JPH02145286A - Simulator device for operation of robot arm - Google Patents

Abstract

PURPOSE:To easily perform simulation by providing an orbit arithmetic device operating the orbit of the robot arm tip from the data fed from a mechanism arithmetic device, the data fed from a target position and attitude input device and the obstacle extracting data obtd. from the environmental data displayed by a CAD device. CONSTITUTION:The data regarding the new structure and mechanism of a robot arm 4 are input to a mechanism input device 5 at the robot arm changing time, the output signal fed from the input device thereof is operated by a mechanism arithmetic device 6 and output to a coordinates conversion arithmetic device 2. The input signal regarding the target position and attitude of the robot arm 4 besides the input signal, the joint angle signal of the robot arm at the present time and the output signal of an obstruction input device 10 are input to the coordinates conversion arithmetic device and based on these signals the joint angle of the succeeding time is operated. Based on this arithmetic result, a control device executes the arithmetic processing by adding the each joint angle displacement and speed of the robot arm 4, feeding the driving signal thereof to the driving part of the arm.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot arm motion simulator device used when designing a robot with multiple degrees of freedom, such as a nuclear robot or an industrial robot.

[Conventional technology]

In the conventional robot arm motion simulator device, as shown in the system diagram in FIG. Based on the output signal of the data and the current joint angle signals of the robot arm 4, the coordinate transformation calculation device 2 configured in advance calculates and obtains the output signal of the coordinate transformation calculation device 2. The signal is manually input to the control device 3 of the robot arm 4, and is compared with the displacement and speed of each joint angle of the robot arm 4 to become a drive signal for the robot arm 4. Therefore, each joint of the robot arm 4 moves in accordance with the drive signal output from the control device 3, and a motion simulation is performed.

In this way, the coordinate transformation calculation device 2 is configured in advance based on the position data and posture data of the tip of the robot arm 4 inputted by the target position and posture input device 7 and the current joint angle signals of the robot arm 4. As a result, the joint angles of the robot arm 4 at the next point in time are calculated, and the position and orientation of the tip of the robot arm 4 will move according to the commands given by the target position and orientation input device 7 from time to time.

However, such a robot arm motion simulator device lacks versatility and has problems in the following points.

(1) Since the coordinate transformation calculation device 2 is a fixed type, when trying to change to a robot arm 4 with 9 different structures or when trying to operate while avoiding obstacles in different environmental conditions. , the configuration of the coordinate transformation calculation device 2 must be changed each time.

(2) When there are obstacles around the robot, it is extremely inconvenient to operate the robot arm 4 without colliding with the obstacles.

(3) When changing the position and attitude of the tip of the robot arm 4, it is necessary not only to give the final target position and attitude but also to give the trajectory (position and attitude) leading to it, which is inconvenient.

[Problem to be solved by the invention]

The present invention was proposed in view of these circumstances, and
It is possible to simulate even different types of robot arms by simply inputting their structure and 9 mechanism data, and by simply setting obstacles around the robot and giving the target position and orientation of the tip of the robot arm, the entire robot arm can be simulated. It is an object of the present invention to provide a robot arm motion simulator device that can compute joint angles and compute a motion trajectory in which both the robot arm tip and robot arm portion move without colliding with obstacles.

[Means to solve the problem]

To this end, the present invention provides a mechanism calculation device that calculates the structure and mechanism of a robot from data from a mechanism input device, and a system that displays data from the mechanism calculation device, data from the target position and orientation input device, and a CAD device. a trajectory calculation device that calculates the i-way of the tip of the robot arm from obstacle extraction data obtained from the environmental data; a coordinate transformation calculation device that calculates joint angles of the robot arm based on the trajectory calculation device data; and a coordinate transformation calculation device that calculates the joint angles of the robot arm based on the trajectory calculation device data. The present invention is characterized by comprising a control device that issues a drive signal for the robot arm based on the output of the device.

[Effect]

In the robot arm motion simulator device of the present invention, when changing the robot arm, data regarding the structure and mechanism of the new robot arm is input to the mechanism input device, and the output signal from the input device is calculated by the mechanism calculation device. Output to coordinate transformation calculation device. In addition to the above-mentioned input signals, the coordinate transformation calculation device receives input signals regarding the target position and posture of the robot arm, current joint angle signals of the robot arm, and output signals of the obstacle input device. Based on this, calculate the joint angle at the next point in time. This calculation result is sent to the control device, which processes the angular displacement and velocity of each joint of the robot arm together, and sends a drive signal for the robot arm to the drive section of the robot arm.

〔Example〕

An embodiment of the robot arm motion simulator according to the present invention will be described with reference to the system diagram in FIG.

In FIG. 1, data signals of the mechanism and structure of the robot inputted by the mechanism input device 5 are calculated by the mechanism calculation device 6 and sent to the +& path calculation device l, and data signals inputted to the target position and orientation input device 7 are calculated by the mechanism calculation device 6. The signal is sent to the trajectory calculation device 1, and the shape and position data signals of obstacles around the robot extracted by the obstacle extraction device 9 from the environmental data expressed by the CAD device 8 are sent to the obstacle input device 1.
0 to the trajectory calculation bag W1, the trajectory calculation device 1 calculates the trajectory of the tip of the robot arm 4 based on the above three data signals, and based on this calculation result and the signal of each current joint angle of the robot arm 4. Then, the coordinate transformation calculation device 2 calculates the following joint angles of the robot arm 4.

Further, the avoidance range calculation device 11 calculates the output data from the obstacle input device 10, the data input from the target position and orientation input device 7 via the coordinate transformation calculation device 2, and the output data from the mechanism calculation device 6. The obstacle avoidable range of the robot arm 4 is calculated, and the calculation results are sent to the display device 2 and sent back to the coordinate transformation calculation device 2 again.

The output signal of the coordinate transformation calculation device 2 is input to the control device 3 of the robot arm 4, and is calculated together with the angular displacement and velocity of each joint of the robot arm 4, and becomes a drive signal for the robot arm 4. Robot 7) The arm 4 operates following this drive signal.

Thus, according to the device of the present invention, even for a different type of robot whose structure and mechanism have been changed, the structure and mechanism can be input to another input device, and that data and the separately input target of the robot arm can be input. Position and orientation data and further CA
The trajectory of the tip of the robot arm is calculated from the robot obstacle data obtained by extracting obstacles around the robot from the environmental data displayed by the D device, and the robot arm collides with the obstacle along the trajectory. As a general-purpose robot arm simulator, it becomes possible to quickly examine the robot arm's operation.

〔Effect of the invention〕

In short, according to the present invention, there is provided a mechanism calculation device that calculates the structure and mechanism of a robot from data from a mechanism input device, and a CAD device that displays data from the mechanism calculation device, data from the target position and orientation input device, and a CAD device. a trajectory calculation device that calculates the trajectory of the tip of the robot arm from obstacle extraction data obtained from the environmental data; a coordinate transformation calculation device that calculates joint angles of the robot arm based on the trajectory calculation device data; and a coordinate transformation calculation device that calculates the joint angles of the robot arm based on the trajectory calculation device data. By being equipped with a control device that issues a drive signal for the robot arm based on the output of the device, it is possible to simulate different types of robot arms by simply inputting their structure and mechanism data, and it is also possible to simulate obstacles around the robot. By simply setting an object and giving the target position and orientation of the robot arm tip, it is possible to calculate all joint angles of the robot arm and calculate the motion trajectory in which both the robot arm tip and the robot arm part move without colliding with obstacles. The present invention is extremely useful industrially because it provides a motion simulator device for a robot arm.

[Brief explanation of the drawing]

FIG. 1 is a system diagram of an embodiment of a robot arm motion simulator device according to the present invention. FIG. 2 is a system diagram of a conventional robot arm motion simulator device. 1...Trajectory calculation device,...Coordinate transformation calculation device, 3.
...Control device, 4...Robot arm, 5...Mechanism input device, 6...Mechanism calculation device, 7...Target position/orientation input device, 8...CAD device, 9...Failure Object extraction device 1.10... Obstacle input device, 11... Avoidance range calculation device, 12... Display device. Agent: Masafumi Tsukamoto, Patent Attorney

Claims (1)

[Claims] A mechanism calculation device that calculates the structure and mechanism of the robot from data of a mechanism input device, and a mechanism calculation device that calculates the structure and mechanism of the robot from data of a mechanism input device, data from the mechanism calculation device, data from the target position and orientation input device, and further displayed by a CAD device. A trajectory calculation device that calculates the trajectory of the tip of the robot arm from obstacle extraction data obtained from the environmental data, a coordinate transformation calculation device that calculates joint angles of the robot arm based on the trajectory calculation device data, and the coordinate transformation calculation device 1. A robot arm motion simulator device comprising: a control device that issues a drive signal for the robot arm based on the output of the robot arm.