JP3493765B2 - Industrial robot control method and device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot control method and apparatus for correcting a position error based on an arm deflection amount in position control of a teaching playback robot.

[0002]

2. Description of the Related Art In recent years, industrial robots have been required to have high positional accuracy as their application range is expanded. However, in general, industrial robots
Since the drive is performed via the reduction gear, the absolute position accuracy cannot be guaranteed due to a mechanical error represented by the deflection of the arm caused by the spring element of the reduction gear. for that reason,
Generally, at present, a so-called teaching playback system is adopted in which the arm of a robot is directly moved to directly teach a working point. In this method, even when teaching, the deflection including the weight is taught, so at the teaching point,
There is no position error due to bending. However, in order to improve work efficiency, it is necessary to avoid increasing teaching points as much as possible. Therefore, a small number of teaching points are connected by linear interpolation or the like. Then, at the taught point, an error due to bending did not occur, but at an interpolation point between them, an error occurred. The above will be described by taking a two-axis robot as shown in FIG. 2 as an example. When the motor rotation angle of the first shaft is θ ₁ and the rotation angle of the second shaft with reference to the first shaft is θ ₂ , the angles formed by the horizontal planes of the first shaft and the second shaft are θ ₁ and θ ₁ −, respectively. It becomes θ ₂ . Also, to simplify the explanation, gravity is applied only to the weight at the tip of the arm, and the deflection due to the weight is only due to the torsion due to the spring element of the reduction gear at the drive mechanism of the first shaft. To do. Then, the tip position is shown in FIG. 2 (L ₁ is the length of the first axis, L ₂ is the length of the second axis) [X, Z] = [L ₁ × cos (θ ₁ ) + L ₂ × cos ( θ ₁ −θ ₂ ), L ₁ × sin (θ ₁ ) + L ₂ × sin (θ ₁ −θ ₂ )] …………………… (1) The torque T applied to the first axis is From T = M _g × X (X is the horizontal axis distance of the tip) (2) The twist angle θ _s of the first axis is θ _s = M _g × X / K (from FIG. 3) (K is the spring constant of the first axis reducer) (3) When the first axis is twisted by the amount of twist expressed by the equation (3), it is deflected by ΔZ in the Z direction and the locus is shifted. To do. Here, _assuming that the twist amount [θ _s ] is small, the equation (1) is changed to θ
_By differentiating by ₁ , ΔZ = [dZ / dθ ₁ ] · θ _s = d [{L ₁ × cos (θ ₁ ) + L ₂ × cos (θ ₁ −θ ₂ )} / d
θ ₁ ] ・ θ _s = {L ₁ × cos (θ ₁ ) + L ₂ × cos (θ ₁ −θ ₂ )} ・ θ _s = X ・ θ _s Further, substituting the equation (3), ΔZ = M _g · X ² / K …………………… (4). That is, a trajectory deviation proportional to the square of the distance in the X direction occurs in the Z axis direction. Here, in the Z-axis direction are the same Z = Z _0, as referred to FIG. 4, X direction, consider the case of teaching the X = X _A is a point A, X = X _B at a point B.
From the equation (4), at point A, ΔZ _A = M _g · X _A ² / K ……………… (5) At point B, ΔZ _B = M _g · X _B ² / K ……… ……………… (6) Since the position deviation occurs due to the deflection, the command Z _A given from the robot controller to the positioning servo system at the time of teaching,
Z _B is Z _A = Z ₀ + ΔZ _A ...... (7) Z _B = Z ₀ + ΔZ _B ...... (8) Therefore, as the teaching points stored in the control device, the point A is (X _A , Z _A ), and the point B is (X _B ,
Z _B ) is stored. During reproduction, it operates according to the stored point information. Thus, at point A, when issued instruction to (X _A, Z _A), as the actual position, the deflection due to gravity occurs, Z-direction position at the time of reproduction Z _A 'is Z _A' = Z _A - △ _{Z a = Z 0 + △ Z} a - △ Z a = Z 0 becomes, it is positioned at the same point as the teaching position. The same applies at point B. In this way, even if the deflection due to gravity occurs, it is not affected at the teaching point. Now consider the interpolation points. At the time of reproduction, at the time of linear interpolation, the stored point A is A = (X _A , Z _A ) and the point B is B = (X _B , Z _B ) for interpolation calculation. The point A and the point B are connected by a straight line, and the points are divided at several points, which are given to the positioning servo system as a rotation angle command of the angular drive shaft every unit time.
For example, at the midpoint C between the points A and B, [X _c , Z _c ] = [(X _A + X _B ) / 2, (Z _A +
Z _B ) / 2] will be issued as a command. However, (X _A + X _B )
The amount of deflection at / 2 is ΔZ _c = M _g · {(X _A + X _B ) / 2} ² / K ……………… (9) from equation (4), so Z _c 'is, Z _c' position to operate the _{= (Z a + Z B)} / 2- △ Z c = (Z a + Z B) / 2-M g · {(X a + X B) / 2} 2 / _{K = [(Z A -M g} · X A 2 / K) + (Z B -M g · X B 2 / K)] / 2 + M g · {(X A -X B) / 2} 2 / K = Z ₀ + _Mg · {(X _A −X _B ) / 2} ² / K …………………… (10). Therefore, Z _c '= M _g · {(X _A −X _B ) / 2} ² / K ………………………… (11) It deviates from the straight line. The state of this locus is shown in FIG. As described above, also in the teaching playback method, a trajectory shift due to gravity occurs during interpolation. This deviation becomes remarkable when the distance between the teaching points to be interpolated is large as is clear from the equation (11). Conventionally, the first conventional method of eliminating this deviation has been to increase the number of teaching points. Further, as a second conventional method, for example, as disclosed in Japanese Patent Laid-Open No. 60-118478, a method of correcting an error due to deflection due to gravity is always proposed during operation, including during teaching. . In other words, the means of the second conventional method is, in an articulated robot that operates on teaching data, a means for obtaining a working joint angle of a joint portion of the robot based on the teaching data, and acts on the joint portion corresponding to the working joint angle. A means for calculating the twist amount of the motion joint angle caused by the gravity torque load, a means for calculating the actual motion joint angle from the motion joint angle and the twist amount of the robot, and outputting this to the drive system of the robot are provided. A position control device for an articulated robot.

[0003]

However, in the first conventional method of increasing the number of teaching points, the work efficiency is deteriorated.
Further, in the second conventional method, it is necessary to calculate the twist amount for each command cycle time, and in reality, it is necessary to increase the system capacity such as the CPU capacity increase, which causes a great deal of difficulty. Was there. Therefore, it is an object of the present invention to provide a control method and apparatus for compensating a trajectory deviation due to gravity so as to reduce the amount of calculation as much as possible and to increase the number of teaching points.

[0004]

In order to solve the above problems, an industrial robot control method according to claim 1 of the present invention issues an operation command to a servo system for driving each axis of a robot based on teaching data. In the teaching playback robot that outputs, when performing an interpolation operation between two teaching points during a play operation, it is determined whether or not the teaching point is longer than a certain specified distance, and the operation distance is determined from the determination result. Only when the distance is longer than the designated distance , the deflection due to gravity is compensated, and the response locus matches the command locus at least at one point on the response locus between the two teaching points excluding the two teaching points. It is characterized in that the correction is performed. Further, in the robot control method according to claim 2 of the present invention, in the deflection compensation by gravity, one or more representative points are selected in correspondence with an operation distance between teaching points and the designated certain distance. The deflection amount due to gravity at the representative point is calculated from the teaching position information, and the correction is performed so that the position correction amount becomes 0 at the teaching point from the deflection amount. Further, a robot controller according to claim 3 of the present invention is a teaching playback robot that outputs an operation command to a servo system that drives each axis of the robot based on teaching data,
When performing an interpolation operation between two teaching points during a play operation, at least one point on the response locus between the two teaching points, excluding the two teaching points, is such that the response locus matches the command locus. Compensating means for performing correction, and the compensating means has a discriminating means for discriminating whether or not the distance between the teaching points is longer than a specified fixed distance, and the discriminating means specifies the operating distance. When it is determined that it is longer than the distance
Only, and is characterized in that said compensation means has to work. Further, in the robot controller according to claim 4 of the present invention, the deflection compensation means by gravity selects one or more representative points between the taught points and calculates the deflection amount by gravity at the representative point from the taught position information. However, the present invention is characterized by having a calculating means for calculating a correction amount such that the position correction amount becomes 0 at the teaching point from the deflection amount.

[0005]

By the above means, the present invention does not increase teaching points,
In addition, it is possible to effectively compensate the trajectory deviation due to gravity deflection without increasing the amount of calculation for each cycle time extremely.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIG. 1 which is a block diagram showing a circuit configuration. Here, the present invention will be described by taking an example of a simple two-axis robot as shown in FIG. 2, which is also used in the description of the conventional technique. The symbols used here are the same as the symbols used in the first conventional method example and have the same meaning. Teaching point is point A,
Set to point B. First, in the teaching mode, the input unit 1 is used to perform normal teaching without performing the deflection correction operation. As a result, the teaching points A and B are stored in the teaching position storage unit 2. After the teaching is finished, in the play operation mode, the positions of the points A and B are read from the teaching position storage unit 2 into the interpolation distance determination unit 3 and the straight line distance between the points A and B is determined and designated in advance. It is determined whether the distance is larger than L _c . If it is larger, the deflection compensation amount calculation unit 4 operates. On the other hand, when it is small, the deflection compensation amount calculation unit 4 does not operate because the error due to the deflection is small. Then, the deflection compensation amount calculation unit 4 first calculates the amount of positional deviation due to gravity deflection at a predetermined number of points among the interpolation points between points A and B. Here, it is assumed that the point C, which is one point between the points A and B, is designated. The coordinates at the point C are (X _c , Z _c ).

There are various possible methods for calculating the amount of displacement due to gravity deflection, but here it is assumed that equation (11) is used. That is, the positional shift amount is ΔZ _c ′ = M _g · {(X _A −X _B ) / 2} ² / K ... (12). The calculation up to this point is performed only once before the operation from point A to point B is started. During the interpolation operation from the point A to the point B, the interpolation point calculation unit 5 obtains the division number N by the designated operation speed and operation clock, and obtains the target value XX _i for each operation clock. Hereafter, XX _i is a vector quantity representing the coordinate point (X _i , Z _i ) of the i-th interpolation point. At the representative point C adopted by the deflection compensation amount calculation unit 4, i
= M.

In the present invention, when the deflection compensation amount calculation unit 4 operates, the target value XX _i is XX shown in the equation (13).
Change to _i '. XX _i '= XX _i + ΔXX _i ……………… (13) ΔXX _i = f (i, ΔXX _c ) ……………… (14) where i = 0 , 1, 2, 3, ..., N The function f is ΔXX _i = ΔXX _m = (0, ΔZ _c ') when i = m, and ΔXX when i = 0, N (that is, the teaching point) _i = (0,
The one that takes the function 0) is adopted. The simplest way is to draw the following broken line. ΔXX _i = 2 × ΔXX _m × (i / N) (15) However, i ≦ N / 2. ΔXX _i = 2 × ΔXX _m × (N−i) / N (16) However, N / 2 <i ≦ N. With respect to the point XX _i 'obtained by the equation (13), the operation target values θ _1i and θ _2i of each axis are obtained by inverse conversion and used as commands for each axis servo system.

Assuming that each axis positioning servo system operates as instructed, the error at the interpolation point XX _i 'is the error ΔZ _d between the points A and C at the intermediate point D between the points A and C. Is the largest, and if this is calculated in the same manner as the calculation in equation (11), ΔZ _d '= M _g · {(X _A −X _c ) / 2} ² / K …………………… ( 17). Here, (X _A −X _c ) = (X _A −X _B ) / 2
Therefore, ΔZ _d ′ = ΔZ _c ′ / 4 …………………… (18). The same can be considered between points C and B, and the maximum error value is given by equation (18). That is, the error can be reduced to 1/4.

Here, the case where only the simplest one intermediate point is taken has been described, but if the calculation time has a margin, the number of points can be increased, and the same can be done in that case. In that case, as the number of points increases, the position error decreases. Further, although the case where only the first axis is deflected has been illustrated, it is clear that the same can be done even when the axis is multi-axis.

[0011]

As described above, according to the present invention, the number of teaching points is not increased and the amount of calculation for each cycle time is not extremely increased, and it is effective, efficient and highly accurate. The special effect of compensating the trajectory deviation due to the deflection due to gravity can be achieved.

[Brief description of drawings]

FIG. 1 is a conceptual block diagram showing a circuit configuration of an embodiment of the present invention.

FIG. 2 is a schematic diagram of a two-axis robot and a coordinate system diagram.

FIG. 3 is a conceptual diagram for explaining a flexure amount of a two-axis robot due to gravity.

FIG. 4 is a teaching point diagram for explaining a conventional example.

FIG. 5 is a conceptual diagram for explaining a state of positional deviation according to a conventional example.

[Explanation of symbols]

1 Input means (teaching mode) 2 Teaching position storage unit 3 Interpolation distance determination unit 4 Deflection correction amount calculation unit 5 Interpolation point calculator 6 Joint angle calculator 7 Each axis servo system 8 Robot mechanism

─────────────────────────────────────────────────── ─── Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B25J 9/10 B25J 13/00 G05B 19/404 G05B 19/41

Claims (4)

(57) [Claims] 1. A teaching playback robot that outputs an operation command to a servo system that drives each axis of a robot based on teaching data, when a teaching operation is performed when an interpolation operation is performed between two teaching points during a play operation. It is determined whether the distance is longer than a specified distance, and when the motion distance is longer than the specified distance from the result of the determination.
Only, the deflection due to gravity is compensated, and correction is performed so that the response locus matches the command locus at least at one point or more on the response locus between the two teaching points excluding the two teaching points. Industrial robot control method. 2. In the deflection compensation by gravity, one or more representative points are selected in accordance with an operation distance between teaching points and the specified certain distance, and the deflection amount by gravity at the representative point is determined. 2. The method for controlling an industrial robot according to claim 1, wherein a correction is performed based on the teaching position information, and a correction is made so that the position correction amount becomes 0 at the teaching point based on the deflection amount. 3. A teaching playback robot that outputs an operation command to a servo system that drives each axis of a robot based on teaching data, when performing an interpolation operation between two teaching points during a play operation, Except for one teaching point, at least one point on the response locus between the two teaching points has a compensating means for performing correction so that the response locus coincides with the command locus, It has a discriminating means for discriminating whether or not it is longer than a certain specified distance, and the discriminating means operates the compensating means only when it is discriminated that the operating distance is longer than the designated distance. A control device for an industrial robot characterized by the above. 4. The deflection compensating means by gravity selects one or more representative points between teaching points, calculates the amount of deflection due to gravity at the representative points from the teaching position information, and from the deflection amount, 4. A calculation means is provided for calculating a correction amount such that the position correction amount becomes zero.
Controller for the industrial robot described.