JP2018176341A5

JP2018176341A5 -

Info

Publication number: JP2018176341A5
Application number: JP2017078179A
Authority: JP
Filing date: 2017-04-11
Publication date: 2020-04-16
Anticipated expiration: 2037-04-11

Description

このロボット１０のティーチングでは、ハンド１７をティーチングの対象としてハンド１７を目標位置に移動させる。上述したようにＸＹ平面内ではハンド１７は平行移動するのみであるから、直交座標系での移動速度は、ハンド１７の全体を通して同じである。そこで以下の説明では、ハンド１７と第２アーム１５との間の連結部１６の位置をロボット１０の第２アーム１５の先端、すなわちアーム部の先端として扱い、この先端を作業点とするとともに、直交座標系でのこの先端の位置すなわち先端の座標値に基づいてティーチング時のロボット１０の移動速度を制限する。図１に示したロボット１０では、ロボット１０の作業点の位置は、第１アーム１３及び第２アーム１５の２軸の回転により決まる。ここで直交座標系に基づきＸＹ平面内である一定距離だけ作業点を移動させたとすると、各アーム１３，１５の回転角度は、作業点がロボット１０の作業エリアの外周付近にあるか中心付近にあるかによって大きく異なる。第１アーム１３と第２アーム１５の間の連結部１４をアーム部における肘あるいは関節部と考えると、肘部分の動きは、作業エリアの中心付近では、先端部分の移動距離が短くかつその移動速度は遅くても、教示者の予想以上に大きくかつ速く回転することがある。肘の部分の回転は本体部１１と第１アーム１３との連結部１２を中心とするものであるから、以下の説明では、ＸＹ平面でのこの連結部１２の位置を原点Ｏとする。 In the teaching of this robot 10, the hand 17 is moved to a target position with the hand 17 as a teaching target. As described above, since the hand 17 only translates in the XY plane, the moving speed in the Cartesian coordinate system is the same throughout the hand 17. Therefore, in the following description, the position of the connecting portion 16 between the hand 17 and the second arm 15 is treated as the tip of the second arm 15 of the robot 10, that is, the tip of the arm portion, and this tip is used as a working point. The moving speed of the robot 10 during teaching is limited based on the position of the tip in the orthogonal coordinate system, that is, the coordinate value of the tip. In the robot 10 shown in FIG. 1, the position of the work point of the robot 10 is determined by the biaxial rotation of the first arm 13 and the second arm 15. If the work point is moved by a certain distance in the XY plane based on the orthogonal coordinate system, the rotation angles of the arms 13 and 15 are such that the work point is near the outer circumference of the work area of the robot 10 or near the center. It depends greatly on whether there is one. Considering the connecting portion 14 between the first arm 13 and the second arm 15 as an elbow or a joint portion in the arm portion, the movement of the elbow portion is such that the movement distance of the tip portion is short and the movement thereof is near the center of the work area. Even if the speed is slow, it may be larger and faster than the teacher's expectation. Since the rotation of the elbow portion is centered on the connecting portion 12 between the main body 11 and the first arm 13, in the following description, the position of the connecting portion 12 on the XY plane is the origin O.

Claims

A main body portion, a first arm whose one end side is connected to the main body portion, a first motor which rotates the first arm with respect to the main body portion, and one end side which is connected to the other end side of the first arm A moving speed control device for controlling a robot, which is a horizontal articulated robot, comprising at least two arms and a second motor for rotating the second arm with respect to the first arm,
Controlling said robot in a rectangular coordinate system, when the teaching of the robot, using different limit values determined based on the second arm of the tip of the coordinates of the robot in the orthogonal coordinate system, moving speed When the input instruction value for is greater than the limit value, the moving speed control device includes a control unit that moves the robot at a moving speed that limits the input instruction value by the limit value.

Said one end of said first arm to the original point, a plane parallel to the movable range of the tip comprises said origin, is divided into a plurality of regions, and a single said limit value is defined for each of the regions The moving speed control device according to claim 1.

The movement speed control device according to claim 7, wherein the parameter table is read from the robot controller into the auxiliary storage unit when the teaching pendant is connected to the robot controller.

A main body portion, a first arm whose one end side is connected to the main body portion, a first motor which rotates the first arm with respect to the main body portion, and one end side which is connected to the other end side of the first arm A method for controlling a robot, which is a horizontal articulated robot, comprising at least two arms and a second motor for rotating the second arm with respect to the first arm,
When the orthogonal coordinate system by controlling the robot performs teaching of the robot, using different limit values determined based on the second arm of the tip of the coordinates of the robot in the orthogonal coordinate system, moving A method of moving the robot at a moving speed that limits the input instruction value by the limit value when the input instruction value for the speed exceeds the limit value.

Wherein said one end of the first arm to the original point, a plane parallel to the movable range of the distal end including said origin is divided into a plurality of regions, defining a single of the limit value for each said region, claim 9. The method according to 9.