JPH03250304A - Robot action verifying device - Google Patents

Robot action verifying device

Info

Publication number
JPH03250304A
JPH03250304A JP4864890A JP4864890A JPH03250304A JP H03250304 A JPH03250304 A JP H03250304A JP 4864890 A JP4864890 A JP 4864890A JP 4864890 A JP4864890 A JP 4864890A JP H03250304 A JPH03250304 A JP H03250304A
Authority
JP
Japan
Prior art keywords
robot
actions
actual
axis
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP4864890A
Other languages
Japanese (ja)
Inventor
Akira Shimizu
晃 清水
Masayuki Miyashita
雅行 宮下
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pentel Co Ltd
Original Assignee
Pentel Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pentel Co Ltd filed Critical Pentel Co Ltd
Priority to JP4864890A priority Critical patent/JPH03250304A/en
Publication of JPH03250304A publication Critical patent/JPH03250304A/en
Pending legal-status Critical Current

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  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To positively verify the actual actions of a robot and to prevent the malfunctions of the robot by performing the switching between the robot actual actions and the pseudo actions given from a robot controller and displaying both actual and pseudo actions on a display for each axis of the robot. CONSTITUTION:A robot controller 2 inspects artificially the actions of a robot based on a file storage 1 which stores the constitution of the robot and actions of each axis of the robot. Then a position control driver 4 is added to actually actuate each axis of the robot under the control of the controller 2 together with a motor 5, an encoder 6, a driver ON/OFF changeover switch 8 which switches the actual actions of the robot to the pseudo actions given from the controller 2 and inputs these actions to the controller 2, and a position reading pulse selection switch 10. In addition, a display 3 is provided to the controller 2 to display both actual and pseudo actions for each axis of the robot. In such a constitution, it is possible to simulate the actual actions of each axis of the robot and the pseudo actions given from the controller 2 for execution of the comparison/verification of these actions and then to correct the storage 1. As a result, the malfunctions of the robot actual actions can be surely prevented.

Description

【発明の詳細な説明】 （産業上の利用分野） 本発明はロボットの実動作と記憶装置に基く疑似動作を
比較検証するロボットの動作検証装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot motion verification device that compares and verifies the actual motion of a robot and a simulated motion based on a storage device.

（従来技術） 従来、記憶装置に記憶させたロボットの構成、各軸の動
作指令によりロボット動作シミュレータを作動し、ロボ
ットの動きを−シミュレータの画面に表示したり、アー
ムの位置・姿勢などの数値データを算出し、動作シミュ
レータのディスプレイに表示するなどの方法で検証して
いた。(Prior art) Conventionally, a robot motion simulator is operated based on the robot configuration stored in a storage device and motion commands for each axis, and the robot's motion is displayed on the simulator screen and numerical values such as the position and posture of the arm are displayed. Data was calculated and verified by displaying it on the display of a motion simulator.

（発明が解決しようとする課題） 上記従来技術に於てはロボット動作プログラム検証はで
きるが、教示ポイント検証は他のシステムの干渉等によ
り、ロボット周辺の環境データを数値化するのが困難で
手間もか）り正確さに欠け、又制御パラメータの決定に
時間がか工ったり、人為的ミスを引き起したりしロボッ
トの実動作を確実に検証できないという問題点があった
。(Problems to be Solved by the Invention) Although robot operation program verification can be performed using the above-mentioned conventional technology, teaching point verification is difficult and time-consuming due to interference from other systems, etc. to quantify environmental data around the robot. However, there are problems in that the actual operation of the robot cannot be reliably verified because it lacks accuracy, takes time to determine control parameters, and causes human error.

また、ロボットの加減速に要する時間、移動時間等の詳
細なシミュレーションを実際のロボット動作と同じ時間
で行うためには、大が）すなシミュレーション装置（特
にＣＰＵに負担がかｊる）を必要としていた。In addition, in order to perform detailed simulations of the time required for robot acceleration/deceleration, movement time, etc. in the same time as the actual robot movement, a simulation device (especially one that places a heavy burden on the CPU) is required. It was.

（課題を解決するための手段） 本発明は上記問題点を解決することを目的とし、ロボッ
トの構成、各軸の動きを記憶させた記憶装置に基き、ロ
ボットの動きを疑似的に検証するロボット制御装置と、
前記ロボット制御装置によりロボットの各軸を実動作す
る位置制御ドライバ、モータ、エンコーダ及び該実動作
とロボット制御装置よりの疑似動作とを切換ロボット制
御装置に入力する切換スイッチ、位置よみとりスイッチ
を設け、ロボット制御装置にはディスプレイを設け、ロ
ボットの各軸部の疑似動作と実動作を表示する如くした
ことを特徴とするものである。(Means for Solving the Problems) The present invention aims to solve the above problems, and is a robot that simulates the movement of a robot based on a storage device that stores the configuration of the robot and the movement of each axis. a control device;
A position control driver, a motor, an encoder for actually operating each axis of the robot by the robot controller, a changeover switch for inputting the actual operation and a pseudo operation from the robot controller to the switching robot controller, and a position reading switch, The robot control device is characterized in that it is equipped with a display to display the simulated motion and actual motion of each axis of the robot.

以下、図示した実施例に基づいて具体的に説明する。第
１図は全体のシステム図で、１はロボットの構成、各軸
の動きを記憶した記憶装置、２は該記憶装置に基づいて
ロボットの制御を行うロボット制御装置、３はディスプ
レイ、４はロボットの各軸の位置制御ドライバ、５はモ
ータ、６はエンコーダ、７はロボット制御装置２の位置
パルス発生機、８はドライバ切換スイッチ、９はパルス
変換機、１ｏは位置よみとり用パルス選択スイッチ、１
１は位置よみとりスイッチである。Hereinafter, a detailed explanation will be given based on the illustrated embodiment. Figure 1 is an overall system diagram, where 1 is a storage device that stores the configuration of the robot and the movement of each axis, 2 is a robot control device that controls the robot based on the storage device, 3 is a display, and 4 is a robot 5 is a motor, 6 is an encoder, 7 is a position pulse generator of the robot control device 2, 8 is a driver changeover switch, 9 is a pulse converter, 1o is a pulse selection switch for position reading, 1
1 is a position reading switch.

次に作用について説明する。Next, the effect will be explained.

ドライバ切換スイッチ８をオンする。この時オンにして
ロボットの１の軸を実動作する。エンコーダ６側からの
位置よみとり用パルス選択スイッチＳＷ、をオンし、パ
ルス変換機９側からのスイッチＳＷ、をオフにし、シミ
ュレーション側にドライバオンを知らせてロボットの実
動作をディスプレイ３に表示する。Turn on the driver selector switch 8. At this time, it is turned on and the first axis of the robot is actually operated. The pulse selection switch SW for position reading from the encoder 6 side is turned on, the switch SW from the pulse converter 9 side is turned off, the simulation side is notified that the driver is on, and the actual operation of the robot is displayed on the display 3.

次にパルス変換機９側からのスイッチＳＷ３をオンしエ
ンコーダ６側からのスイッチＳＷ４をオフにすると、ロ
ボット制御装置２の疑似動作がディスプレイ３に表示さ
れる。従って両者はシミュレーションして比較しロボッ
ト制御装置の動作が正確かどうかを検証する。比較の方
法の一例として、動作状態を記憶しておき、それを各々
再生して比較することがあげられ、また再開を２分割し
同時に再生し比較する事があげられる。また、疑似動作
を記憶しておき、実動作（ロボットの実際の動作）と同
時に比較（疑似動作を再生しながら）する事もできる。Next, when the switch SW3 from the pulse converter 9 side is turned on and the switch SW4 from the encoder 6 side is turned off, the pseudo operation of the robot control device 2 is displayed on the display 3. Therefore, both are simulated and compared to verify whether the operation of the robot control device is accurate. Examples of methods for comparison include storing the operating states and reproducing them separately for comparison.Alternatively, dividing the restart into two parts and reproducing them at the same time for comparison. It is also possible to store the simulated motions and compare them (while reproducing the simulated motions) at the same time as the actual motions (actual motions of the robot).

ロボットの各軸部にこの動作を繰返しロボット全体の動
きを検証する。その結果、記憶装置１の修正を行う。Repeat this operation for each axis of the robot to verify the movement of the entire robot. As a result, the storage device 1 is corrected.

第２図は第１図の記憶装置１とロボット制御装置２とデ
ィスプレイ３を含めたロボットシミュレーション装置の
構成図である。FIG. 2 is a block diagram of a robot simulation device including the storage device 1, robot control device 2, and display 3 shown in FIG.

第３図は上記装置のフローチャートである。FIG. 3 is a flowchart of the above apparatus.

ＳＷ切換動作Ａ−＋Ｓ　Ｗ□、　Ｓ　Ｗ、がＯＮ　　　
Ｓ　Ｗ、　、　Ｓ　Ｗ３が０ＦＦＳＷ切換動作Ｂ　→Ｓ
　Ｗ□、　Ｓ　Ｗ、がＯＦＦ　　ＳＷ、、ＳＷ、がＯＮ
（効　果） 本発明によると、ロボットの構成、各軸の動きを記憶さ
せた記憶装置に基き、ロボットの動きを疑似的に検証す
るロボット制御装置と５前記ロボツト制御装置によりロ
ボットの各軸を実動作する位置制御ドライバ、モータ、
エンコーダ及び該実動作とロボット制御装置よりの疑似
動作とを切換ロボット制御装置に入力する切換スイッチ
、位置よみとリスイッチを設け、ロボット制御装置には
ディスプレイを設け、ロボットの各軸部の疑似動作と実
動作を表示する如くしであるので、ロボット全体をロボ
ット制御装置により実動作させる前に、ロボットの各軸
部に実動作とロボット制御装置に基づく疑似動作をシミ
ュレーションして比較検証し、記憶装置を修正できるの
でロボットの実動作の誤動作を確実に防止できる。SW switching operation A-+SW□, SW, ON
SW, , SW3 is 0FFSW switching operation B → S
W□, SW, is OFF SW,, SW, is ON
(Effects) According to the present invention, each axis of the robot is controlled by a robot control device that pseudo-verifies the movement of the robot based on a storage device that stores the configuration of the robot and the movement of each axis, and the robot control device 5 above. Actual operating position control driver, motor,
An encoder, a changeover switch for inputting the actual motion and the simulated motion from the robot control device into the robot control device, and a position reading and reswitch are provided, and the robot control device is equipped with a display, and the pseudo motion of each axis of the robot is Therefore, before actually operating the entire robot using the robot control device, simulate and compare the actual motion and pseudo motion based on the robot control device for each axis of the robot, and then store the results. Since the device can be modified, malfunctions in actual robot operation can be reliably prevented.

又、実動作に要する時間と疑似動作に要する時間はモー
タドライバ、ロボットアームの指令値に対する追従性能
の範囲内で正確であるため、作業時間、タクトのシミュ
レーションが可能となる。Further, since the time required for actual operation and the time required for pseudo operation are accurate within the range of the follow-up performance of the motor driver and the robot arm for command values, simulation of work time and takt becomes possible.

さらに、実動作と疑似動作を比較し指令値に対する制御
系、及びロボットアームの動作おくれ等の制御特性を予
め知る事ができ、それを考慮した上でロボットの動作計
画をたてる事により、より正確な動作をさせる事ができ
る。Furthermore, by comparing the actual motion and the simulated motion, it is possible to know in advance the control system for the command value and the control characteristics such as the motion delay of the robot arm, and by taking this into consideration when planning the robot's motion, it is possible to It can perform accurate movements.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明全体のシステム図、第２図は第１図の記
憶装置とロボット制御装置、ディスプレイを含めたシミ
ュレーション装置の構成図、第３図は本発明のフローチ
ャート図である。 １・・・記憶装置 ２・・・ロボット制御装置 ３・・・ディスプレイ ４・・・ロボットの各軸の位置制御ドライバ５・・・ロ
ボットのモータ ６・・・ロボットのエンコーダ ７・・・位置パルス発生機 ８・・・ドライバ切換スイッチ ９・・・パルス変換機 １０・・・位置よみとり用パルス選択スイッチ１１・・
・位置よみとりスイッチ 第 図FIG. 1 is a system diagram of the entire present invention, FIG. 2 is a block diagram of a simulation device including the storage device, robot control device, and display shown in FIG. 1, and FIG. 3 is a flowchart of the present invention. 1...Storage device 2...Robot control device 3...Display 4...Position control driver for each axis of the robot 5...Robot motor 6...Robot encoder 7...Position pulse Generator 8...Driver selection switch 9...Pulse converter 10...Position reading pulse selection switch 11...
・Position reading switch diagram

Claims (1)

【特許請求の範囲】[Claims] ロボットの構成、各軸の動きを記憶させた記憶装置に基
き、ロボットの動きを疑似的に検証するロボット制御装
置と、前記ロボット制御装置によりロボットの各軸を実
動作する位置制御ドライバ、モータ、エンコーダ及び該
実動作とロボット制御装置よりの疑似動作とを切換ロボ
ット制御装置に入力する切換スイッチ、位置よみとりス
イッチを設け、ロボット制御装置にはディスプレイを設
け、ロボットの各軸毎の疑似動作と実動作を表示する如
くなしたロボットの動作検証装置。a robot control device that simulates the movement of the robot based on a storage device that stores the configuration of the robot and the movement of each axis; a position control driver and a motor that actually operate each axis of the robot by the robot control device; An encoder, a changeover switch for inputting the actual motion and the simulated motion from the robot control device to the robot control device, and a position reading switch are provided. A robot motion verification device designed to display motion.
JP4864890A 1990-02-28 1990-02-28 Robot action verifying device Pending JPH03250304A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4864890A JPH03250304A (en) 1990-02-28 1990-02-28 Robot action verifying device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4864890A JPH03250304A (en) 1990-02-28 1990-02-28 Robot action verifying device

Publications (1)

Publication Number Publication Date
JPH03250304A true JPH03250304A (en) 1991-11-08

Family

ID=12809181

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4864890A Pending JPH03250304A (en) 1990-02-28 1990-02-28 Robot action verifying device

Country Status (1)

Country Link
JP (1) JPH03250304A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024011A1 (en) * 1996-11-26 1998-06-04 Fanuc Ltd Robot control device having operation route simulation function
US10556343B2 (en) 2017-08-03 2020-02-11 Fanuc Corporation Simulation device and simulation method for robot system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024011A1 (en) * 1996-11-26 1998-06-04 Fanuc Ltd Robot control device having operation route simulation function
US6463358B1 (en) 1996-11-26 2002-10-08 Fanuc Ltd. Robot control device having operation route simulation function
US10556343B2 (en) 2017-08-03 2020-02-11 Fanuc Corporation Simulation device and simulation method for robot system

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