JPH01320504A - Robot control method - Google Patents

Abstract

PURPOSE:To easily attain the synchronism of a robot operation with the control of a peripheral equipment, etc., without making a program into a large scale by performing a processing in which the program is set in advance based on a condition where the control coincides with a prescribed robot operating state designated in advance. CONSTITUTION:The data of the robot operating state is supplied to an interpreter 1 as a processor periodically while a robot operation control means 2 performs the control of a robot main body 8. The interpreter 1 to which the data of the robot operating state is supplied performs a processing set by the program in advance based on the condition where the control coincides with the prescribed robot operating state designated in advance. In such a way, it is possible to perform the processing of the peripheral equipment 9 synchronizing with the robot operation.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a robot control method, and more specifically, a method for generating detailed robot motion command data based on a program that performs various processes for robot control. The present invention relates to a robot control method for operating a robot body and also operating peripheral devices.

<Prior art and problems to be solved by the invention> Various types of robots, including industrial robots, have been provided for a long time, and at the beginning, they were designed to simply perform a series of robot movements based on a preset program. However, recently there has been a strong demand for higher functionality, and robots have been developed that can not only perform simple robot movements but also control peripheral devices, input/output processing, etc. There is.

FIG. 5 is a block diagram showing the configuration of a control device corresponding to the latter robot, in which an interpreter (21) serving as a main processor executes a program, and necessary data is required in correspondence with the program to cause the robot to operate. is supplied to the trajectory planning data generation unit (22), and based on the trajectory planning data generated in the trajectory planning data generation unit (22), fine-grained robot movement command data is generated in the interpolation calculation unit (23), and the coordinate transformation unit (24)
In this step, the robot operation command data is subjected to coordinate transformation processing and supplied to the robot operation section (25), thereby causing the robot to perform the robot operation as set in the program. Additionally, the peripheral device processing unit (2) exchanges necessary data with the interpreter (21).
6).

In the robot control device having the above configuration, for example, the third
Recess (12) in turntable (11) as shown
A workpiece (work 3) is stored in the , and this workpiece (13
) while the robot body is lifting the workpiece (
13) and the turntable (11) no longer interfere with each other, in order to rotate the turntable (11), the following BASIC
Assuming the program is configured.

In this case, first move the workpiece (13) and turntable (11) based on the move P3 instruction.
), the robot moves to a point P3 where the two do not interfere with each other, and at a predetermined timing, the peripheral device processing unit (2B) rotates the turntable (11) based on the out -1 instruction.
e The robot is made to move up to point P2 based on the instruction at P2, and thereafter the robot is made to move based on unwritten instructions to obtain the desired processing result.

Note 10 move P3 20 out = 1 30 move P2 The above program shows an example for controlling the robot, and in reality, robot operations, peripheral device control, input/output processing, etc. are executed in the necessary order. By creating the most suitable program to perform this, it is possible to handle fairly complex robot control.

However, in the robot control device with the above configuration, a large number of instructions necessary for robot control are created as a series of programs, so in addition to the robot operation, the execution timing of instructions for controlling peripheral devices is There is a problem that the user cannot easily set the .

To explain in more detail, for example, when controlling the robot based on the above program, the workpiece (13)
Position P3 where the and turntable (11) do not interfere with each other
Since it is necessary to teach the above-mentioned position P3 in advance or calculate the above-mentioned position P3, the peripheral device processing section (
2B) makes it difficult to accurately set the timing to start rotating the turntable (11). In reality, you need not only the timing to start rotating the turntable (11), but also the timing to stop it, and if you also want to control other peripheral devices, input/output processing, etc., you will need to control the robot movement. The number of points that must be taught or calculated increases significantly in order to set detailed instructions for processing, and to set conditional branch instructions, peripheral device control instructions, and data input/output instructions in the finely set instruction string. Therefore, there are problems in that the program becomes large, programming becomes difficult, or the program capacity increases significantly.

<Object of the invention> This invention was made in view of the above problems,
It is an object of the present invention to provide a robot control method that can easily achieve synchronization between robot motion and control of peripheral devices, etc., without increasing the size of the program.

<Means for Solving the Problems> In order to achieve the above object, the robot control method of the present invention includes periodically processing robot operation state data into a processor while the robot operation control means is controlling the robot body. In this method, the processor to which the robot operating state data is supplied performs processing preset in a program on the condition that the robot operating state matches a predetermined robot operating state instructed in advance.

However, the specific robot operation state specified in advance in the operation command data may be a state in which the operation of the robot body has progressed to a predetermined rate, and the processor The preset process may be a process performed by operating a peripheral device.

With the robot control method described above, detailed robot motion command data is generated by the robot motion control means based on motion command data from a processor in which programs for performing various processes for robot control are set. In the case where the robot body is operated by the robot operation control means, the robot operation state data is periodically supplied to the processor while the robot operation control means is controlling the robot body, and the processor to which the robot operation state data has been supplied is Since the process set in advance in the program is performed on the condition that the robot operation state matches the specified predetermined robot operation state, a series of robot operations can be commanded with a minimum number of instructions. Since a predetermined robot operation state appears while the robot is performing the robot operation commanded by the instructions, the preset robot operation state can be set in advance by a program in the processor based on the robot operation state data that is periodically supplied. It is possible to identify that a predetermined robot operation state has appeared, and by starting preset processing based on the identification result, peripheral equipment processing is performed in synchronization with the robot operation. be able to. That is, since the timing of data exchange with peripheral devices after starting a series of robot operations can be set in relation to the robot operations, the takt time can be shortened.

If the specific robot operation state specified in advance in the operation command data is a state in which the movement of the robot body has progressed to a predetermined rate, there is no need to calculate coordinate data on the robot operation trajectory. It is possible to write instructions that define a predetermined robot operation state without accurately considering the robot operation trajectory, and programming can be simplified.

・Also, if the process that is preset in the processor to start on the condition that data is supplied is a process that is performed by operating a peripheral device,
Other peripheral devices that are closely related to the robot operation can be operated at accurate timing, and extremely highly accurate robot control can be achieved.

<Example> Hereinafter, embodiments will be described in detail with reference to the accompanying drawings showing examples.

FIG. 2 is a block diagram showing a schematic configuration of a robot control device for implementing the robot control method of the present invention.
An interpreter (1) executes a BAS While the main body (8) is operating, data indicating the robot operating status is periodically sent to the interpreter (1).
). It also has peripheral equipment (9) controlled by the interpreter (1).

The robot motion control section (2) is configured by an interpreter (1).
a trajectory planning data generation section (3) that generates robot motion pattern data by inputting data output from the trajectory planning data generation section (3); a memory (4) that stores data output from the trajectory planning data generation section (3); ), performs interpolation calculations based on the robot movement pattern data, and supplies robot movement status data based on the calculation results to the processor (1) at predetermined time intervals. , a coordinate transformation section (6) that performs coordinate transformation by inputting interpolation calculation result data, and a robot movement section that performs necessary robot motions by inputting data that has been subjected to coordinate transformation in coordinate transformation section (6). It is composed of.

To explain in more detail, the above interpreter (1) is B
It is a BAS I C program that executes ASIC programs sequentially and performs various processes for robot control.
A C program is set, and conditions for starting specific processes such as peripheral device processing and data input/output processing are also set. Then, the above-mentioned specific processing is started on condition that predetermined robot movement state data is supplied from the robot movement control section 0.

The above-mentioned trajectory planning data generation unit (3) uses an interpreter (1
) Generates robot movement pattern data (operation speed data, etc.) by inputting robot movement commands output from the controller and stores it in the memory (4), as well as the total movement distance obtained based on the current position data and target position data. Data is calculated and stored in memory (4).

The operation command data generation section (5) includes the memory (4).
By reading out the robot movement pattern data from , and performing the interpolation calculation, detailed robot movement data is generated. Also, by calculating the cumulative movement distance data to the intermediate position obtained by performing the interpolation calculation, all of the above can be performed. The ratio to the travel distance data is calculated and supplied to the interpreter (1). Furthermore, it is also determined whether or not it has moved to the target position.

The operation of the robot control device having the above configuration is as shown in the flowchart shown in FIG.

In step (2), the interpreter (1) executes the RAS IC program for controlling the robot, supplies necessary robot motion data as motion command data to the robot motion control unit (2), and executes a predetermined robot motion control unit (2) in step (2). until the robot operating state occurs, i.e.
The robot motion control unit (2) waits until the cumulative value of the travel distance to the total travel distance reaches a predetermined ratio, and in step (2), the peripheral device (9) is activated on condition that a predetermined robot motion state has occurred. control.

In addition, in the robot motion control unit (2), the robot motion control unit (2) uses the motion command data supplied from the interpreter (1), and in step (3), the trajectory planning data generation unit (3) performs the entire movement based on the target position data and current position data. The distance is calculated and stored in the memory (4). Then, in step (2), the operation command data generation section (5) generates position data and speed data after a predetermined time based on the target position data, velocity data, acceleration data, current position data, and current speed data as operation command data. The coordinate transformation unit (6) performs coordinate transformation, and the robot operation unit (7) operates the robot body (8).

After that, in step ■, the operation command data generation unit (
5), divide the cumulative value of the moving distance by the total moving distance value,
Supply the divided value to the interpreter (1), and then determine whether or not a series of robot movements was performed in step (2).
That is, it is determined whether or not the target position has been reached, and if it is determined that the target position has been reached, necessary processing is performed to perform the next series of robot operations. however,
If it is determined that the target position has not been reached, the process from step (2) onwards is performed.

This will be explained in more detail based on the specific example shown in FIG.

FIG. 3 shows a state in which a workpiece (13) is accommodated in a recess (12) formed on the upper surface of the turntable (11), and the workpiece (13) is accommodated in the recess (12) (position of point Pl).
3) and move it to point P2, and also move it to point P3 (a point moved by 30% of the moving distance from point P1 to point P2) where the workpiece (13) does not interfere with the turntable (11). The turntable (11) is rotated when the turntable is turned.

In this specific example, by creating the following BASIC program and supplying it to the interpreter (1), the desired robot movement and peripheral equipment control can be performed.

In move P2 20 wait 30% 30 outl = 1 In other words, after the interpreter (1) supplies the 5ave P2 installer to the robot motion control unit,
Interpreter (1) waits until the target position P2 has been moved by 30% of the moving distance.

Further, in the robot motion control unit (2), the trajectory planning data generation unit (3) generates trajectory planning data, and also calculates the total moving distance M Da from the current position P1 to the target position P2. Then, based on the trajectory planning data, the motion command data generation section (5) calculates the position and velocity after a predetermined time, and the coordinate transformation section (6) performs coordinate transformation and supplies the result to the robot motion section (7). This causes the robot body to operate and lift the workpiece (13). Further, the operation command data generating section (5) calculates the cumulative value Ds of the moving distance, and also calculates the cumulative value Ds of the moving distance.
The value of s/Da is also calculated and the calculated Ds/Da is supplied to the interpreter (1). Then, it is determined whether the position after the predetermined time is equal to the target position or the cumulative value D
Based on whether or not s is equal to the total moving distance Da, it is determined whether or not the robot operation is completed.

Therefore, the robot can be operated from point PL to point P2 under the control of the robot operation control unit (2), and the cumulative value Ds of the moving distance can be made at predetermined intervals.
Since the ratio of m can be calculated and supplied to interpreter (1), interpreter (1) initially calculates m
The instruction of ove P2 is supplied to the robot motion control unit 0, and then the peripheral device (9) is operated to rotate the turntable (11) after waiting until the above ratio reaches 30%. The operation of the peripheral device can be synchronized with the operation of the peripheral device.

FIG. 4 is a schematic diagram showing another specific example, in which the painting operation is performed between point Q1 and point Q2 while the spray gun for painting is moved from point P1 to point P2. . The distance from interior point P1 to point Q1 and the distance from point Q2 to point P2 are each 1 of the total moving distance.
It is set to 0%.

The BASIC program corresponding to this specific example is as follows.

10 move P2 20 walt 10% 30 outl = 1 40 walt 90% 50 ouLl -0 Based on the above RAS IC program, the interpreter (1) supplies the move P2 instruction to the robot motion control unit (as shown in the figure). The spray gun that does not move can be moved from point pt toward point P2.

Then, when the robot operation is performed and the cumulative value of the moving distance reaches 10%, the interpreter (1) drives the spray gun to start painting the workpiece (13). That is, the robot can be operated while performing the painting operation.

Also, when the cumulative value of the moving distance reaches 90%, the interpreter (1) stops the spray gun operation and finishes painting the workpiece (13), so the robot only moves up to point P2. I can make you do it.

When this specific example is implemented using a conventional robot control method, for example, 10 move P2 20 delay 'rt 30 outl = 1 40 delay T2 50 outl = 0, which corresponds to the moving distance from point P1 to point Ql. The delay time T1 and the delay time T2 corresponding to the moving distance from point Ql to point Q2 are set.
If you simply set a delay time, the actual painting range may deviate significantly from the intended range if the robot's operating speed or acceleration changes due to load fluctuations, etc., and if the robot's operating speed changes. However, in the above example, the operation of the spray gun is controlled based on the ratio of the moving distance. This makes programming extremely easy and allows for precise control of the coating area.

In addition, in the above specific example, if the moving direction of the spray gun is set parallel to any coordinate axis, the point Ql
, it is possible to easily obtain the coordinate values of Q2, but it is difficult to calculate the coordinate values of the above points because they are not parallel to the coordinate axes within the membrane. This makes the program difficult and the program complicated. Therefore, in the above specific example, the effort of programming can be significantly simplified, and the program itself can also be simplified.

It should be noted that the present invention is not limited to the above-described embodiments; for example, it is possible to perform input/output processing in a predetermined robot operating state, and also to achieve synchronization between a plurality of robot control devices. Furthermore, it is possible to use programming languages other than BASIC programs, and it is also possible to control peripheral devices other than turntables and spray guns in synchronization with robot movements. Various design changes can be made without departing from the gist of the invention.

<Effects of the Invention> As described above, the first invention enables a series of robot movements to be commanded with the minimum number of instructions necessary, and also simplifies programming. By setting the timing of data exchange with the peripheral equipment after the robot moves in relation to the robot operation, a unique effect is achieved in that the takt time can be shortened.

The second invention eliminates the need to calculate coordinate data on the robot motion trajectory, so it is possible to write instructions that define a predetermined robot motion state without accurately considering the robot motion trajectory, simplifying programming. It has the unique effect of being able to transform into

The third invention has the unique effect that the operations of other peripheral devices that are closely related to the robot operation can be performed at accurate timing, and that extremely high-precision robot control can be achieved. play.

[Brief explanation of the drawing]

FIG. 1 is a flowchart showing an embodiment of the robot control method of the present invention, FIG. 2 is a block diagram showing a schematic configuration of a robot control device for carrying out the robot control method of the present invention, and FIGS. The figures are schematic diagrams showing specific examples for explaining the robot control method of the present invention, and FIG. 5 is a block diagram showing the configuration of a conventional robot control device. (1)... Interpreter, ■... Robot motion control section, (8)... Robot body

Claims (1)

[Claims] 1. Detailed robot motion command data is generated by the robot motion control means (2) based on motion command data from the processor (1) in which programs for performing various processes for robot control are set. In the robot control method, the robot operation state data is periodically transmitted to the processor (1) while the robot operation control means (2) is controlling the robot body (8). The processor (1) to which the robot operation state data is supplied performs processing preset in a program on the condition that the robot operation state data matches a predetermined robot operation state instructed in advance. Robot control method. 2. The robot control method according to claim 1, wherein the specific robot operation state specified in advance in the operation command data is a state in which the operation of the robot body (8) has progressed to a predetermined rate. 3. The process set in advance in the processor (1) to be started on the condition that data is supplied is a process performed by operating a peripheral device (9). The robot control method described.