY, RZ) around the vehicle. The upper and lower display areas 1021 and 1025 are used as function displays, for example. The plurality of function displays defined in the display areas 1021 and 1025 are switched to different displays depending on the operation state. The central display area 1023 is used for displaying the current continuous (JOG) moving speed (or step operation amount, etc.), the current operation target part of the robot, and the like. In the state of FIG. 1, a registration key used for registering a teaching point or the like is displayed on the right side of the display area 1023. This registration key can be used, for example, for registering teaching points described later (steps S105 and S106 in FIG. 9).

  Note that the display state of the display unit 102 illustrated in FIG. 1 is merely an example corresponding to the state of the robot apparatus or a specific operation state of the teaching pendant 101. When the display unit 102 is configured by a touch panel or the like, naturally, all or a part of the display on the display unit 102 is controlled to a state different from that in FIG. 1 according to the state of the robot apparatus or the specific operation state of the teaching pendant 101. There is a case. A person skilled in the art can arbitrarily change the display style of the display unit 102 and the operation method when the display unit 102 is configured by a touch panel or the like.

  The key 114 (key group) of the teaching pendant 101 is composed of two forward and reverse keys, and is operated by, for example, step operation or jog operation. Of these, the step operation moves the reference point of the robot, for example, in the direction set to the key by pressing one key. On the other hand, the jog operation moves the reference point of the robot, for example, in the direction set to the key in response to continuous pressing of one key.

  Regarding these operations, the operation means for designating the (step) movement amount and (jog) movement speed of the robot reference point can be configured by function keys (not shown) arranged separately, for example. The operation means for designating these (step) movement amount and (jog) movement speed can also be configured by function keys arranged on a touch panel arranged together with the display unit 102, for example. In the following description, the operation of the key 114 is performed by a jog operation. However, the following control and operation can be similarly realized by an operation method using a step operation.

  In the teaching pendant 101 of this embodiment, an avoidance switch 111 is disposed on the operation surface. The avoidance switch 111 includes a switch (button) having an alternate (toggle) operation function. The control device 201 to be described later controls the avoidance mode to the ON (valid) state by turning on the avoidance switch 111. When the avoidance switch 111 is operated again from the ON (valid) state of the avoidance mode, the control device 201 ends the avoidance mode, that is, controls the avoidance mode to the OFF (invalid) state.

  In this embodiment, the avoidance switch 111 is disposed on the teaching pendant 101. However, the avoidance switch 111 may be provided in a place other than the teaching pendant 101 (for example, the casing of the control device 201). .

  The avoidance teaching (operation) using the avoidance mode controlled by the avoidance switch 111 of this embodiment can be used as shown in FIGS. For example, when the robot is moved from point A to point B in FIG. 2 by a JOG operation, if an obstacle 501 to be avoided appears in the route due to a change in work specifications as shown in FIG. As shown in FIG. 8, the avoidance mode of this embodiment can be used.

  FIG. 4 shows a state in which an obstacle 501 is installed on the trajectory of the teaching point A-B. As is clear from the comparison with FIG. 2, if the robot reference point is moved while maintaining the trajectory of the teaching point AB, the robot arm 301, the hand 401, or the workpiece W interferes (or collides) with the obstacle 501. To do.

  Here, for example, when teaching data that has been taught is edited, the teaching points A and B have already been taught. In order to avoid the obstacle 501, it is necessary to add a teaching (avoidance) point that constitutes an avoidance trajectory for avoiding the obstacle 501 in the middle of the trajectory (path) of the teaching point AB. This avoidance trajectory is a trajectory that avoids the obstacle 501 as in the trajectories 602, 603, and 604 of FIG. Conventionally, addition (or change) of teaching (avoidance) points constituting such avoidance trajectories (602, 603, 604) is performed by manually repeating teaching operations using the teaching pendant 101 as described above. Done.

  In particular, after the avoidance teaching, it is desirable that the direction of the trajectory (vector) toward the teaching point B exactly matches the trajectory (path) of the teaching point AB. This is even more so when, for example, the teaching point B is the assembly position of the workpiece W and the trajectory of the teaching point A-B is programmed to match the direction approaching the assembly position.

  However, in robot control using the avoidance mode described below, the teaching point B does not necessarily need to be a taught teaching point. For example, it suffices that the reference point of the robot moves on a specific trajectory at least before entering the avoidance mode, and even in that case, the teaching point B is moved from the avoidance trajectory in the same manner as when the teaching point B has been taught. The effect of automatic return to the original trajectory can be obtained. If the teaching point B is not taught, the point described as the teaching point B in the following description may be considered to correspond to one point on the trajectory where the reference point has moved before entering the avoidance mode. .

  The avoidance operation (teaching) of this embodiment is performed as shown in FIGS. FIG. 5 shows a state in which the teaching pendant 101 (key 114) is moved from the teaching point A to the vicinity of the obstacle 501 by jogging. For example, if the teaching point B has already been taught, this operation is executed as an operation of “reproducing” the robot operation up to the middle of the trajectory of the teaching point AB by a jog operation.

  When the operator moves the reference point of the robot from the teaching point A to the vicinity of the obstacle 501, the worker presses the avoidance switch 111 of the teaching pendant 101 to turn the avoidance mode ON. When the control device 201 detects the ON operation of the avoidance mode, the current position of the reference point at that time when the depression of the avoidance switch 111 is recognized and the trajectory control information corresponding to the trajectory of the reference point at that time are stored in the memory.

  Hereinafter, in the trajectory control information stored in the JOG vector direction storage unit (215), the trajectory direction of the reference point at that time is referred to as “JOG vector direction”. The JOG vector direction corresponding to the direction of the reference point trajectory is stored in the JOG vector direction storage unit (215: described later) together with the information on the current position.

  FIGS. 6 and 7 show how the operator teaches a trajectory for avoiding the obstacle 501 by manual operation of the teaching pendant 101 (the key 114) in the avoidance mode. This avoidance operation is performed while the operator confirms the situation around the obstacle 501.

  In FIG. 6, the trajectory correction (602) is performed so that the reference point of the robot moves upward from the original trajectory (601), and the trajectory correction (603) is performed in a horizontal direction at a height that can pass above the obstacle 501. Is going. These trajectory correction points are registered as teaching points. In order to change the jog operation direction, this registration operation is performed by temporarily stopping the jog operation of the key 114 and performing a predetermined operation with the teaching pendant 101 when the robot arm 301 stops. For this registration operation, for example, a registration key displayed on the display unit 102 of FIG. 1 can be used.

  Then, as shown in FIG. 7, when the robot reference point passes over the obstacle 501, the avoidance switch 111 is operated again to switch the avoidance mode to OFF. Thus, the control device 201 generates trajectory control information stored in the JOG vector direction storage unit (215), that is, return control information for returning to the trajectory of the teaching point A-B with the shortest distance. Then, the control device 201 moves the reference point of the robot based on the generated return control information. The movement of the reference point of the robot based on the return control information is automatically executed without operating the teaching pendant 101.

  That is, in FIG. 7, when the avoidance switch 111 is switched to OFF, the avoidance mode is controlled to be OFF. Then, the control device 201 generates return control information for returning to the trajectory of the teaching point A-B with the shortest distance based on the position stored in the JOG vector direction storage unit (215) and the JOG vector direction. Then, each part of the robot arm 301 is operated to read out and return the reference point of the robot to the trajectory before the avoidance mode becomes effective (immediately). The generation of the return control information and the return control of the reference point based thereon are realized by the function of the return control unit 216 of the control device 201 described later.

  Specifically, the return control information generated by the control device 201 is generated as trajectory information that moves so that the reference point of the robot coincides with one point on the (straight) trajectory of the teaching point AB. In the example of FIG. 7, a return trajectory (trajectory 604) is generated so that the reference point of the robot descends substantially vertically downward based on the return control information generated by the control device 201.

  However, this example is a simple example, and there may be a case where a more complicated avoidance operation is performed, for example, the trajectory is changed several times in the horizontal plane because the upper part of the obstacle 501 has a more complicated structure. It is done. When such a complicated avoidance operation is performed, there may be a case where the reference point of the robot is not positioned vertically above the original trajectory (601) in order to avoid it when the avoidance mode ends (OFF).

  Therefore, the return trajectory (604) generated by the control device 201 at the end of the avoidance mode is preferably, for example, the minimum reference distance of the robot from the current position without interfering with the obstacle 501 as much as possible. The trajectory moves to one point on the trajectory (601). A specific example of generating the return control information so as to satisfy the conditions of the return trajectory will be described later.

  FIG. 8 shows the subsequent robot operation by the teaching pendant 101. Here, the reference point of the robot is moved from one point on the extension on the restored original trajectory (601) toward the teaching point B which was the original target position (trajectory 605). For example, when the robot reference point returns to one point on the original trajectory (601) as shown in FIG. 114).

  FIG. 3 shows a configuration example of the control device of this embodiment. Here, parts and functions necessary for performing the avoidance (teaching) operation as described above are indicated by hardware (or) blocks.

  FIG. 3 shows the configuration of the control system of the robot apparatus of this embodiment, that is, the teaching pendant 101 and the control apparatus 201. The JOG operation control section 214, the return control section 216, and the JOG vector direction storage section. 215. The functional blocks indicated by 214 to 215 are realized by the CPU 211 including, for example, a general-purpose microprocessor constituting the main control unit of the control device 201 executing a program.

  In FIG. 3, the CPU 211 controls the operation of the entire robot apparatus based on the teaching operation by the teaching pendant 101. The ROM 221 is, for example, a memory for storing a control program for the CPU 211 described later. In this case, the ROM 221 constitutes a computer-readable recording medium according to this embodiment. When the CPU 211 executes a control program stored in the ROM 221, input / output control with the teaching pendant 101 and drive control of the robot arm 301 are realized.

  The program storage area of the ROM 221 can be configured by a rewritable storage device such as an EEPROM. In that case, by supplying a program and control data from a flash memory or an optical disk (not shown), the robot control program can be installed in the ROM 221 or the program can be updated.

  A block indicated by a broken line with reference numeral 200 is a memory area composed of a rewritable memory device such as a RAM (hereinafter referred to as RAM 200). In the present embodiment, the JOG vector direction storage unit 215 is disposed in the RAM 200 area. In the RAM 200, another work area 212 is arranged. The work area 212 is used for storing temporary data that is temporarily used when the CPU 211 executes a program to be described later, for example.

  The teaching pendant interface 213 is used for control signal input / output with the teaching pendant 101. The teaching pendant interface 213 is configured by a wireless or wired serial or parallel interface, or a network interface.

  The JOG operation control unit 214 (jogs) the robot arm 301 according to a command generated according to a jog operation such as the key 114 of the teaching pendant 101. The function of the JOG operation control unit 214 can be realized by software of the CPU 211.

  When the avoidance mode is turned on by operating the avoidance switch 111, the CPU 211 turns on the avoidance mode flag (located in the work area 212). At this time, the CPU 211 stores in the JOG vector direction storage unit 215 of the RAM 200 at least the position (XYZ coordinates) of the reference point of the robot (for example, the grip center of the hand 401) at that time and the JOG motion vector at that time. Remember direction. If at least the position (XYZ coordinates) of the reference point of the robot and the JOG motion vector direction in which the reference point is moving at that time are stored, the reference point before (directly) the avoidance mode is turned on The moving trajectory can be identified. The JOG motion vector direction stored in the JOG vector direction storage unit 215 may be azimuth information in a three-dimensional space, and the format of data representation on the memory is arbitrary.

  The return control unit 216 performs generation of return control information when the avoidance switch 111 is operated by the teaching pendant 101 and the avoidance mode is switched to OFF, and return control of the reference point based thereon. The function of the return control unit 216 can be realized by software of the CPU 211.

  When the avoidance mode is switched to OFF, the return control unit 216 reads the reference point position information and JOG motion vector information stored when the avoidance mode is ON from the JOG vector direction storage unit 215. With these pieces of information, the trajectory of the reference point of the robot when the avoidance mode is ON (the avoidance mode or the trajectory before the avoidance operation) can be uniquely specified.

  Then, the return control unit 216 generates return control information for returning the reference point of the robot from the current position (when the avoidance mode is OFF) to the trajectory before the avoidance mode or the avoidance operation (preferably at the shortest distance). This return information is expressed, for example, in the form of vector data from the current position (when the avoidance mode is OFF) to one point (preferably at the shortest distance) on the trajectory (extension) before the avoidance mode or avoidance operation. (Return trajectory vector). Then, using this return control information (avoidance trajectory vector), the return control unit 216 uses the trajectory of the pre-avoidance JOG motion vector stored in the JOG vector direction storage unit 215 from the current position to the reference point of the robot arm 301. Move up the extension. The generation of the return control information and the return operation of the robot reference point are automatically performed only by the avoidance mode OFF operation by the avoidance switch 111.

  Note that a network interface 222 is provided in the control device 201 of FIG. The network interface 222 can be used, for example, to transmit the teaching point data generated by the teaching operation of the teaching pendant 101 or the teaching point data generated in the avoidance mode to another robot apparatus, a management terminal, a server, or the like. . The network interface 222 can also be used to receive teaching point data and a robot control program from other robot devices, management terminals, and servers. In particular, it can be used to install or update a robot control program in the ROM 221 using a program and control data received via the network interface 222.

  Hereinafter, the teaching control controlled by the CPU 211 of the control device 201 of FIG. 3, particularly the control procedure of the avoidance operation using the avoidance switch 111 will be described in detail with reference to FIGS. 9 to 11. 9 to 11 show an example of the flow of a control program for the CPU 211 to execute the above control. The illustrated procedure is stored in the ROM 221 as a control program for the CPU 211, for example.

  FIG. 9 shows the obstacle avoidance operation according to the present embodiment, especially the operation of the operator who teaches with the teaching pendant 101. The branches and determination steps in FIG. 9 include those performed by this operator.

  Steps S <b> 101 and S <b> 102 in FIG. 9 indicate an operator's teaching operation using the teaching pendant 101. Here, the operator uses the key 114 of the teaching pendant 101 to perform an operation of moving the reference point of the robot. In the meantime, if necessary, the current reference point position can be registered as a teaching point using the teaching pendant 101. The reference point of the robot arm 301 is controlled by the CPU 211 so as to jog in the direction assigned to the key in accordance with the jog operation of the key 114 of the teaching pendant 101 (jogging operation). This jog operation or teaching operation is continued in step S102 until the robot's reference point approaches the obstacle 501 as shown in FIG.

  In step S102, for example, when the worker recognizes that the reference point of the robot has approached the obstacle 501 as shown in FIG. 5, the worker stops the jog operation, and in step S103, the avoidance switch 111 is turned on. (Mode control process)

  In response to the ON operation of the avoidance switch 111, the CPU 211 turns on the flag arranged in the work area 212 or the like in step S103, and enables (ON) the avoidance mode. At this time, the CPU 211 stores at least the position (XYZ coordinates) of the reference point (for example, the grip center of the hand 401) of the robot at that time and the JOG motion vector direction at that time in the JOG vector direction storage unit 215. Remember (memory process). The process when the avoidance mode is turned on by the avoidance switch 111 in step S103 will be described in detail with reference to FIG.

  The subsequent loop of steps S104 to S107 is an operation (avoidance control process) executed while the avoidance mode is valid. In this embodiment, the avoidance operation of the obstacle 501 in the avoidance mode is allowed to be freely performed so as to be an avoidance movement (S104) that avoids the obstacle 501 by the jog operation of the teaching pendant 101. In the above-described figure, this avoidance operation corresponds to a section from when the avoidance switch 111 is turned on in the state of FIG. 5 until the state of FIG. 6 is reached.

  The worker continues the above avoidance operation through the loop of steps S104 to S107 while determining whether or not the avoidance of the obstacle 501 of step S107 is completed. During that time, the CPU 211 allows the operator to select whether or not to register the position of the reference point at that time as a retract point (teaching point) in step S105 each time the operator stops, for example, one jog operation. Condition monitoring and robot control.

  For example, in the generation of the avoidance trajectory from the state shown in FIG. 5 to FIG. 6, a jog operation is performed to raise the reference point of the robot along the wall surface of the obstacle 501 from the original trajectory 601 (substantially vertically). (Orbit 602). Thereafter, the jog operation of the key 114 is once stopped at a position to be switched to the horizontal orbit (orbit 603) above the obstacle 501 in FIG. In the horizontal trajectory (603) above the obstacle 501 thereafter, the key 114 having a different moving direction is used. Therefore, the position of the reference point of the robot at that time is registered as a teaching point as necessary at the switching timing of the jog operation. However, in the situation where the jog movement in the same direction and the temporary stop are repeated by the same key 114 at the time of fine adjustment, the registration of the teaching point may be omitted by the operator's judgment (S105).

  If the operator determines that the teaching point should be registered (S105), the teaching pendant 101 is registered in step S106, and the CPU 211 registers the position of the reference point of the robot as the teaching point in response to this (avoidance). Point teaching). Each time this registration operation is performed, the coordinates of the teaching point (or data of position and orientation including joint control angles of each part of the robot arm 301) may be arranged in the work area 212 of the RAM 200, for example. It is stored in the teaching point storage unit.

  The teaching point or avoidance point data stored in the teaching point storage unit is transmitted to other robot devices, control terminals, servers, etc. as teaching data, including those of other teaching points before and after the avoidance mode, for example. Can do. In this case, for example, the network interface 222 can be used for transmission / reception of the teaching data. Further, the teaching data can be transferred to an external storage device (not shown) (including HDD, SSD, optical disk device, etc.) and recorded.

  In the case of the avoidance operation shown in FIGS. 5 to 8, the avoidance point teaching operation described above is performed only once at the position of switching to the horizontal trajectory above the obstacle 501 shown in FIG. In addition, since the reference position of the robot at the time when the avoidance mode is turned on is stored in the JOG vector direction storage unit 215, it is not always necessary to register the teaching point. However, in consideration of data consistency or the like, when the avoidance mode is turned on, it may be automatically registered as a teaching point in the teaching point storage area of the work area 212.

  The avoidance operation and the registration of the teaching (retraction) point can be continued until it is determined in step S107 that the operator has completed the avoidance operation of the obstacle 501. When the worker determines that the avoiding operation of the obstacle 501 is completed, the process proceeds from step S107 to S108.

  In step S108, the operator operates the avoidance switch 111 (for example, again or toggles) to invalidate (OFF) the avoidance mode. When the worker turns off the avoidance switch 111 of the teaching pendant 101, the CPU 211 operates the flag of the work area 212 to switch the avoidance mode to OFF (mode control process). Then, the CPU 211 executes the function of the return control unit 216. That is, the return control information for reading the position of the reference point and the JOG vector direction when the avoidance mode stored in the JOG vector direction storage unit 215 is ON and returning the robot to the original trajectory before the avoidance operation. Is generated. Furthermore, the CPU 211 controls each part of the robot arm 301 based on the generated return control information, and performs movement control for returning the reference point of the robot to one point on the original trajectory 601 (on the extension line) before the avoidance operation. The return to one point of the original trajectory (on the extension line) before the avoidance operation does not require manual (jogging) operation of the teaching pendant 101, and is automatically performed only by turning off the avoidance mode with the avoidance switch 111. Yes.

  The processing when the avoidance switch 111 is OFF (the avoidance mode is OFF) in step S108 will be described in detail with reference to FIG.

  Subsequently, in step S109, the reference point of the robot has already been automatically returned to one point on the extension line of the original trajectory 601 before the avoidance operation in accordance with the invalidation (OFF) of the avoidance mode. For this reason, the operator can continue the jog operation on the original track 601 (extension line thereof) without requiring a troublesome manual operation for returning to the track before the avoidance operation as in the prior art. .

  FIG. 10 shows in detail the control procedure when the avoidance switch 111 is turned on in step S103 of FIG. 9, that is, when the avoidance mode is switched to ON. In step S201 in FIG. 10, the CPU 211 determines whether or not the avoidance switch 111 is turned on. When the avoidance switch 111 is turned on, for example, the avoidance mode is turned on by operating a flag arranged in the work area 212. And

  In step S202, the current position of the reference point of the robot is specified. In step S203, the current jog trajectory direction is specified. In step S203, for example, the JOG vector direction is calculated from the current position and the previous position (for example, the previous teaching point when the current trajectory is a straight trajectory).

  Then, the position of the reference point and the JOG vector direction when the avoidance mode obtained in steps S202 and S203 is ON are stored in the JOG vector direction storage unit 215 in step S204. Information on the position of the reference point and the JOG vector direction when the avoidance mode is ON corresponds to trajectory control information corresponding to the trajectory of the reference portion of the robot before the avoidance mode is enabled.

  FIG. 11 shows in detail the control procedure when the avoidance switch 111 is turned off in step S108 of FIG. 9, that is, when the avoidance mode is turned off. The control in FIG. 11 corresponds to generation of return control information for returning the robot to the original trajectory (601) before the avoidance operation, and return control based on the return control information.

  In step S301 in FIG. 11, it is determined whether the avoidance switch 111 has been turned OFF (for example, by a toggle operation). If the avoidance switch 111 is turned off here, for example, the avoidance mode is switched to OFF by operating a flag arranged in the work area 212, and the process proceeds to step S302.

  Next, in step S302, the current position of the reference point of the robot is acquired. Subsequently, in step S303, the position of the reference point and the JOG vector direction when the avoidance mode stored in the JOG vector direction storage unit 215 is turned on are read.

  In step S304, based on the position of the reference point when the read avoidance mode is turned ON and the JOG vector direction, the robot reference point is moved from the current position to the avoidance mode or on the trajectory before the avoidance operation (extension). Return control information toward one point is generated. The process of step S304 corresponds to a return control information generation process. For example, the return control information is such that the robot reference point is directed from the current position (the avoidance mode is OFF) to a point (preferably at the shortest distance) on the trajectory (extension) before the avoidance mode or the avoidance operation. Control information to be operated in a proper return trajectory. The return trajectory (eg, the trajectory 604 in FIGS. 7 and 8) data can be expressed using, for example, the format of vector data. The return trajectory is generated so that the robot reference point is returned to the trajectory before the avoidance mode or the avoidance operation, preferably with the shortest distance. An example of generating such a return trajectory will be described in detail later.

  In step S305, using the return control information (avoidance trajectory vector) generated in step S304, the reference point of the robot arm 301 is stored in the trajectory of the pre-avoidance JOG motion vector stored in the JOG vector direction storage unit 215 from the current position. Move up the extension. The control in step S305 corresponds to a return control process for returning the robot point (reference part) to one point on the trajectory before the avoidance mode is activated. The generation of the return control information and the return operation of the robot reference point are automatically performed only by the avoidance mode OFF operation by the avoidance switch 111 as described above.

  Here, details of generation of a return trajectory for returning to the trajectory before the avoidance mode (or avoidance operation) will be considered.

  For example, in the return trajectory generation process (S304), the CPU 211 can return the reference portion of the robot arm 301 to the trajectory before the avoidance mode is activated at the shortest distance from the current position. Generate information. At this time, it is desirable to generate the return control information so that the return trajectory has a low possibility of interfering with the obstacle 501 as much as possible.

  Examples of the preferred return trajectory as described above include, for example, the current position of the robot reference point and pass through the vertical plane (horizontal plane or plane perpendicular to the robot installation plane) and the trajectory of the JOG motion vector before avoidance. A trajectory toward one point on the extension line is conceivable. If the CPU 211 generates a return trajectory that includes the current position of such a robot reference point and passes through the vertical plane toward one point on the original trajectory, the possibility of interference with the obstacle 501 again becomes considerably low. At the same time, the condition for the shortest distance is also satisfied.

  The generation of the return trajectory as described above is considered to be a matter to be described in the instruction manual of the entire robot system including the teaching pendant 101 and the robot apparatus. For example, in such a document, when the avoidance mode is turned off by the avoidance switch 111, an operation of automatically returning to one point on the original trajectory from the current position through the vertical plane as described above is performed. It is possible to describe that. Alternatively, the avoidance mode should be turned off after performing the avoidance operation in the avoidance mode up to a position where it does not interfere with the obstacle again even if the return trajectory passes through the vertical plane. For example, it is possible to write more explicitly.

  As described above, in this embodiment, when the teaching data needs to be corrected so as to avoid an obstacle due to a change in the site environment, the original operation can be easily performed by a simple operation using the avoidance switch 111. It can return almost automatically to the robot trajectory (601).

  In this embodiment, the avoidance mode can be controlled to ON or OFF by operating the avoidance switch 111 (avoidance mode operation unit) of the teaching pendant 101 as the robot operation device. When the avoidance mode is turned on, as the trajectory control information, the position of the robot reference point (reference part) and the trajectory direction (direction of the JOG motion vector before JOG avoidance) at that time are stored in the JOG vector direction storage unit 215 serving as the trajectory storage unit. Remember.

  While the avoidance mode is enabled (ON), the robot arm is caused to perform an avoidance operation for changing the trajectory of the reference point of the robot based on a manual operation input from the teaching pendant 101. This avoidance operation can be performed freely according to the shape and size of the obstacle. In addition, the current position of the reference point of the robot at any position on the avoidance trajectory can be registered in the teaching data as a teaching point (avoiding point).

  On the other hand, when the avoidance mode is disabled (OFF), the reference point of the robot is changed from the current position based on the trajectory control information stored in the JOG vector direction storage unit 215 before the avoidance mode is enabled. Return control information for returning to the original trajectory (601) is generated. At this time, preferably, the return control information is generated so that the reference point is less likely to interfere with an obstacle and is returned through a return trajectory toward one point on the original trajectory at the shortest distance. . When the avoidance mode is turned off, each part of the robot arm 301 is operated based on the return control information generated in this way, and the reference point is automatically returned to one point on the original trajectory before the avoidance mode. be able to.

  As described above, in this embodiment, the avoidance mode can be used by operating the avoidance switch 111 of the robot operation device (teaching pendant). In that case, in the avoidance mode, a free avoidance operation can be performed according to the shape and size of the obstacle. Moreover, when the avoidance mode end (OFF) operation is performed, it is not necessary to repeat the troublesome manual jog operation and confirmation work, and the original trajectory (601 before the avoidance operation is started) before the avoidance mode is turned on. ) It is possible to automatically return to the upper point.

  The return control information can be generated, for example, so that a return trajectory is selected that returns the reference point of the robot from the current position to one point on the original trajectory through the vertical plane. By generating such return control information, the robot reference point is unlikely to interfere with an obstacle, and the original point is returned via a return trajectory that is directed to one point on the original trajectory at the shortest distance. The trajectory (601) can be returned to.

  As described above, in this embodiment, the avoidance switch 111 can perform ON / OFF control of the avoidance mode that can be used as an exceptional mode that can be used for changing or editing the teaching data of the robot, for example. When the avoidance mode is ON, teaching data can be changed and edited by free teaching operations, and when the avoidance mode ends, the robot is automatically returned to the original trajectory before entering the avoidance mode. Can do. For this reason, in situations where an avoidance operation is added to the teaching data, it is possible to automatically return to the original trajectory, which conventionally required cumbersome manual operations, greatly reducing the burden on the operator. In addition, there is an excellent effect that the working time can be remarkably shortened.

  The present invention supplies a program that realizes one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in the computer of the system or apparatus read and execute the program Can also be realized. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

  DESCRIPTION OF SYMBOLS 101 ... Teaching pendant, 111 ... Avoidance switch, 201 ... Control device, 213 ... Teaching pendant interface, 214 ... JOG operation control part, 215 ... JOG vector direction memory | storage part, 216 ... Return control part, 301 ... Robot, 401 ... Hand, 501 ... An obstacle.

Claims (13)

In a control method of a robot apparatus, comprising: a control apparatus that executes robot control for controlling a trajectory of a reference part of a robot arm; and a robot operation apparatus that inputs control information for controlling a trajectory of the reference part of the robot arm.
A mode control process for enabling or disabling an avoidance mode in which the control device changes a trajectory of the reference part of the robot arm in accordance with an operation of an avoidance mode operation unit disposed in the robot operation device;
A storage step of storing, in the trajectory storage unit, trajectory control information corresponding to the trajectory of the reference portion before the avoidance mode is activated when the avoidance mode is activated;
An avoidance control step for causing the robot arm to perform an avoidance operation to change the trajectory of the reference portion based on an input from the robot operation device while the avoidance mode is enabled;
When the control device disables the avoidance mode, the avoidance mode corresponding to the trajectory control information stored in the trajectory storage unit from the current position of the reference portion is enabled for the reference portion of the robot arm. A generation process for generating return control information for returning to the orbit before being converted,
A method for controlling a robot apparatus, comprising:   2. The method of controlling a robot apparatus according to claim 1, wherein the control apparatus activates the avoidance mode from the current position of the reference portion of the robot arm based on the return control information generated in the generation process. A control method for a robot apparatus, comprising: a return control process for returning to the trajectory of the reference part before being performed.   3. The control method of the robot device according to claim 1, wherein during the avoidance operation in the avoidance control process, the control device is configured to determine the position and orientation of the reference portion of the robot arm based on an input from the robot operation device. A method for controlling a robot apparatus, characterized in that a teaching point corresponding to is stored in a teaching point storage unit.   4. The robot apparatus control method according to claim 1, wherein in the generation process, the control apparatus moves the reference portion of the robot arm from the current position at a shortest distance to the avoidance mode. A control method for a robot apparatus, comprising: generating the return control information for returning to a trajectory before activation of the robot.   5. The method of controlling a robot apparatus according to claim 1, wherein in the generation process, the control apparatus activates the avoidance mode from the current position of the reference portion of the robot arm. As the return control information for returning to the previous trajectory, generating a return trajectory that passes through the vertical plane including the current position and goes to one point on the trajectory before the avoidance mode is activated. A control method for a robot apparatus.   6. A control program for a robot apparatus, which causes the control device to execute each process according to claim 1.   A computer-readable recording medium storing the robot apparatus control program according to claim 6. A control device for executing robot control for controlling the trajectory of the reference part of the robot arm;
A robot operating device for inputting control information for controlling the trajectory of the reference part of the robot arm;
An avoidance mode operation unit arranged in the robot operation device;
A trajectory storage unit that stores trajectory control information corresponding to the trajectory of the reference portion before the avoidance mode is activated;
The control device comprises:
Enabling or disabling the avoidance mode of changing the trajectory of the reference part of the robot arm according to the operation of the avoidance mode operation unit;
When the avoidance mode is activated by the avoidance mode operation unit, the trajectory storage unit stores trajectory control information corresponding to the trajectory of the reference portion before the avoidance mode is activated,
While the avoidance mode is activated, based on an input from the robot operation device, the robot arm performs an avoidance operation to change the trajectory of the reference part,
When the avoidance mode is invalidated, the avoidance mode corresponding to the trajectory control information stored in the trajectory storage unit from the current position of the reference portion is validated for the reference part of the robot arm. Generate return control information to return to the previous trajectory,
A robot apparatus that performs robot control.   9. The robot apparatus according to claim 8, wherein the control device moves the reference part of the robot arm from the current position before the avoidance mode is validated based on the generated return control information. A robot apparatus for executing robot control for returning to the trajectory.   10. The robot device according to claim 8, wherein during the avoiding operation, the control device teaches a teaching point corresponding to a position and orientation of the reference portion of the robot arm based on an input from the robot operation device. A robot apparatus characterized by being stored in a point storage unit.   The robot apparatus according to any one of claims 8 to 10, wherein the control device moves the reference portion of the robot arm at a shortest distance from the current position before the avoidance mode is activated. The robot apparatus is characterized in that the return control information for returning to a position is generated.   The robot apparatus according to any one of claims 8 to 11, wherein the control device returns the reference portion of the robot arm from a current position to a trajectory before the avoidance mode is validated. As the return control information, a robot trajectory is generated that passes through a vertical plane including the current position and goes to one point on the trajectory before the avoidance mode is validated.   A robot operation device comprising the avoidance mode operation unit according to any one of claims 8 to 12.

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