JP7351935B2 - Control device, control method, information processing device, and information processing method - Google Patents

Description

This specification discloses a control device, a control method, an information processing device, and an information processing method.

Conventionally, arm robots have been proposed that include actuators that drive each joint, and that operate the robot arm by correcting a specified target position using correction parameters (for example, see Patent Document 1). In this articulated arm robot, necessary work accuracy can be ensured by reflecting correction parameters in which spatial coordinate values and correction values are associated with each other for a plurality of work points on the target position.

International Publication No. 2018/092243 pamphlet

However, in the apparatus of Patent Document 1 mentioned above, although the necessary working accuracy can be ensured by correcting the target position, it is still not sufficient, and it has been desired to further improve the working accuracy.

The present disclosure has been made in view of such problems, and its main purpose is to provide a control device, a control method, an information processing device, and an information processing method that can further improve the work accuracy of an arm robot.

The control device, control method, information processing device, and information processing method disclosed in this specification employ the following means to achieve the above-mentioned main purpose.

The control device of the present disclosure includes:
A control device that controls an arm robot equipped with an arm that rotates around a rotation axis,
a storage unit that stores correction information including a correction angle of the rotation axis when the arm is placed at the target position;
a control unit that acquires the correction angle with respect to the target position included in the correction information and rotates the arm based on the correction angle;
It is equipped with the following.

In this control device, correction information including the correction angle of the rotation axis when the arm of the arm robot is placed at the target position is stored in the storage unit, and the correction angle with respect to the target position included in the correction information is acquired. Rotate the arm based on the correction angle. Since this control device directly corrects the angle of the rotation axis to be controlled, it is possible to improve work accuracy more than, for example, a control device that indirectly corrects the target position.

1 is a schematic explanatory diagram showing an example of a work work system 10 and a setting system 40. FIG. FIG. 3 is an explanatory diagram of an example of correction information 34 stored in a storage unit 33; 5 is a flowchart showing an example of a correction information setting processing routine. An explanatory diagram of indicated values and measured values. FIG. 7 is an explanatory diagram of another example of arm arrangement. 5 is a flowchart showing an example of a work processing routine. FIG. 3 is an explanatory diagram of a target position e that exists other than the specified point. FIG. 4 is an explanatory diagram of positional deviation amounts in angle correction and position correction.

Embodiments of a workpiece system 10 and a setting system 40 disclosed in this specification will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a work work system 10. As shown in FIG. FIG. 2 is an explanatory diagram of an example of the correction information 34 stored in the storage unit 33. The work work system 10 is configured to include a plurality of arm robots 20 that perform predetermined work on a work target article (work W). The workpiece work system 10 includes one or more arm robots 20, a base 11 on which the arm robots 20 are arranged, a transport unit 12 that transports and fixes a work member 13 on which a work W is placed to a work area, and an arm. It also includes a control PC 30 that controls the robot 20. Note that the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) of the workpiece work system 10 are as shown in FIG. Furthermore, since the arm robot 20 is movable in all directions, there is no fixed direction; however, for convenience of explanation, the direction shown in FIG. This will be explained as a front-back direction (Y-axis) and an up-down direction (Z-axis).

The arm robot 20 is configured as a device that performs a predetermined work on a work W as a work target. Examples of the work W include various parts such as mechanical parts, electrical parts, electronic parts, and chemical parts, as well as food, bio, and biological-related articles. Predetermined work includes, for example, movement work to collect, move, and arrange parts from a collection position to a placement position, assembly work to assemble parts, processing work to perform processing, coating work to apply a viscous material, and heating work to heat. Examples include processing operations that perform chemical and/or physical predetermined treatments, and inspection operations that perform inspections. Examples of assembly work include tightening fastening members such as screws and bolts, inserting connectors, routing work for wiring, fitting parts, attaching members, and holding down workpieces. Can be mentioned. Examples of processing operations include grinding operations, cutting operations, deformation operations, connection operations, and joining operations. Examples of the viscous material include adhesives, solder pastes, and greases. The inspection work includes, for example, the work of inspecting the results of one or more of the above-mentioned works, and may also involve the work of moving the workpiece W.

This arm robot 20 is a working robot that includes an arm 21 that rotates around a rotation axis 24 . The arm robot 20 includes an arm 21, an end effector 22, and a drive section 23. The arm 21 is a multi-joint arm and includes a first arm 21a and a second arm 21b. The end effector 22 is a member that performs a predetermined operation on the work W, and is rotatably connected to the tip of the arm 21. The drive unit 23 is a motor that drives the arm 21. This drive unit 23 rotationally drives a first rotation shaft 24a connected to the first arm 21a and a second rotation shaft 24b connected to the second arm 21b. Note that here, the first arm 21a and the second arm 21b are collectively referred to as the arm 21, and the first rotation shaft 24a and the second rotation shaft 24b are collectively referred to as the rotation shaft 24.

The control PC 30 is a computer that controls the entire arm robot 20 included in the workpiece work system 10. This control PC 30 includes a control device 31, a display section 38, and an input device 39. The control device 31 has the function of the control device of the present disclosure. The control device 31 is configured as a microprocessor centered around a CPU 32, and includes a storage section 33 that stores data. The control device 31 outputs a drive signal to the drive unit 23 of the arm robot 20 and the like. The display unit 38 displays a screen containing information regarding the arm robot 20, and is, for example, a liquid crystal display. The input device 39 is a mouse, keyboard, or the like for performing various inputs.

The storage unit 33 is configured as a large-capacity storage device such as an HDD, for example. The storage unit 33 stores correction information 34 used to control the arm 21 and the like. As shown in FIG. 2, the correction information 34 includes the correction angle of the rotation shaft 24 when the arm 21 is placed at a designated point as a target position. The designated points are coordinate points forming a three-dimensional matrix within the range of motion in which the arm 21 can work. These specified points are determined at equal intervals in the space of the X, Y, and Z axes. In this correction information 34, the correction angle corresponding to the first arm 21a and the second arm 21b is determined for each specified point. are matched. Each designated point is associated with a correction angle that is actually measured by a correction information setting process that will be described later. In FIG. 2, in the correction information 34, for convenience of explanation, the angle correction value of the first rotation axis 24a is defined as ΔQj1, and the angle correction value of the second rotation axis 24b is defined as ΔQj2. , is associated with the coordinates of the specified point. The correction angle is defined as a value that subtracts the difference between the target position and the tip position (actually measured position) of the arm 21 when the rotation shaft 24 is rotated at a specified angle to move the arm 21 to the target position. The control device 31 acquires the correction information 54 created by the setting system 40 and stores it in the storage unit 33 as the correction information 34.

The setting system 40 is configured as a system that performs pre-shipment adjustment of the workpiece system 10, and executes, for example, a process of setting values used to control the arm robot 20. The setting system 40 includes an information processing PC 50 and an optical tracking device 60.

The information processing PC 50 is a computer that measures the motion of the arm robot 20 included in the workpiece work system 10 and sets values used to control the arm robot 20. This information processing PC 50 includes a control device 51, a display section 58, and an input device 59. The control device 51 has the function of the information processing device of the present disclosure, and also has the function of the control device 31 that controls the arm robot 20. The control device 51 is configured as a microprocessor centered around a CPU 52, and includes a storage section 53 for storing data. The control device 51 sets, for example, correction information 54 including a correction angle used by the arm robot 20 and outputs it to the workpiece work system 10. The control device 51 outputs control signals to the optical tracking device 60 and the like, and inputs measurement signals and the like from the optical tracking device 60. The storage unit 53 stores correction information 54 used by the arm robot 20 and the like. The display unit 58 displays a screen containing information regarding the work system 10, and is, for example, a liquid crystal display. The input device 59 is a mouse, keyboard, or the like for performing various inputs.

The optical tracking device 60 is, for example, a device that determines the three-dimensional coordinates of a measurement target by irradiating the measurement target with a laser. This optical tracking device 60 is a device that determines the three-dimensional coordinates of a work point at the tip of the arm 21 when the arm 21 moves to a designated point that is a target position. This optical tracking device 60 allows the amount of deviation between the designated point and the working point of the arm 21 to be grasped.

Next, the operation of the setting system 40 of this embodiment configured as described above, particularly the process of determining a correction angle for correcting the positional deviation of the arm 21 of the arm robot 20, will be described. Here, for convenience of explanation, the rotation angles of two arms, the first arm 21a and the second arm 21b, will be explained as an example (see FIGS. 4 and 5). FIG. 3 is a flowchart showing an example of a correction information setting processing routine executed by the CPU 52 of the information processing PC 50. FIG. 4 is an explanatory diagram of indicated values and measured values in XY coordinates. FIG. 5 is an explanatory diagram of another example of arm arrangement. The correction information setting processing routine is stored in the storage unit 53 and executed in response to an operator's start input. When setting correction values for the arm robot 20 before shipping the workpiece work system 10, the operator connects the information processing PC 50 to the arm robot 20, places the optical tracking device 60, and then starts the process on the information processing PC 50. Make input.

When this routine is started, the CPU 52 of the control device 51 sets a designated point from which a correction angle is to be determined (S100). The designated points are set in a three-dimensional matrix of the movement range of the arm 21, and are set in a predetermined order, for example, starting from the origin. Here, designated point a (Xa, Ya) is set (FIG. 4). Note that in FIGS. 4 and 5, the coordinates of specified points a to d on the XY plane are shown for convenience of explanation. Next, the CPU 52 determines an instruction angle for rotating each arm 21 based on inverse kinematics so that the working point P at the tip of the arm 21 overlaps the specified point with a predetermined arrangement of the arms 21 (S110); The arm 21 is controlled using the determined angle (S120). For example, as shown in FIG. 4, the CPU 52 sets the first rotation axis 24a at the specified angle Qj1a and the second rotation axis 24b at the specified angle Qj1a so that the work point P overlaps the designated point a (Xa, Ya) that has been set. The designated angle Qj2a is set, and the drive unit 23 is controlled so as to attain the designated angle.

Next, the CPU 52 causes the optical tracking device 60 to measure the coordinates of the work point P, acquires the measured coordinates of the work point P from the optical tracking device 60 (S130), and calculates the distance of the difference between the specified point and the work point P. The correction angle of each rotating shaft 24 to be subtracted is determined (S140). As shown in FIG. 4, the CPU 52 acquires measurement coordinates (Xa', Ya'...Xd', Yd') for the specified point (Xa, Ya...Xd, Yd), and From the relationship, if the angle of the rotation axis 24 is found using inverse kinematics (f(X, Y) = Qj1, Qj2), the specified angle (Qj1a, Qj2a...Qj1d, Qj2d) with respect to the specified point is Measurement angles (Qj1a', Qj2a'...Qj1d', Qj2d') are obtained with respect to the measurement coordinates. The difference value between the specified angle and the measured angle is defined as a correction angle (△Qj1a, △Qj2a...△Qj1d, △Qj2d) at which the measured coordinate and the specified point overlap, respectively. Note that the correction angle △Qj1a is the correction value (Qj1a'-Qj1a) of the first rotation axis 24a at the specified point a, and the correction angle △Qj2a is the correction value ( Qj2a'-Qj2a).

Subsequently, the CPU 52 stores the obtained correction angle in association with the specified point in the correction information 54 (S150), and determines whether correction angles have been obtained for all specified points in the current arrangement of the arm 21. (S160). When the correction angles have not been determined for all designated points, the CPU 52 executes the processes from S100 onwards. That is, the CPU 52 sets the next designated point, controls the arm 21 so that the working point overlaps the designated point, and adjusts the correction angle of the rotation axis 24 to reduce the deviation between the actual working point P and the designated point. It is determined and stored in the correction information 54.

On the other hand, when the correction angles are obtained for all specified points in the current arrangement of the arm 21 in S160, the CPU 52 determines whether there is another arrangement of the arm 21 in which the specified point and the work point P overlap. A determination is made (S170). If there is another arrangement of the arm 21, the CPU 52 changes the arrangement position of the arm 21 (S180) and executes the processes from S100 onwards. As shown in FIG. 5, depending on the position of the designated point, the arms 21 can overlap the working point P on the designated point by arranging a plurality of arms 21 in a so-called left-handed or right-handed system. The CPU 52 also obtains correction angles for such other patterns. On the other hand, if it is determined in S170 that no other arm 21 is located, the CPU 52 outputs the correction information 54 to the control PC 30 (S190), and ends this routine. In this way, the CPU 52 sets a correction angle for correcting the angle of the rotating shaft 24 for each designated point, and stores it in the control PC 30 as the correction information 34.

Next, the operation of the workpiece work system 10, particularly the process of controlling the arm robot 20 using the correction information 34, will be described. FIG. 6 is a flowchart showing an example of a work processing routine executed by the CPU 32 of the control PC 30. FIG. 7 is an explanatory diagram of a target position e that exists other than the designated point. The work processing routine is stored in the storage unit 33 and executed in response to a start input from the worker. A specific example will be described in which the arm robot 20 performs a process of moving the work W from the supply position to the target position e (Xe, Ye) on the work member 13.

When this routine starts, the CPU 32 of the control device 31 acquires the target position for the arm robot 20 to perform the work (S200), and moves the arm to the target position based on the inverse kinematics according to the predetermined arrangement position of the arm 21. An instruction angle for rotating each arm 21 is determined so that the working points P of 21 overlap each other (S210). In the arm robot 20, the preferential arrangement position of the arm 21 is predetermined depending on the working environment, such as whether the arm 21 operates with the left arm system or the right arm system. Next, the CPU 32 extracts a designated point close to the target position from the correction information 34, and determines whether the target position has the same coordinates as the designated point (S220). When the target position has the same coordinates as the specified point, the correction angle of each rotation axis 24 associated with the specified point can be used as is, so the CPU 32 acquires the correction angle from the correction information 34 (S240), The rotation shaft 24 is rotated using the value obtained by correcting the indicated angle with the obtained correction angle (S270).

On the other hand, if the target position is not at the same coordinates as the specified point in S230, the CPU 32 performs interpolation processing to calculate the most effective correction angle (S250 to S260). Specifically, the CPU 32 obtains the correction angle of the specified point extracted in S220 (S250), performs weighting in inverse proportion to the distance between the target position and the specified point, and derives the correction angle (S260). Then, the CPU 32 rotates the rotation shaft 24 using the value obtained by correcting the designated angle with the derived correction angle (S270). Here, the CPU 32 weights the correction angles of a plurality of specified points close to the target position in inverse proportion to the distance from the target position to the specified point as correction angle interpolation for target positions other than the specified point. The corrected angle is derived. That is, when the target position is between a plurality of specified points, the CPU 32 calculates a correction angle that is more influenced by the specified point that is closer to the target position.

Derivation of the correction angle will be explained using a specific example. Here, as shown in FIG. 7, a case where the target position e (Xe, Ye) exists between designated points a to d will be described. Furthermore, the distances La to Ld are the distances between the specified points a to d and the target position e, respectively. When driving the arm 21 to the target position e, for example, an angular error at the specified point a affects the target position e by the amount expressed by equations (1) and (2). That is, in the first rotation axis 24a, the correction angle ΔQj1a associated with the specified point a is multiplied by the distances La to Ld and divided by La, and then the remaining term, which does not include the distance from one specified point, is The sum of the values obtained by multiplying all the distances for each specified point (Lb x Lc x Ld + La x Lc x Ld + La x Lb x Ld + La x Lb x Lc: hereinafter also referred to as the distance factor between specified points) The divided value affects the target position e. Similarly, in the second rotation axis 24b, the target position e is affected by the value obtained by multiplying the correction angle ΔQj2a by the distances La to Ld and dividing by La by the distance factor. Then, since the specified points a to d have an influence on the target position e, the correction angle at the target position e can be calculated using the formula ( With respect to the correction angle △Qj1e in 3) and the second rotation axis 24b, the correction angle △Qj2e in equation (4) is calculated. In this way, when the CPU 32 acquires a target position existing between specified points, it extracts a plurality of specified points close to the target position, and sets the correction angle of the extracted specified points to the specified points other than the specified points. The values multiplied by the distance to the target position are added together, and the weighted correction angle is obtained by dividing by the distance factor between the specified points and interpolating the weighted correction angle.

After controlling the rotating shaft 24 at the specified angle corrected by the correction angle in S270, the CPU 32 determines whether all the work of the arm robot 20 has been completed (S280), and if all the work has not been completed, The processes from S200 onward are repeatedly executed. On the other hand, when all the work is completed in S280, the CPU 32 ends this routine.

Here, the correction accuracy based on the correction angle included in the correction information 34 was actually examined. FIG. 8 is an explanatory diagram of positional deviation amounts in angle correction and position correction. FIG. 8 shows the results of determining the difference (distance) between the target position (true value) and the measured position when the yaw of the second joint J2 of the 5-axis arm robot is twisted by 0.5°. Note that although the description will be made using XY plane coordinates for the sake of simplicity, the present invention can also be applied to XYZ three-dimensional coordinates. For example, in an XY robot, in order to guarantee absolute accuracy, correction may be performed by adding a correction value to the target position (X, Y). When this is applied to an arm robot, correction values are added or subtracted to the target position (X, Y) to correct the XY coordinates (X', Y'), and this is applied to the indicated angle of each rotation axis 24 based on inverse kinematics. This is a conversion process (Qj1, Qj2). This is called position correction. On the other hand, in the angle correction of the present disclosure, the indicated angle (Qj1', Qj2') of each rotation axis 24 is obtained from the target position (X, Y) based on inverse kinematics, and the angle correction (△Qj1, △Qj2) is applied to this. ) is taken into account and the designated angles (Qj1, Qj2) of each rotation shaft 24 are determined. As shown in Figure 8, angle correction has been shown to have higher accuracy than indirect correction that converts position to angle because it corrects the indicated angle, which is a direct command value. Ta. In this way, it has been found that by using the correction angle, absolute accuracy can be given to arm robots that are generally controlled by teaching.

Here, the correspondence between the constituent elements of this embodiment and the constituent elements of the present invention will be clarified. The control device 31 of this embodiment corresponds to the control device of the present disclosure, the arm robot 20 corresponds to an arm robot, the arm 21, the first arm 21a, and the second arm 21b correspond to the robot arm, and the rotation axis 24 , the first rotation axis 24a and the second rotation axis 24b correspond to rotation axes, the storage section 33 corresponds to a storage section, the correction information 34 corresponds to correction information, and the CPU 32 corresponds to a control section. Furthermore, the control device 51 corresponds to an information processing device, the CPU 52 corresponds to a setting section, and the optical tracking device 60 corresponds to an optical tracking device. Note that in this embodiment, an example of the control method of the present disclosure is clarified by explaining the operation of the control device 31, and an example of the information processing method of the present disclosure is also clarified by explaining the operation of the control device 51. is made clear.

The control PC 30 of the embodiment described above includes a control device 31 that controls an arm robot equipped with an arm 21 that rotates around a rotation axis 24, and when the arm 21 is placed at a designated point as a target position. As a storage unit 33 that stores correction information 34 including the correction angle of the rotation axis 24 of It is equipped with a CPU 32. In this control device 31, correction information 34 including the correction angle of the rotation axis 24 when the arm 21 of the arm robot 20 is placed at the target position is stored in the storage unit 33, and A correction angle is obtained, and the arm 21 is rotated based on this correction angle. Since this control device 31 directly corrects the angle of the rotating shaft 24 to be controlled, it is possible to improve work accuracy more than, for example, a device that indirectly corrects the target position.

In addition, the storage unit 33 stores correction information 34 in which the correction angle of the rotation axis 24, which is set based on the angle of the rotation axis 24 measured when the arm 21 is placed at the specified point, is associated with each specified point. , and the CPU 32 weights the correction angles of a plurality of specified points close to the target position in inverse proportion to the distance from the target position to the specified point, as correction angle interpolation for target positions other than the specified point. The corrected angle is derived, and the arm 21 is rotated based on the derived corrected angle. In this control device 31, target positions other than the designated point for which the correction angle is directly set are weighted in inverse proportion to the distance to the designated point, that is, the correction value of the closer designated point is stronger. Since the influencing correction angle is determined by interpolation, work accuracy can be further improved even for target positions other than designated points. Further, the arm robot 20 is a multi-joint robot including a first arm 21a and a second arm 21b as the arm 21, and the storage unit 33 corresponds to specified points in three-dimensional coordinates including the X-axis, Y-axis, and Z-axis. The CPU 32 stores the correction information 34 including the correction angle of the attached rotating shaft 24, and when the CPU 32 acquires a target position existing between specified points, extracts a plurality of specified points close to this target position, and performs an extraction process. A value obtained by multiplying the corrected angle of the specified point by the distance between the specified point other than the specified point and the target position is added, and weighting is performed by dividing the value by the distance factor between the specified points. This control device 31 can derive an appropriate correction angle according to the distance between the designated point on the three-dimensional coordinates and the target position.

Furthermore, when a plurality of arrangement positions exist for the first arm 21a and the second arm 21b when arranging the arm 21 to the target position, the storage unit 33 stores information set for each of the plurality of arrangement positions. The CPU 32 stores the correction information 34 including the correction angle, obtains the correction angle according to the target position and the arrangement position of the arm 21, and rotates the arm 21 based on the correction angle. This control device 31 can perform appropriate correction depending on the arrangement position of the arm 21. When the CPU 32 acquires the target position, the CPU 32 acquires the designated angle of the rotation axis 24 based on inverse kinematics, acquires a correction angle based on the correction information 34, and corrects the designated angle with the correction angle. Rotate the arm at the corrected specified angle. In this control device 31, the position of the arm 21 can be directly corrected by operating the arm 21 based on inverse kinematics, so that work accuracy can be further improved.

Further, the information processing PC 50 is an information processing device that sets a correction value for correcting the position of the arm robot 20 including the arm 21 that rotates around the rotation axis 24. This control device 51 acquires the position of the arm 21 measured when the arm 21 is placed at a specified point as a target position, calculates the correction angle of the rotation axis 24, and calculates the correction angle of the rotation axis 24, including the correction angle at a plurality of specified points. A CPU 52 is provided as a setting unit that sets correction information 54. In this information processing PC 50, the angle of the rotation axis 24 is obtained from the position of the arm 21 measured when the arm 21 is placed at a specified point as a target position, the correction angle of the rotation axis 24 is obtained, and a plurality of correction angles are obtained. Correction information 54 including the correction angle at the designated point is set. Like the control device 31, this information processing PC 50 directly corrects the angle of the rotation axis 24 to be controlled. The work accuracy can be further improved.

In addition, when a plurality of placement positions exist for the first arm 21a and the second arm 21b when placing the arm 21 at the target position, the CPU 52 includes correction angles corresponding to each of the plurality of placement positions. The correction information 34 is set. This information processing PC 50 can perform appropriate correction according to the arrangement position of the arm 21. Furthermore, the CPU 52 determines a correction angle that reduces the difference between the position of the arm 21 and the target position when the rotation shaft 24 is rotated at the specified angle to move the arm 21 to the target position. This information processing PC 50 can determine a more appropriate correction angle. Furthermore, the CPU 52 acquires the position of the arm 21 measured by the optical tracking device 60 from the optical tracking device 60, and uses the acquired position of the arm to determine the correction angle. This information processing PC 50 can use the optical tracking device 60 to find a more appropriate correction angle.

It goes without saying that the present disclosure is not limited to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the embodiment described above, a case has been described in which there is both the work work system 10 and the setting system 40, but it is also possible to have only the work work system 10 or only the setting system 40. Further, in the embodiment described above, the correction value is set in the setting system 40 at the time of shipping the workpiece work system 10, but the present invention is not particularly limited to this. For example, the function of the information processing PC 50 may be added to the control PC 30 so that the control PC 30 can set the correction angle. This control PC 30 allows regular adjustment of the working robot 20.

In the embodiment described above, the control PC 30 uses a correction angle weighted according to the distance, but this process may be omitted. For example, the control device 31 may store correction information 34 that increases the density of specified points, and then uses the correction angle of the specified point that is closest. This control device 31 also makes it possible to further improve the working accuracy of the arm robot 20.

In the embodiment described above, when there are a plurality of arrangement positions of the arm 21, the storage section 33 stores the correction information 34 including a plurality of correction angles corresponding thereto. The correction information 34 may include, without limitation, only the correction angle for the arrangement of the arm 21 used in the work robot 20. Also in this control device 31, by using the correction information 34, the work accuracy of the arm robot 20 can be further improved. In addition, when there are multiple positions for arm 21, the information processing PC 50 calculates multiple correction angles corresponding to the positions; The correction angle may be calculated.

In the embodiment described above, the information processing PC 50 acquires the position coordinates of the arm 21 from the optical tracking device 60 and sets the correction angle, but the information processing PC 50 is not limited to the optical tracking device 60 in particular. The information processing PC 50 may acquire the position coordinates of the arm 21 from another coordinate measuring device different from the optical tracking device.

In the embodiment described above, the control device 31 was described as being included in the control PC 30 connected to the outside of the arm robot 20, but the present invention is not limited to this. For example, the controller provided inside the arm robot 20 may be used as the control device. Good too. Furthermore, in the embodiments described above, the content of the present disclosure has been described as the control device 31 and the control device 51, but it may also be a control method or an information processing method. Further, it may be a program that executes a control method or a program that executes an information processing method.

Here, the control device and information processing device of the present disclosure may be configured as follows. For example, in the control device of the present disclosure, the storage unit may store, for each specified point, a correction angle of the rotation axis that is set based on a position of the arm measured when the arm is placed at the specified point. The control unit stores the associated correction information, and the control unit performs interpolation of the correction angle with respect to target positions other than the specified point with respect to the correction angles of the plurality of specified points close to the target position. A correction angle weighted in inverse proportion to the distance from the target position to the specified point may be derived, and the arm may be rotated based on the derived correction angle. In this control device, target positions other than the specified point for which the correction angle is directly set are weighted in inverse proportion to the distance to the specified point, that is, the correction value of the closer specified point has a stronger influence. Since the correction angle is determined by interpolation, the accuracy of the work can be further improved even for target positions other than designated points.

In the control device of the present disclosure that performs weighting, the arm robot is an articulated robot including a first arm and a second arm as the arms, and the storage unit is a three-dimensional robot including an X-axis, a Y-axis, and a Z-axis. The control unit stores the correction information including the correction angle of the rotation axis associated with the specified point of the coordinates, and when the control unit acquires a target position existing between the specified points, the control section A plurality of designated points are extracted, and a value obtained by multiplying the corrected angle of the extracted designated point by the distance between a designated point other than the designated point and the target position is added, and the distance factor between the designated points is calculated. The weighting may be performed by division. With this control device, it is possible to derive an appropriate correction angle according to the distance between the designated point on the three-dimensional coordinates and the target position.

In the control device of the present disclosure, the arm robot is a multi-joint robot including a first arm and a second arm as the arms, and the storage unit stores the first arm when arranging the arm to the target position. and the second arm, the correction information including the correction angle set for each of the plurality of placement positions is stored, and the control unit stores the correction information including the correction angle set for each of the plurality of placement positions, and the controller The correction angle according to the arrangement position of the arm may be obtained and the arm may be rotated based on the correction angle. With this control device, appropriate correction can be made depending on the arrangement position of the arm. Here, the basic movement of the arm is right-handed movement and left-handed movement, and the correction information includes a correction angle for right-handed movement and a correction angle for left-handed movement. good.

In the control device of the present disclosure, when the control unit obtains the target position, the control unit obtains a designated angle of the rotation axis based on inverse kinematics, and obtains the correction angle based on the correction information. The indicated angle may be corrected by the corrected angle, and the arm may be rotated at the corrected indicated angle. In this control device, by operating the arm based on inverse kinematics, the position of the arm can be directly corrected, so that work accuracy can be further improved.

The control method of the present disclosure includes:
A control method for controlling an arm robot equipped with an arm that rotates around a rotation axis,
an acquisition step of acquiring the correction angle with respect to the target position included in correction information including the correction angle of the rotation axis when the arm is placed at the target position;
a control step of rotating the arm based on the correction angle acquired in the acquisition step;
This includes:

Similar to the control device described above, this control method directly corrects the angle of the rotation axis to be controlled, so it is possible to improve work accuracy more than, for example, methods that indirectly correct the target position. Can be done. In addition, in this control method, the aspect of any of the control devices mentioned above may be adopted, and it may include the step of demonstrating the function of any of the control devices mentioned above.

The information processing device of the present disclosure includes:
An information processing device that sets a correction value for correcting the position of an arm robot equipped with an arm that rotates around a rotation axis,
Obtaining the position of the arm measured when the arm is placed at a specified point as a target position, determining a correction angle of the rotation axis, and setting correction information including correction angles at a plurality of the specified points. It is equipped with a setting section.

This information processing device obtains the angle of the rotation axis from the position of the arm measured when the arm is placed at a specified point as the target position, calculates the correction angle of the rotation axis, and corrects the rotation axis at multiple specified points. Set correction information including angle. Similar to the above-mentioned control device, this information processing device directly corrects the angle of the rotation axis to be controlled, so the accuracy of the arm robot's work is higher than, for example, a device that indirectly corrects the target position. can be further increased.

In the information processing device of the present disclosure, the arm robot is a multi-joint robot including a first arm and a second arm as the arms, and the setting unit is configured to control the first arm when arranging the arm to the target position. When a plurality of arrangement positions exist for the arm and the second arm, the correction information including the correction angles corresponding to each of the plurality of arrangement positions may be set. This information processing device can perform appropriate correction depending on the arrangement position of the arm.

In the information processing device of the present disclosure, the setting unit includes the correction that reduces a difference between the position of the arm and the target position when the rotation axis is rotated at an instruction angle for moving the arm to the target position. It may also be used to find the angle. With this information processing device, a more appropriate correction angle can be determined.

In the information processing device of the present disclosure, the setting unit may acquire the position of the arm measured by an optical tracking device from the optical tracking device, and determine the correction angle using the acquired position of the arm. . In this information processing device, a more appropriate correction angle can be determined using an optical tracking device. Examples of this optical tracking device include a laser tracking device.

The information processing method disclosed herein is
An information processing method for setting a correction value for correcting the position of an arm robot equipped with an arm rotating around a rotation axis, the method comprising:
a derivation step of obtaining the position of the arm measured when the arm is placed at a designated point as a target position to obtain a correction angle of the rotation axis;
a setting step of setting correction information including correction angles at the plurality of specified points;
This includes:

Similar to the above-mentioned information processing device, this information processing method directly corrects the angle of the rotation axis to be controlled. Accuracy can be further improved. Note that this information processing method may adopt an aspect of any of the above-mentioned information processing apparatuses, or may include a step of realizing the functions of any of the above-mentioned information processing apparatuses.

The present disclosure can be used in the field of work robots including robot arms.

10 workpiece work system, 11 base, 12 transport unit, 13 work member, 20 arm robot, 21 arm, 21a first arm, 21b second arm, 22 end effector, 23 drive unit, 24 rotation axis, 24a th 1 rotation axis, 24b 2nd rotation axis, 30 control PC, 31 control device, 32 CPU, 33 storage section, 34 correction information, 38 display section, 39 input device, 40 setting system, 50 information processing PC, 51 control device, 52 CPU, 53 storage section, 54 correction information, 58 display section, 59 input device, 60 optical tracking device, W work.

Claims (11)

A control device that controls an arm robot equipped with an arm that rotates around a rotation axis,
a storage unit that stores correction information including a correction angle of the rotation axis when the arm is placed at the target position;
a control unit that acquires the correction angle with respect to the target position included in the correction information and rotates the arm based on the correction angle;
Equipped with
The storage unit stores the correction information in which a correction angle of the rotation axis, which is set based on a position of the arm measured when the arm is placed at a specified point, is associated with each specified point. ,
The control unit calculates a distance from the target position to the specified point with respect to the correction angle of the plurality of specified points close to the target position as interpolation of the correction angle with respect to the target position other than the specified point. A control device that derives a correction angle that is weighted in inverse proportion to and rotates the arm based on the derived correction angle. A control device that controls an arm robot equipped with an arm that rotates around a rotation axis,
a storage unit that stores correction information including a correction angle of the rotation axis when the arm is placed at the target position;
a control unit that acquires the correction angle with respect to the target position included in the correction information and rotates the arm based on the correction angle ,
The storage unit stores the correction information in which a correction angle when the specified point is placed as the target position is associated with each specified point,
When the target position is other than the specified point, the control unit may adjust the correction angle of the plurality of specified points close to the target position to be inversely proportional to the distance from the target position to the specified point. A control device that obtains a correction angle derived by performing weighting . The arm robot is a multi-joint robot including a first arm and a second arm as the arms,
The storage unit stores the correction information including a correction angle of the rotation axis associated with the designated point of three-dimensional coordinates including the X-axis, Y-axis, and Z-axis,
When the control unit obtains the target position existing between the specified points, the control unit extracts a plurality of the specified points close to the target position, and adds specified points other than the specified points to the correction angle of the extracted specified points. The control device according to claim 2, wherein the weighting is performed by adding values obtained by multiplying the distance between the designated points and the target position, respectively, and dividing the result by a distance factor between the designated points. The arm robot is a multi-joint robot including a first arm and a second arm as the arms,
When a plurality of arrangement positions exist for the first arm and the second arm when arranging the arm at the target position, the storage unit stores the information set for each of the plurality of arrangement positions. storing the correction information including a correction angle;
The control according to any one of claims 1 to 3, wherein the control unit acquires the correction angle according to the target position and the arrangement position of the arm, and rotates the arm based on the correction angle. Device. When the target position is acquired, the control unit acquires an instruction angle of the rotation axis based on inverse kinematics, acquires the correction angle based on the correction information, and converts the instruction angle into the correction angle. 5. The control device according to claim 1, wherein the control device rotates the arm at the corrected specified angle. A control method for controlling an arm robot equipped with an arm that rotates around a rotation axis,
an acquisition step of acquiring the correction angle with respect to the target position included in correction information including the correction angle of the rotation axis when the arm is placed at the target position;
a control step of rotating the arm based on the correction angle acquired in the acquisition step ,
In the acquisition step, based on the correction angle when the specified point is the target position, the distance from the target position to the specified point is determined with respect to the correction angle for the plurality of specified points in the vicinity of the target position. A control method that obtains the derived correction angle by weighting the angle inversely proportional to the angle . An information processing device that sets a correction value for correcting the position of an arm robot equipped with an arm that rotates around a rotation axis,
The position of the arm measured when the arm is placed at a specified point as a target position is obtained, the correction angle of the rotation axis is determined, and the correction angle at the plurality of specified points and the correction angle of the rotation axis are calculated from the target position. An information processing device comprising: a setting unit configured to set correction information including a correction angle derived by weighting the correction angles of the plurality of specified points in inverse proportion to a distance to the specified point. The arm robot is a multi-joint robot including a first arm and a second arm as the arms,
If a plurality of arrangement positions exist for the first arm and the second arm when arranging the arm at the target position, the setting unit performs the correction corresponding to each of the plurality of arrangement positions. The information processing device according to claim 7, wherein the correction information includes an angle. 7 or 8, wherein the setting unit calculates the correction angle that reduces a difference between the position of the arm and the target position when the rotation axis is rotated at an instruction angle for moving the arm to the target position. 8. The information processing device according to 8. The setting unit acquires the position of the arm measured by an optical tracking device from the optical tracking device, and determines the correction angle using the acquired position of the arm. The information processing device described. An information processing method for setting a correction value for correcting the position of an arm robot equipped with an arm rotating around a rotation axis, the method comprising:
a derivation step of obtaining the position of the arm measured when the arm is placed at a designated point as a target position to obtain a correction angle of the rotation axis;
Setting correction information including correction angles at the plurality of specified points and correction angles derived by weighting the correction angles at the plurality of specified points in inverse proportion to the distance from the target position to the specified point. The configuration steps to
Information processing methods including.

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