JPH01237703A - Robot teaching device - Google Patents

Abstract

PURPOSE:To generate data, which satisfy an operating purpose to consider dynamics, immediately after teaching data are inputted and to speedily execute a teaching work with high efficiency by displaying robot operation with changing the color of joint, whose joint load arithmetic value goes over a joint load setting value to be set in advance, when the robot operation is graphic-displayed. CONSTITUTION:The operation target value of a robot is inputted by an input device and the joint load of robot arms 4 and 5 of the robot is calculated based on the operation target value which is inputted, by a load arithmetic means 2a. The robot operation is calculated by an attitude arithmetic means 2b based on the joint load and the robot operation is graphic-displayed on a display device 3. The target value of the arm 4 before one time point and the newest target value are interpolated by the means 2a and a smooth operating target track is prepared. Then, dynamic operation is executed according to the track. The motion of the arm 4 is simulated by resolving the equation of motion by the means 2b and a result is displayed on a screen in a different color from the display of the means 2a.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a robot teaching device having a plurality of joints,
In particular, the present invention relates to a robot teaching device that efficiently teaches robot movements by performing dynamic calculations.

[Conventional technology]

Conventional robot teaching devices perform teaching operations by inputting coordinates according to the movement of a virtual robot on a graphic display device, as described in Japanese Patent Laid-Open No. 177578/1983.

[Problem to be solved by the invention]

The above conventional technology teaches using the robot's geometric data and does not take into account the load torque applied to the joints when the robot moves.Therefore, it is verified with the actual machine whether the movement objective can be achieved with the above teaching data. There was a problem that it was inefficient.

An object of the present invention is to provide a robot teaching device that can obtain teaching data at high speed and with high efficiency without verifying the teaching work of a teaching robot using an actual machine.

[Means to solve the problem]

The above purpose is to calculate the load calculation means for calculating the joint load torque for the operation date M4H input from the input means based on the robot displayed using the display means, and to calculate the posture of the mouth pot based on the results calculated by the load calculation means. By displaying the results calculated by the posture calculation means using the display means, the instructor is shown the possible movements of the robot based on the input movement target value, and the robot is operated based on this. This is achieved by changing the target value using an input means.

[Effect]

The load calculation means creates a smooth target movement trajectory based on the movement target value series input from the input device and calculates the load torque based on this, and the posture calculation means calculates the possible positions of the robot machine 4W based on the load torque series. The attitude is calculated, and the display device displays the attitude calculation result.
(In other words, in the case of overload), the load torque is replaced with the set value and the attitude is calculated. At the same time, the display means displays the overloaded joint in a different color from the normal color. This allows the instructor to know the robot's movement when the input target movement trajectory is input to the actual robot before inputting the movement target trajectory to the actual robot, and the robot's movement displayed on the display means is If the operation objective is not satisfied, the operation target value is changed using the input means and the calculation is performed again by the arithmetic unit to create teaching data that satisfies the operation objective. Since the motion of this teaching data has been verified in advance, when it is input to an actual robot, it is possible to realize the robot's movement that satisfies the purpose of the movement from the beginning, and the robot's movement can be taught at high speed and with high efficiency. be able to.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example in which an embodiment of the device of the present invention is applied to teaching a robot. In this figure, 1 is an input device, and a2a for inputting a target motion value of the robot arm is this motion target value. This is a load calculation means that creates a target movement trajectory based on the , and calculates the load torque based on this. Reference numeral 2b represents a posture calculation means that performs dynamic simulation based on the load torque calculation results and calculates changes in the posture of the robot arm from time to time. 3 is a display device that displays the movement of the robot arm input through the input device 1 or posture calculation means 2;
The movement of the robot arm and the working environment of the robot arm are graphically displayed based on the results calculated in step b. At this time, the display device 3 changes the color display of the robot arm based on the calculation result of the load calculation means 2a. That is,
When the load calculation result is less than the preset value, the joint is
(e.g.) in green, otherwise (e.g.) in red. At this time, in order to make it easier to understand, it is also effective to display overloaded joints in flashing vermilion. 4
5 is the arm to the robot 1 at the start of the teaching operation displayed on the screen of the display device 3, 5 is the robot arm at the end of the teaching operation displayed on the screen of the display device 3, and 6 is the arm to the robot 1 shown on the screen of the display device 3. It is the object of the work.

Next, the operation of one embodiment of the apparatus of the present invention described above will be explained. First, the robot arm 4 at the start of the teaching operation is displayed on the screen of the display device 3, and as the target position is input from the input means 1, the position of the robot arm 4 changes sequentially accordingly. , this target position input is sequentially input to the load calculation means 2a. Since this operation target value is a sequence of points at discrete positions, the load calculation means 2a first interpolates the target value one point before and the latest target value to create a smooth operation target trajectory. Performing dynamic calculations based on trajectories For example, dynamic calculations are accomplished by reversing the equation of motion of a multi-joint mechanism. The result of the load calculation is displayed on the posture calculation means 2b and the display bag y! 13. The posture calculation means 2b simulates the movement of the robot arm by solving the equation of motion, and transfers the result to the display device 3.The display device 3 calculates the load on the movement of the robot arm input from the posture calculation means 2b. Based on the result of means 2a, it is displayed on the screen in different colors. The instructor visually confirms the feasibility of the robot arm's movement based on the robot arm's movement and color on the screen of the display device 3, and if the robot arm's movement does not satisfy the purpose of operation, for example, a white box 1 is displayed. - If an unreasonable force is applied to the arm, change the movement target value using the input device 1, use the changed movement target value to perform load calculation and posture calculation again, and move the robot arm obtained as a result. is displayed on the screen of the display device 3.

If the movement of the robot arm on the screen of display bag ff13 satisfies the purpose of operation, the predicted load value and target movement trajectory created by load calculation means 2a and posture calculation means 2b are stored as teaching data.

The teaching data consists of the position, velocity, acceleration, or load bias of each joint of the robot arm, and can be input as is into the controller of the actual robot arm.

FIG. 2 is a block diagram showing an example of the contents of the load calculation and posture calculation described above. In a position control system having a gain of 13, a simulation is performed using a robot mechanism model 12 instead of an actual robot arm. In the calculations in the robot mechanism model 12, reference numeral 10 is a process for calculating joint torque from current position information. This is a dynamic calculation and is executed by the load calculation means 2a. Further, reference numeral 11 is a dynamic calculation for obtaining position information from joint torque, and is executed by the posture calculation means 2b.

According to this embodiment, when creating teaching data using a graphic display device, the movement of the robot arm is simulated based on the target movement trajectory, so the teaching data can be realized by an actual robot. This has been verified in advance. When the teaching data created for this purpose is input to the actual robot arm, it is possible to realize a movement of the robot arm that satisfies the purpose of operation from the beginning, which has the effect of speeding up the teaching work and increasing efficiency.

FIG. 3 shows another embodiment of the apparatus of the present invention, in which the same reference numerals as in FIG. 1 are the same parts. In this embodiment, the movement of the robot arm and the working environment of the robot arm inputted by the input device 1 are displayed on the screen of the display device 3a, and the movement of the robot arm and the working environment of the robot arm are displayed on the screen of the display device 3a. The working environment of is displayed on the screen of the display device 3b. 4a and 4b are the robot arms at the start of the teaching operation, 5a and 5b are the robot arms at the end of the teaching operation, and 6a.

6b is an object. According to this embodiment, the movement of the robot arm input through the input device 1 and the movement of the robot arm based on the results calculated by the calculation means 2a and 2b can be presented to the instructor at the same time, so that the teaching of the movement of the robot arm can be changed. can be provided directly.

In the above-described embodiment, all the operation target values are input from the input device 1, but a CAD system or the like may be used as the input device. Further, in the embodiment shown in FIG. 3, the case where there are two display devices has been described, but the present invention is not limited to this.

A display device such as a multi-window may also be used. In addition, the above embodiment has three degrees of freedom for the robot arm.
Although illustrated as one, it is not limited to this.

〔Effect of the invention〕

According to the present invention, when teaching the motion of a robot having multiple joints, it is possible to create teaching data that satisfies the purpose of motion in consideration of dynamics as soon as the teaching data is input. Moreover, it can be carried out with high efficiency.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing one embodiment of the device of the present invention, FIG. 2 is a diagram showing an example of a block diagram of a simulation used in the present invention, and FIG. 3 is a diagram showing another embodiment of the device of the present invention. 6 1... Input device, 2a... Load calculation means, 2b...
- Attitude calculation means, 3... Display device, 4, 5... Robot arm, 6... Target object. Condolence I Eye 4... Robot arm dream 2 Eye 13... Gain

Claims (1)

[Claims] 1. In a robot teaching device having multiple joints,
an input means for inputting a movement target value of the robot; a load calculation means for calculating a joint load of the robot based on the movement target value; a posture calculation means for calculating a robot movement based on the joint load; 1. A robot teaching device comprising a display means for graphically displaying, and displaying joints whose joint load calculation values exceed a preset joint load setting value by changing the color of the joints.