JP3450459B2 - Robot positioning method and positioning device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot positioning method and a positioning apparatus, and more particularly, it is equipped with work tools suitable for respective operations such as grinding, deburring and curved surface polishing based on position and force control. The present invention relates to a robot positioning method and a positioning device applied to a multi-degree-of-freedom force control robot that performs work involving force.

[0002]

2. Description of the Related Art A robot positioning method is a method of moving a work tool at each teaching point when moving a work tool in accordance with a target path in a reproducing operation (playback operation). As a conventional method for positioning a robot, there is a method proposed for a position control robot (process robot) that performs welding work, for example. As a positioning method in this position control robot, a method of setting a condition for passing a teaching point as a positioning monitoring width when the teaching point is passed is adopted for each teaching point. The positioning monitoring width when passing the teaching point is, for example, "None", "Rough", "Fine".
And the user is set in three steps.
On the other hand, in the force control robot, a practical positioning method has not been conventionally proposed.

The state of the reproducing operation in the positioning monitoring widths of "None", "Rough" and "Fine" will be described with reference to FIG. In FIG. 5, A is a case of “None”, B is a case of “rough”, C is a case of “fine”, 71 is a teaching point to pass, and 72 is a passage route. A of FIG.
In each of C to C, the work tool is moved from the previous teaching point toward the teaching point 71, and the movement state toward the next teaching point is shown after the condition of the positioning monitoring width is satisfied.
In the case of “fine”, the monitoring width when passing the teaching point 71 is set to be narrow, so that the teaching point 7 is set on the passing path 72.
It stops once at 1 and moves to the next teaching point. "rough"
In the case of, since the monitoring width when passing through the teaching point 71 is set to be wide, the passing path 72 does not stop at the teaching point 71 and passes near the teaching point 71 while decelerating to the next teaching point 71. Move towards. In the case of "None", the monitoring width for positioning is not specifically set, the vicinity of the teaching point 71 is passed without deceleration, and the robot moves to the next teaching point.

[0004]

As a positioning method in a force control robot for performing work involving force based on position (including posture) and force control, the conventional positioning method used in the position control robot described above. And apply
The following problems occur.

Before explaining the problem, the construction of a grinding robot will be described as an example of a force control robot. As shown in FIG. 6, the grinding robot comprises a robot main body 81 including a multi-degree-of-freedom mechanism and a controller 82 for controlling the operation of the robot main body 81. The robot main body 81 applies a 6-axis force to a wrist 83 at the arm tip. The force sensor 84 is provided with the sensor 84.
A grinder 85 is provided as a work tool at the tip of the. When grinding the work with the grinder 85, the grinder 85
The force and moment applied to the force sensor 84 are detected by the force sensor 84. In addition, a motor that operates the robot body 81 and an encoder that detects the amount of movement of each joint portion are arranged at each joint portion of the robot body 81. The position and orientation of the grinder 85 during work can be obtained from the detection signal of the encoder provided in each joint.

The controller 82 has a position (including a posture)
And a control function unit implemented by an algorithm for executing force control. The robot body 81 operates under the control of this control function unit, and the position and force of the grinder 85 are controlled. By controlling the position of the grinder 85, the grinder 85 moves each of the plurality of teaching points in the teaching order based on the position data given in advance. At that time, position feedback control is performed. During the movement, the grinder 85 is pressed against the work, and the force of the grinder 85 is controlled so that desired grinding is performed on each part of the work. In the force control related to the grinder 85, the control is performed based on the force control parameter taught in advance, and the force feedback control based on the actual force obtained by the force sensor 84 is performed.

In the above position and force control, virtual compliance control is adopted. In the virtual compliance control, as shown in FIG. 7, in a state where the grinder 85 is pressed against the work 86, at least in the pressing direction, it is as if the spring 87 and the damper 88 are provided between the wrist portion 83 and the grinder 85. It is a control method realized by software. Hereinafter, the spring 87 is referred to as a virtual spring, and the damper 88 is referred to as a virtual damper. With virtual compliance control, the grinder 85
In the state where the target path 89 for performing the grinding work is provided, the virtual spring 87 is used to approach the target path 89.
The pressing force 90 corresponding to the spring force set to
Pressed against. Therefore, in a force control robot such as a grinding robot, position data of a plurality of teaching points that define a target path 89 and a virtual spring 87 for performing force control are used.
Etc. are important parameters for performing grinding work, and teaching / setting of them must be appropriately performed in consideration of the situation of manual work.

A problem when the above-mentioned conventional positioning method is applied to the grinding robot having the above characteristics will be described with reference to FIG. FIG. 8 shows a state in which two base materials 92, 93 joined by a convex weld bead 91 are about to be ground into a concave shape. Reference numeral 94 is a target path for grinding. The target route 94 is determined by giving position data of some teaching points and circularly interpolating the intermediate portion. In the illustrated example, three teaching points P1, P2, P3 at both ends and an intermediate portion are shown for convenience of description. The grinder 85 sets the target route 94 in the order of the teaching points P1, P2 and P3.
Move along with grinding. When the grinding is performed along the target path 94, since the welding bead 91 has a convex shape, the grinding amount of the welding bead 91 is reduced in the grinding of the teaching points P1 and P3 located at the ends, and the teaching located at the center is taught. In grinding the point P2, it is necessary to increase the grinding amount of the welding bead 91. In FIG. 8, each teaching point P1, P2, P3
The position arrival determination ranges 95 that are equal to each other are set. This position arrival determination range 95 corresponds to the above-described monitoring width, and since the force control robot that performs grinding does not stop it in the regenerating operation, it is at a level corresponding to “rough” at each teaching point and compared. A relatively small position arrival determination range is set in common. After the setting, the position arrival determination range is kept constant during the work. The position arrival determination range 95 is set as a range of a sphere centered on each teaching point. Since the maximum amount of grinding per constant time by the grinder 85 is constant, in order to reach the position arrival determination range 95 set equally at each teaching point as described above, the grinder 85 must be adjusted according to the amount to be ground. It is necessary to adjust the moving speed of the. As an extreme example, the teaching point P2 has a larger amount of the weld bead 91 than the teaching points P1 and P3, and therefore the speed must be slowed or stopped to continue the grinding.

However, the weld bead 91 to be ground
In order to adjust the moving speed of the grinder 85 according to the amount of the welding amount, it is necessary to measure the amount of the welding bead 91 of the moving destination while moving the grinder 85, and a special device such as a visual sensor for the measurement. Is required. Therefore, there are problems that the device configuration becomes complicated and the cost becomes high.

Further, when the amount of weld beads to be ground is large, the moving speed of the grinder 85 must be slowed down. When the moving speed of the grinder 85 is reduced,
There is a problem that the welding beads are burned by the grinding by the grinder, and good grinding cannot be performed in the subsequent grinding work.

Note that FIG. 8 shows an example in which the same position arrival determination range 95 is set at each teaching point for simplification of description, but as an essential problem, the amount of welding bead is actually known in advance. Since it is difficult, it is difficult to appropriately set the position arrival determination range in the welding bead grinding operation.

In order to solve each of the above problems, an object of the present invention is a force control robot that performs force work based on position and force control, and positions the robot at each of a plurality of teaching points that determine a target path. To provide a positioning method and a positioning device for a robot, which can perform a manual force work smoothly by using a position arrival determination range without adding a special device and can be realized at a low cost with a simple structure. It is in.

[0013]

In order to achieve the above object, the robot positioning method according to the present invention is applied to a robot which operates by position and force control and in which a control spring element is set in the working direction. When the reproduction operation is performed according to the target route determined by the taught plural target position values (teach points), the positioning at each target position value during the movement of the work tool is judged based on the position arrival judgment range. The spring constant of the spring element is set according to the remaining work amount, and the position arrival determination range is set according to the spring constant of the spring element.

In the above method, the position arrival determination range is set wide when the spring constant is low and narrow when the spring constant is high.

In the above method, the spring constant of the spring element and the position arrival determination range are set for each position target value.

In the above method, the regenerating operation is repeated, and in each work step, the spring constant and the position of the spring element common to each position target value are used by using the remaining work amount obtained in the previous work step. The arrival judgment range was set.

In the above method, a low spring constant is set empirically for the spring element in the first working step.

In the above method, the position and force control is a virtual compliance control and the spring element is a virtual spring.

The robot positioning apparatus according to the present invention is
A robot body with multiple degrees of freedom equipped with a work tool and a control means for operating the robot body based on position and force control to cause the work tool to perform work are set by the control means. Remaining amount calculation for calculating the remaining amount of work in a robot in which a spring element for control is set in at least the working direction of the control coordinate system and a work tool is moved along a target path determined by the taught position target value. Means, a spring constant calculating means for calculating a spring constant of a spring element based on the remaining work amount, and a position arrival determination range serving as a reference for determining whether or not a position target value is reached based on the spring constant. The position arrival determination range calculation means for calculating the value and the difference between the position target value and the position current value are obtained, and the difference is
And a position arrival determination unit that determines whether the position arrival determination range is calculated by the position arrival determination range calculation unit.

In the above configuration, the monitoring level setting means for setting the first position arrival determination range is provided.

In the above construction, the control means performs virtual compliance control.

[0022]

In the robot positioning method and the positioning apparatus according to the present invention, regarding the positioning of the force control robot, the position reach determination range applying the monitoring width used in the positioning of the conventional position control robot is utilized.
The position arrival determination range set at each of the plurality of teaching points, which is the position target value, is set so as to correspond to the remaining work amount (remaining grinding amount in the case of grinding work) of the work portion corresponding to the teaching point. To In a force control robot that operates according to position and force control, the spring constant of the spring element that is set for control is as follows in the work direction (direction pressed by force):
Since the position arrival determination range is set according to the spring constant of the spring element, it is set according to the remaining work amount of the portion to be worked. It is set according to the remaining work amount. In this way, by setting the position arrival determination range, which is the monitoring width of positioning, according to the work status (work remaining amount) of each part of the work, it is possible to use the position arrival determination range and perform manual work smoothly. Becomes

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.

The basic part of the configuration of the robot to which the present invention is applied is the same as the configuration of the conventional robot described with reference to FIG. In the description of the present embodiment, elements that are substantially the same as the elements described in the "Prior Art" section are given the same reference numerals. A force control robot that performs force work by controlling position (including posture) and force based on virtual compliance control, and as an example, a robot body 81 having multiple degrees of freedom as described above and a control function that executes virtual compliance control. Controller 11
(Shown in FIG. 3). Also in this embodiment, a grinding robot will be described as an example of the force control robot for description. In the grinding robot, a force sensor 84 is provided on a wrist portion 83 of a robot body 81, and a grinder 85 is attached to the tip of the force sensor 84. Controller 11 according to the invention
Further includes a control function unit that executes a positioning method according to the present invention described below.

In the present embodiment, details of the above virtual compliance control will not be described in detail. Here, as a reference, for example, the Institute of Instrument and Control Engineers, Vol. 22,
No. 3 (March 1986) p.343-350, JP-A-60-30
No. 10 and Japanese Patent Laid-Open No. 61-7905 are mentioned.

FIG. 1 shows an example of a work to be ground by a grinding robot. The work is composed of two base materials 92 and 93.
Are joined by a convex welding bead 91. In the grinding operation of the present embodiment, the welding bead 91, which is formed in a convex shape, is to be ground in a concave shape by the grinder 85. The grinder 85 according to this embodiment includes a disk-shaped grindstone. In the grinding operation for grinding the weld bead 91 into a concave shape, the target path 94 for moving the grinder 85 is determined by a plurality of teaching points given in the teaching operation before the start of the grinding operation. The position data of the plurality of teaching points is given by, for example, an input action in the teaching work of the operator by the user. In this embodiment, three teaching points P1, P2 and P3 are shown to simplify the explanation. The teaching points P1 and P3 are teaching points at both ends of the target route 94, and the teaching point P2 is a teaching point at an intermediate portion. According to the position control of the grinder 85 in the grinding operation, the grinder 85 moves along the target path 94 at an appropriate speed without excessively decelerating from end to end, and the movement is repeated by using this as a unit of the grinding process. The moving speed in the position control of the grinder 85 is appropriately determined according to the grinding ability of the grinder 85. In the above movement, when passing through each teaching point, it is assumed that the positioning condition is satisfied, provided that it falls within the position arrival determination range set by the method described below. Is done.

As described in the section "Prior Art", the grinder 85 that operates by virtual compliance control is
As shown in FIG. 1, the wrist portion 83 of the robot body 81
It is considered that they are attached while being supported by the virtual spring 12. The virtual spring 12 is a virtual spring element as a control element realized by software. The force sensor 84 is not shown in FIG. 1. The grinder 85 is pressed against the welding bead 91 by a spring force (elastic force or rigidity (stiffness): for example, a soft spring or a rigid spring, which is determined by a spring constant) determined by the virtual spring 12, and in this pressed state, the welding bead 9 is pressed.
While grinding 1 is moving at a suitable speed along the target path 94. In the above, the setting direction of the virtual spring 12 is determined corresponding to the pressing direction (working direction).

In the present invention, when the grinder 85 is repeatedly moved at an appropriate speed along the target path 94 in the grinding operation, which is an example of a work involving force, the target path 9
Positioning at each teaching point (position target value) that determines 4
The position arrival determination range substantially corresponding to the positioning monitoring width described in the section of "Prior art" is used, and this position arrival determination range is used as the grinding residual quantity (the residual quantity of the welding bead 91 to be ground). (Or the amount of filling)). As the grinding progresses, the remaining amount of grinding decreases. Therefore, the positioning control is performed so that the position arrival determination range also changes according to the change in the remaining amount of grinding. The position arrival determination range is set by automatically calculating by the algorithm of the positioning method according to the present invention provided in the controller 11. Further, in terms of the relationship with the strength (spring constant) of the spring force of the virtual spring 12, the spring force is set to be soft when the remaining grinding amount is large, and the spring force is set to be firm when the remaining grinding amount is small.

The above-described positioning method is a basic idea, and in the embodiment, a virtual spring is set for each teaching point according to the amount of remaining grinding on the spot at a plurality of teaching points. Along with this, the idea of setting the position arrival determination range according to the spring force of the virtual spring for each teaching point (first embodiment) and the average remaining grinding amount for each grinding process, In response to this, a constant virtual spring is set through the next grinding step, and a constant position arrival determination range common to each teaching point is set according to the spring force of this virtual spring (second embodiment). Exists.

A first embodiment of the positioning method according to the present invention will be described with reference to FIG. For convenience of description, the description will be given focusing on the intermediate teaching point P2. In the first grinding step, regarding the grinding of the weld bead 91, the amount to be ground and the grinder 8 are given, given the information about the target path 94.
Considering the grinding ability of 5, the soft virtual spring 12 is set appropriately. Since the shape of the welding bead 91 is unknown,
The amount of grinding remaining until reaching the target path 94 is also unknown.
Therefore, in the first grinding step, a value (spring constant) of an imaginary spring having a sufficient softness is empirically used. Further, the position arrival determination range 13 for determining whether or not the teaching point has been reached is set to a sufficiently large value that is empirically known in association with a virtual spring having sufficient softness. The state of the first grinding step is shown in FIG. 2A. Under the soft virtual spring 12 and the large position arrival determination range 13, the grinding process of the welding bead 91 is performed once. The remaining amount of grinding at each teaching point can be obtained using the actual position data obtained by this grinding process and the position data regarding the preset target route.

Next, the strength (spring constant) of the virtual spring 12 is set according to the remaining grinding amount at each teaching point, and further each teaching is performed according to the strength of the virtual spring 12 set at each teaching point P1 to P3. Position arrival determination range 13, 13a, 13b for each point
To set. At the teaching points P1 and P3 at the end portions, the virtual spring is made hard because the remaining grinding amount is small, and at the teaching point P2, the virtual spring is made soft because the remaining grinding amount is large. The position arrival determination range is set small at the teaching points P1 and P3 and set large at the teaching point P2. In this setting state, FIG. 2B
The second grinding step is performed as shown in FIG. A new grinding residual amount is automatically obtained by the second grinding process and is used for setting parameters for the next grinding process. Thus, the grinding process is repeated.

FIG. 2C shows the Nth grinding step. The second and subsequent grinding steps are repeated under the same conditions. As is clear from the change from FIG. 2A to FIG. 2C, regarding the teaching point P2, the spring constant of the virtual spring 12 increases as the remaining grinding amount decreases, the position arrival determination range 13 decreases, and the movement of the grinder moves. An optimum position arrival determination range is set in each case according to the remaining amount of grinding so as to be smoothly performed.

As the conditions for ending the grinding work, firstly, the number of times the grinding process is repeated in the grinding work is designated, secondly, the position arrival determination range is below a certain value, and thirdly, the spring constant of the virtual spring is set. Conditions such as a certain value or more, or conditions combining these can be used.

The structure of the control function unit for carrying out the above positioning method will be described with reference to FIG. This control function unit is included in the controller 11. The controller 11 additionally includes a force control calculation unit 14 that executes virtual compliance control and a force control calculation preprocessing unit 15.

The position target value storage unit 16 stores teaching points P1, P
The position data of P2 and P3 are stored. The position data of the position target value storage unit 16 is used as the position target value by the force control calculation unit 14. The force control parameter storage unit 17 stores a force target value in grinding at each teaching point, force control parameters such as a virtual damper, a virtual spring, and the like. The position data and the force control parameter are stored by teaching work by the operator (user).

Each teaching point P used as a position target value
The position data of 1, P2 and P3 are transferred to the position target value transfer unit 18
Are sequentially read under the following specific conditions, and are set in the force control calculation unit 14 via the force control calculation preprocessing unit 15. The force control calculation unit 14 generates a position control signal for moving the grinder 85 by using the position data of the set teaching point as the position target value. On the condition that the teaching point set as the position target has been reached, the position target value transfer unit 18 reads the position data of the next teaching point as the position target value in order to move to the next teaching point. The route to be moved between each teaching point is calculated by linear interpolation or circular interpolation. Various parameters stored in the force control parameter storage unit 17 are set in the force control calculation unit 14 via the force control calculation preprocessing unit 15.

The force control calculation preprocessing unit 15 provides the force control calculation unit 14 with position data required for position control and various force control parameters for force control in synchronization with the force control calculation unit 14. It has the function of sending. Force control calculator 1
Reference numeral 4 performs necessary position and force control calculations according to the virtual compliance control method, and gives the generated control signals (speed signal and torque signal) to the motor of the robot body 81 via the servo circuit 19. The robot main body 81 to which the control signal is given performs an operation for a predetermined grinding operation. When the robot main body 81 operates, information on the actual position is obtained by the encoder provided at each joint, and information on the force (including the moment) applied to the grinder 85 is obtained by the force sensor 84. The position information and the force information are taken into the force control calculation unit 14. Force control calculator 1
4 and the force control calculation preprocessing unit 15 are already known contents, and detailed description thereof will be omitted in this embodiment.

Next, characteristic components for implementing the positioning method will be described. The monitoring level setting unit 20 is set with a large position arrival determination range used in the first grinding process. The setting of the position arrival determination range is performed by the teaching work of the operator. Regarding the setting in the monitoring level setting unit 10, in addition to the position arrival determination range necessary for the first grinding process, “fine” or “rough” is generally set as in the case of a normal position control robot. be able to. The position arrival determination range set in the monitoring level setting unit 20 is taken into the position arrival determination range calculation unit 21, for example. The position arrival determination range set in the monitoring level setting unit 20 may be directly given to the position monitoring determination unit 22.

The position monitoring judgment unit 22 takes in the position target value from the position target value storage unit 16 and takes it out from the encoder of the robot body 81 which actually operates through the force control calculation unit 14 and the force control calculation preprocessing unit 15. The current value of the position (actual position data regarding the robot body) is loaded. Further, the position monitoring determination unit 22 refers to the position arrival determination range prepared in the position arrival determination range calculation unit 21.
With the above configuration, the position monitoring determination unit 22 compares the position target value with the current position value to obtain a difference, and the difference is
The position arrival determination range obtained from the position arrival determination range calculation unit 21 is compared to determine whether or not the position arrival determination range is included in the range.
When the above difference is included in the position arrival determination range, it is determined that the teaching point has been reached, and the next position target is transferred to the position target value transfer unit 18 to perform the movement process based on the next position target value. Instruct to transfer the value (position data of the next teaching point). The position target value transfer unit 18 includes a position monitoring determination unit 22.
The position data of the next teaching point is transferred in response to the instruction from.

In the first grinding process carried out as described above, the remaining grinding amount calculation unit 23 outputs the position data of each teaching point output from the position target value transfer unit 18 and the force control calculation preprocessing unit 15. By comparing the present value of the position given to the position monitoring determination unit 22, the remaining grinding amount at each teaching point is obtained and accumulated. The accumulated data of the remaining grinding amount at each teaching point is transferred to the spring constant calculating unit 24 and used here.

In the second grinding step, the remaining grinding amount calculation unit 2
The spring constant of the virtual spring is calculated using the remaining grinding amount of each teaching point accumulated in step 3, and the position arrival determination range of each teaching point used in the second grinding step is calculated based on this spring constant. . Thus, in the second grinding process, the position arrival determination range set at each teaching point is set in association with the spring constant of the virtual spring at each teaching point.

The spring constant computing unit 24 obtains information on the axial direction (working direction information) to be ground by the grinder 85 from the force control parameter storage unit 17, and is accumulated in the grinding residual amount computing unit 23 on this axial direction. The spring constant of the virtual spring is calculated using the remaining grinding amount. More specifically, regarding a certain teaching point, when the grinder 85 is pressed against the welding bead 91 in the z-axis direction of the Cartesian coordinate system shown in FIG. 4, the maximum efficiency is to grind with the force Fgr. Is obtained. Further, in the first grinding process, the remaining grinding amount accumulated by the remaining grinding amount calculation unit 23 is Za
It was. As a result, in the spring constant calculation unit 24,
The spring constant Kz is calculated by the equation Kz = Frg / Za.
The spring constant Kz obtained by the spring constant calculation unit 24 is given to the position arrival determination range calculation unit 21 via the minimum value selection unit 25. In this case, the spring constant Kz obtained by the spring constant calculating unit 24 is treated as the minimum value, so the minimum value selecting unit 2
5 does not function in particular, and supplies the spring constant given from the spring constant calculation unit 24 to the position arrival determination range calculation unit 21 as the minimum value.

The position arrival determination range calculator 21 uses the given spring constant Kz to calculate the position arrival determination range corresponding to this spring constant. Using the spring constant Kz, the position arrival determination range calculator 21 calculates the position arrival determination range PA by the following equation.

[0044]

[Equation 1] PA = α × PAn / Kz (1)

In the above, α is a coefficient and gives a possibility that the mechanical system of the robot has, for example. PAn is the monitoring width for normal position control, for example, 0.5m for "fine"
m, "rough" is about 1 mm.

As described above, in the second grinding step, the grinder 8 is set at each teaching point based on the remaining grinding amount.
The spring constant of the virtual spring is set with respect to the pressing direction (working direction) of 5, and the position arrival determination range is set in correspondence with this spring constant. The newly set spring constant of the virtual spring is sent to the force control calculation unit 14 through the force control calculation preprocessing unit 15 and used as a force control parameter. In this way, the second grinding process is performed based on the virtual spring newly set at each teaching point and the position arrival determination range as shown in FIG.
It is executed as shown in B. Since the remaining amount of grinding decreases as the grinding process is performed, the spring constant becomes harder and the position arrival determination range becomes smaller correspondingly. However, at the teaching point where the remaining amount of grinding is originally small, the spring constant and the position arrival determination range hardly change.

Even in the third and subsequent grinding steps,
Similarly to the above, using the data of the remaining grinding amount at each teaching point obtained by the remaining grinding amount calculation unit 23 in the previous grinding process,
The spring constant of the virtual spring and the position arrival determination range are set for each teaching point, and the grinding process is repeated.

Regarding the above-mentioned handling of the remaining grinding amount, the average value of the remaining grinding amount data obtained in the previous grinding step can be used. In the above embodiment, since the spring constant of the virtual spring is set for each teaching point, for example, the remaining grinding amount at a certain teaching point and the remaining grinding amount at the next teaching point where the spring constant is changed. The average value of and is used.

In the above embodiment, the position arrival determination range is set in the first grinding step by using the monitoring level setting section 20, but the force control parameter storage section 17 is set as follows. It is also possible to use the data of the spring constant of the virtual spring initially set in, and set it in correspondence with this spring constant.

The spring constant calculation unit 24 extracts the spring constant of the virtual spring from the force control parameters stored in the force control parameter storage unit 17 and used for the current control. Considering the orthogonal coordinate system shown in FIG. 4, the virtual springs are set in the directions of 6 axes, and from a control point of view, these are translational 3 axes (x, y, z axes) and rotation 3 axes. (X, y, z
Each axis) can be considered separately. The minimum value selection unit 25 reads the spring constants of the axes in which the virtual springs having the softest spring constants of the translational 3 axes and the rotation 3 axes are set, and the position arrival determination range calculation is performed for each of translational and rotational. It is output to the unit 21.

The position arrival determination range calculation unit 21 uses the given spring constant to calculate the position arrival determination range corresponding to this spring constant. For example, when the spring constant of Kz is set in the translational z-axis direction and this is the softest direction, the position arrival determination range calculation unit 21 calculates the position arrival determination range PA by the above-described equation (1). Using the position arrival determination range PA thus obtained, the first grinding step is performed as described above. The second and subsequent grinding steps are the same as described above.

In the second embodiment of the present invention, when the spring constant of each teaching point is set in the second and subsequent grinding steps in the first embodiment, the grinding residue obtained in the grinding step of the previous time is set. The spring constant is set using the average value regarding the quantity, and the position arrival determination range corresponding to this spring constant is set to, for example, (1)
Use a formula to make a decision. In this case, the position arrival determination range becomes constant throughout the grinding process in each of the second and subsequent grinding processes. As the grinding process is repeated and the grinding work progresses, the spring constant of the virtual spring gradually becomes hard and the position arrival determination range becomes gradually smaller. According to this embodiment, the common spring constant and position arrival determination range are set at each teaching point through the grinding process, so that the control can be simplified and the practicality is high.

In each of the above-mentioned embodiments, the virtual compliance control is explained, but the position and force control is not limited to this, and the robot positioning method according to the present invention is applied to the position and force control of other methods. can do. Further, in each of the above-described embodiments, the grinding work is completed by repeating the grinding process a plurality of times. However, the point that the position arrival determination range is determined according to the spring constant of the set virtual spring is 1
It can be applied even to the grinding work completed in one grinding process. In the above-mentioned embodiment, the description has been limited to the grinding work, but it can be similarly applied to other manual work such as deburring and curved surface polishing.

In the above embodiment, the position arrival determination range is calculated based on the spring constant of the virtual spring, but the position arrival determination range can be calculated directly from the remaining grinding amount.

[0055]

As is apparent from the above description, according to the present invention, positioning at each position target value is performed at each position target value in the operation based on the reproduction operation along the taught target path of the force control robot. Since the position arrival determination range is set with and the position arrival determination range is set to an optimal value according to the remaining work amount of the work part corresponding to each position target value, the force can be smoothly and smoothly. It is possible to perform work, and it is not necessary to add a special device for measuring the amount of welding beads or the like, and the force control robot can be positioned inexpensively with a simple structure.

Since the positioning accuracy of the work tool corresponding to the remaining work amount can be automatically set, and the user only needs to pay attention to the finish shape of the work, the spring constant of the spring element, and the feed speed, the teaching work can be performed. It can be simplified. Since the position arrival determination range that is the criterion for positioning can be set optimally, the work tool is damaged due to the position arrival determination range being too small, the movement of the work tool is stopped, the workpiece is hardened, or it is too large. It is possible to eliminate defects in finishing accuracy due to

[Brief description of drawings]

FIG. 1 is a diagram for conceptually explaining a robot positioning method according to the present invention.

FIG. 2 is a diagram for explaining a robot positioning method according to the present invention with reference to a transition of a grinding process.

FIG. 3 is a block diagram showing an example of an apparatus for carrying out a robot positioning method according to the present invention.

FIG. 4 is a diagram showing a coordinate system set for control.

FIG. 5 is a diagram for explaining a positioning method in a conventional position control robot.

FIG. 6 is an external view showing a configuration of a grinding robot which is an example of a force control robot.

FIG. 7 is a diagram for explaining an operating state of virtual compliance control.

FIG. 8 is a diagram for explaining a problem when a conventional positioning method is applied to a force control robot.

[Explanation of symbols]

11 Controller 12 Virtual spring 14 Force control calculator 15 Force control calculation preprocessor 16 Position target value storage 17 Force control parameter storage 20 Monitoring level setting section 21 Position Reaching Range Calculator 22 Position monitoring judgment unit 23 Grinding residual amount calculation unit 24 Spring constant calculator 81 Robot body 85 grinder 91 Weld Bead 92,93 Base material 94 Target route P1, P2, P3 Teaching points

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Claims (9)

(57) [Claims] 1. A reproducing motion according to a target path determined by a plurality of taught position target values, which is applied to a robot which operates under position and force control and has a control spring element set in a work direction.
The target position values by moving the work tool.
Sphere centered on the position target value when passing each of
Is it set as a body range and has reached the position target value
Within the position reach set to determine whether
Positioning conditions are satisfied, provided that work tools are inserted.
The work tool to the next position target value.
In the method of positioning a robot to be moved, the spring constant of the spring element is set according to the remaining work amount, and the position arrival determination range is set according to the spring constant of the spring element. . 2. The robot positioning method according to claim 1, wherein the position arrival determination range is set wide when the spring constant is low and narrow when the spring constant is high. 3. The robot positioning method according to claim 1, wherein the spring constant of the spring element and the position arrival determination range are set for each of the position target values. 4. The robot positioning method according to claim 1, wherein the regenerating operation is repeated, and in each work step, each position target is calculated by using the remaining work amount obtained in the work step of the previous time. A robot positioning method characterized in that a spring constant of a spring element and a position arrival determination range which are common to the values are set. 5. The robot positioning method according to claim 1, wherein a low spring constant is set on the basis of experience in the spring element in the first working step. Robot positioning method. 6. The robot positioning method according to claim 1, wherein the position and force control is virtual compliance control, and the spring element is a virtual spring. Positioning method. 7. A robot main body having a multi-degree of freedom equipped with a work tool, and control means for operating the robot main body based on position and force control to cause the work tool to perform work. In a robot in which a spring element for control is set in at least the working direction of the control coordinate system set in the main body, and the working tool is moved along a target path determined by a plurality of taught position target values, Remaining amount calculating means for calculating the remaining amount of work, spring constant calculating means for calculating the spring constant of the spring element based on the remaining amount of work calculated by the remaining amount calculating means, and calculation by the spring constant calculating means Based on the determined spring constant, set as a spherical range centered on the target position value
And whether the work tool has reached the position target value
Position arrival determination range calculation means for calculating a position arrival determination range set to determine whether or not, and a difference between the position target value and the position current value, and the difference is calculated by the position arrival determination range calculation means. has been determined that it contains in said position arrival determination range, the position reached
If it is within the judgment range, move to the next position target value.
A positioning device for a robot, comprising: a position arrival determining means for giving an instruction . 8. The robot positioning device according to claim 7, further comprising monitoring level setting means for setting a first position arrival determination range. 9. The robot positioning device according to claim 7 or 8, wherein the control means performs virtual compliance control.