JP2020179465A5 - - Google Patents
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- JP2020179465A5 JP2020179465A5 JP2019084227A JP2019084227A JP2020179465A5 JP 2020179465 A5 JP2020179465 A5 JP 2020179465A5 JP 2019084227 A JP2019084227 A JP 2019084227A JP 2019084227 A JP2019084227 A JP 2019084227A JP 2020179465 A5 JP2020179465 A5 JP 2020179465A5
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- 230000005540 biological transmission Effects 0.000 claims description 42
- 238000001514 detection method Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims 12
Description
本開示の一形態によれば、アームと、前記アームを駆動する駆動部と、前記駆動部からの出力を前記アームに駆動力として伝達する伝達部と、前記伝達部の前記駆動部からの出力が入力される入力側の動作位置を検出する入力位置検出部と、前記伝達部の前記アームに前記駆動力を伝達する出力側の動作位置を検出する出力位置検出部と、を有するロボットを制御する制御装置が提供される。この制御装置は、前記アームの基準位置を設定する基準位置設定部と、前記入力位置検出部からの出力と、前記出力位置検出部からの出力と、に基づいて、前記伝達部の動作位置に応じた前記伝達部の第１の伝達誤差を演算し、前記第１の伝達誤差と前記基準位置における前記伝達部の第２の伝達誤差とに基づいて、補正量を演算する演算部と、前記補正量に基づいて補正された操作量に基づいて、前記駆動部を制御する駆動制御部と、を備える。 According to one embodiment of the present disclosure, an arm, a drive unit that drives the arm, a transmission unit that transmits the output from the drive unit to the arm as a driving force, and an output from the drive unit of the transmission unit. Controls a robot having an input position detection unit that detects an operation position on the input side to which is input, and an output position detection unit that detects an operation position on the output side that transmits the driving force to the arm of the transmission unit. A control device is provided. This control device sets the operating position of the transmission unit based on the reference position setting unit that sets the reference position of the arm, the output from the input position detection unit, and the output from the output position detection unit. The calculation unit that calculates the first transmission error of the transmission unit according to the response and calculates the correction amount based on the first transmission error and the second transmission error of the transmission unit at the reference position , and the above-mentioned A drive control unit that controls the drive unit based on the operation amount corrected based on the correction amount is provided.
Claims (11)
前記アームの基準位置を設定する基準位置設定部と、
前記入力位置検出部からの出力と、前記出力位置検出部からの出力と、に基づいて、前記伝達部の動作位置に応じた前記伝達部の第１の伝達誤差を演算し、前記第１の伝達誤差と前記基準位置における前記伝達部の第２の伝達誤差とに基づいて、補正量を演算する演算部と、
前記補正量に基づいて補正された操作量に基づいて、前記駆動部を制御する駆動制御部と、
を備える、制御装置。 An arm, a drive unit that drives the arm, a transmission unit that transmits the output from the drive unit to the arm as a driving force, and an operation position on the input side where the output from the drive unit of the transmission unit is input. A control device that controls a robot having an input position detection unit for detecting a robot and an output position detection unit for detecting an operation position on the output side for transmitting the driving force to the arm of the transmission unit.
A reference position setting unit that sets the reference position of the arm, and
Based on the output from the input position detection unit and the output from the output position detection unit, the first transmission error of the transmission unit according to the operating position of the transmission unit is calculated, and the first transmission error is calculated. A calculation unit that calculates the correction amount based on the transmission error and the second transmission error of the transmission unit at the reference position .
A drive control unit that controls the drive unit based on the operation amount corrected based on the correction amount, and
A control device.
前記基準位置の指定をユーザーから受け付ける受付部を備える、制御装置。 The control device according to claim 1.
A control device including a reception unit that receives the designation of the reference position from the user.
前記ロボットにおいて、前記駆動部が別の駆動部に交換された場合、または、前記伝達部が別の伝達部に交換された場合に、前記駆動部または前記伝達部の交換の前に設定されていた前記補正量を初期化する初期化部を備える、制御装置。 The control device according to claim 1 or 2.
In the robot, when the drive unit is replaced with another drive unit, or when the transmission unit is replaced with another transmission unit, the setting is made before the replacement of the drive unit or the transmission unit. A control device including an initialization unit that initializes the correction amount.
前記基準位置設定部は、前記アームの位置を表す情報を取得するセンサーからの信号に基づいて、前記基準位置を設定する、制御装置。 The control device according to any one of claims 1 to 3.
The reference position setting unit is a control device that sets the reference position based on a signal from a sensor that acquires information indicating the position of the arm.
情報を記憶する記憶部と、
ユーザーに対する出力を行う出力部と、を備え、
前記演算部は、演算した前記補正量を前記記憶部に格納し、
前記駆動制御部は、前記記憶部に格納された前記補正量に基づいて前記操作量を補正し、
前記演算部は、前記伝達部の前記第１の伝達誤差の最大値が、あらかじめ定められた閾値を超えている場合は、前記第１の伝達誤差と前記第２の伝達誤差に基づいて演算される補正量を、前記記憶部に格納することを、出力部に表示させる、制御装置。 The control device according to any one of claims 1 to 3.
A storage unit that stores information and
Equipped with an output unit that outputs to the user
The calculation unit stores the calculated correction amount in the storage unit, and stores the calculated correction amount in the storage unit.
The drive control unit corrects the operation amount based on the correction amount stored in the storage unit.
When the maximum value of the first transmission error of the transmission unit exceeds a predetermined threshold value, the calculation unit calculates based on the first transmission error and the second transmission error. A control device that causes an output unit to display that the correction amount is stored in the storage unit.
前記アームの基準位置を設定する工程と、
前記入力位置検出部からの出力と、前記出力位置検出部からの出力と、に基づいて、前記伝達部の動作位置に応じた前記伝達部の第１の伝達誤差を演算する工程と、
前記第１の伝達誤差、および前記基準位置における前記伝達部の第２の伝達誤差に基づいて、補正量を演算する工程と、
前記補正量に基づいて補正された操作量に基づいて、前記駆動部を制御する工程と、を含む、制御方法。 An arm, a drive unit that drives the arm, a transmission unit that transmits the output from the drive unit to the arm as a driving force, and an operation position on the input side where the output from the drive unit of the transmission unit is input. A control method for controlling a robot having an input position detection unit for detecting a robot and an output position detection unit for detecting an operation position on the output side for transmitting the driving force to the arm of the transmission unit.
The process of setting the reference position of the arm and
A step of calculating the first transmission error of the transmission unit according to the operating position of the transmission unit based on the output from the input position detection unit and the output from the output position detection unit.
A step of calculating a correction amount based on the first transmission error and the second transmission error of the transmission unit at the reference position .
A control method comprising a step of controlling the drive unit based on the operation amount corrected based on the correction amount.
前記基準位置の指定をユーザーから受け付ける工程を備える、制御方法。 The control method according to claim 6.
A control method comprising a step of accepting a designation of a reference position from a user.
前記ロボットにおいて、前記駆動部が別の駆動部に交換された場合、または、前記伝達部が別の伝達部に交換された場合に、前記駆動部または前記伝達部の交換の前に設定されていた前記補正量を初期化する工程を備える、制御方法。 The control method according to claim 6 or 7.
In the robot, when the drive unit is replaced with another drive unit, or when the transmission unit is replaced with another transmission unit, the setting is made before the replacement of the drive unit or the transmission unit. A control method comprising a step of initializing the correction amount.
前記基準位置を設定する工程は、前記アームの位置を表す情報を取得するセンサーからの信号に基づいて、前記基準位置を設定する工程を含む、制御方法。 The control method according to any one of claims 6 to 8.
A control method including a step of setting the reference position based on a signal from a sensor that acquires information representing the position of the arm.
前記伝達部の前記第１の伝達誤差の最大値が、あらかじめ定められた閾値を超えている場合は、前記第１の伝達誤差と前記第２の伝達誤差に基づいて演算される補正量を記憶部に格納することを出力部に表示させる工程と、
ユーザーが前記格納することを確認する操作を受け付けた場合に、演算した前記補正量を記憶部に格納する工程と、を含み、
前記駆動部を制御する工程は、前記記憶部に格納された前記補正量に基づいて前記操作量を補正する工程を含む、制御方法。 The control method according to any one of claims 6 to 8.
When the maximum value of the first transmission error of the transmission unit exceeds a predetermined threshold value, the correction amount calculated based on the first transmission error and the second transmission error is stored. The process of displaying in the output section that it is stored in the section,
Includes a step of storing the calculated correction amount in the storage unit when the user accepts the operation for confirming the storage.
A control method including a step of correcting the operation amount based on the correction amount stored in the storage unit.
前記制御装置に制御される前記ロボットと、を備える、ロボットシステム。 The control device according to any one of claims 1 to 5.
A robot system comprising the robot controlled by the control device.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2019084227A JP7310271B2 (en) | 2019-04-25 | 2019-04-25 | CONTROL DEVICE, CONTROL METHOD, AND ROBOT SYSTEM |
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| JP2019084227A JP7310271B2 (en) | 2019-04-25 | 2019-04-25 | CONTROL DEVICE, CONTROL METHOD, AND ROBOT SYSTEM |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2020179465A JP2020179465A (en) | 2020-11-05 |
| JP2020179465A5 true JP2020179465A5 (en) | 2022-03-25 |
| JP7310271B2 JP7310271B2 (en) | 2023-07-19 |
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| KR102682555B1 (en) * | 2023-09-27 | 2024-07-08 | 유성정밀공업 주식회사 | A reference point setting device for correcting the position of the end tool of the mobile cooperative robot |
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| JP2018202589A (en) * | 2017-06-09 | 2018-12-27 | セイコーエプソン株式会社 | Control device, robot, and robot system |
| JP6915395B2 (en) * | 2017-06-16 | 2021-08-04 | セイコーエプソン株式会社 | Control device, robot system, table creation method and robot control method |
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