JPH0360993A - Position upper lower limit processing system for robot arm - Google Patents

Position upper lower limit processing system for robot arm

Info

Publication number
JPH0360993A
JPH0360993A JP19431089A JP19431089A JPH0360993A JP H0360993 A JPH0360993 A JP H0360993A JP 19431089 A JP19431089 A JP 19431089A JP 19431089 A JP19431089 A JP 19431089A JP H0360993 A JPH0360993 A JP H0360993A
Authority
JP
Japan
Prior art keywords
lower limit
arm
value
limit processing
signal
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
JP19431089A
Other languages
Japanese (ja)
Inventor
Akira Morimoto
森本 昭
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.)
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Original Assignee
Meidensha Corp
Meidensha Electric Manufacturing 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 Meidensha Corp, Meidensha Electric Manufacturing Co Ltd filed Critical Meidensha Corp
Priority to JP19431089A priority Critical patent/JPH0360993A/en
Publication of JPH0360993A publication Critical patent/JPH0360993A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To prevent runaway of an arm due to abnormality of a position sensor system by a method wherein limit processing is effected based on a position where the upper and lower limit positions of a mechanical stopper correspond to the output value of a position sensor. CONSTITUTION:When a position signal S2 attains a position where it attains a position corresponding to the upper and lower limit positions of a mechanical stopper, a position upper lower limit abnormality signal indicating the above fact is generated from an engineering conversion and upper lower limit processing part 6. Thereafter, a system is stopped by means of the position upper lower limit abnormality signal, and runaway of an arm is prevented from occurring.

Description

【発明の詳細な説明】 人、 産業上の利用分野 本発明はロボットアームの位置上下限処理方式に関し、
アーム位置の異常状態を確実に検出し得るよう工夫した
ものである。
[Detailed description of the invention] Human and industrial fields of application The present invention relates to a method for processing upper and lower limits of the position of a robot arm.
This device is designed to reliably detect abnormal conditions in the arm position.

B、 発明の概要 本発明は、位置センサで検出したアーム位置の現在値を
表わす位置信号とアーム位置の目標値を表わす目標信号
とを比較し、両者の差が零となるようにアーム位置を制
御する場合、において、前記位置信号が機械的なストッ
パの上下限位置に対応する位置に達したときにはこのこ
とを表わす位置上下限異常信号を発生してアーム位置の
異常状態を確実に検出してシステムの損傷を防止し得る
ようにしたものである。
B. Summary of the Invention The present invention compares a position signal representing the current value of the arm position detected by a position sensor with a target signal representing the target value of the arm position, and adjusts the arm position so that the difference between the two becomes zero. When controlling, when the position signal reaches a position corresponding to the upper and lower limit positions of the mechanical stopper, a position upper and lower limit abnormality signal representing this is generated to reliably detect an abnormal state of the arm position. This is to prevent damage to the system.

C1 従来の技術 第2図は従来技術に係るロボットアームのI!制御系を
示すブロック線図である。この制御系ハ、例えばマスタ
ー・スレーブマニプレータのスレーブアーム側である。
C1 Conventional technology Figure 2 shows the I! of a robot arm according to the prior art. FIG. 2 is a block diagram showing a control system. This control system C is, for example, the slave arm side of a master-slave manipulator.

同図に示すように、ロボットアームが位置すべき目標位
置は目標信号S、として、アーム位置の現在値は位置信
号S2として位置センサ(図示せず)から、またアーム
速度は速度信号S3として速度センサ(図示せず)から
夫々供給される。そして、目標信号S、は位置リミット
処理部1を介して工学処理部2を介した位置信号S2と
比較され、両者の差を表わす偏差信号が形成される。こ
の偏差信号はサーボゲイン処理部3でサーボゲインが乗
じられ、速度ゲイン処理部4で速度ゲインが乗じられた
速度信号S3を減じて速度ダンピング処理を行なった指
令値となる。この指令値はPI補償処理部5でPI補償
処理を行なったトルク指令値S4としてロボットアーム
の駆動源であるモータ(図示せず)に供給され、前記偏
差信号を小さくするようにアーム位置を制御する。
As shown in the figure, the target position where the robot arm should be located is determined by a target signal S, the current value of the arm position is determined by a position sensor (not shown) as a position signal S2, and the arm speed is determined by a speed signal S3. are respectively supplied from sensors (not shown). The target signal S, is then compared via the position limit processing unit 1 with the position signal S2 via the engineering processing unit 2, and a deviation signal representing the difference between the two is formed. This deviation signal is multiplied by the servo gain in the servo gain processing section 3, and becomes a command value obtained by subtracting the speed signal S3 multiplied by the speed gain in the speed gain processing section 4 and subjected to speed damping processing. This command value is supplied to a motor (not shown) that is the drive source of the robot arm as a torque command value S4 that has undergone PI compensation processing in the PI compensation processing section 5, and controls the arm position so as to reduce the deviation signal. do.

このとき、前記位置リミット処理部1では目標信号St
が、予め設定された上下限値内に収まるようリミット処
理を行なっている。この場合の上下限値(以下これをソ
フトリミット上下限値と称す)は、機械的なストッパを
アームに設置してこのアームの移動を規制する。カユト
、パの位置に対応するメカストッパ上下限値よりも絶対
値が小さ(なるような値に設定しである。即ち、このと
きのロボットアームの動作範囲図は第3図に示すように
なり、第2図に示す制御系においては、目標位置をRと
すると、次式で位置上下限処理をし、g標位置Rをソフ
トリミット上下限値の範囲内に制限している。
At this time, in the position limit processing section 1, the target signal St
However, limit processing is performed so that it falls within preset upper and lower limit values. In this case, the upper and lower limits (hereinafter referred to as soft limit upper and lower limits) are determined by installing a mechanical stopper on the arm to restrict movement of the arm. The absolute value should be set to a value that is smaller than the upper and lower limit values of the mechanical stopper corresponding to the positions of the robot arm and the lever.In other words, the operating range of the robot arm at this time is as shown in Figure 3. In the control system shown in FIG. 2, when the target position is R, position upper and lower limit processing is performed using the following equation, and the g mark position R is limited within the range of the soft limit upper and lower limit values.

H>R>L         ・・・(1)ここで H
9: ソフトリミット上限値L9:ソフトリミット下限
値 一方、工学処理部2では次式で示す処理を行なっている
H>R>L...(1) Here H
9: Soft limit upper limit value L9: Soft limit lower limit value On the other hand, the engineering processing section 2 performs processing expressed by the following equation.

Y=A−X+B          ・・・(2)ここ
で X:位置センサ出力データ(位置信号S、)A:位
置入力ゲイン B:位置入力オフセット Y:位置入カニ学変換データ(位置信号S、。
Y=A−X+B (2) where X: Position sensor output data (position signal S,) A: Position input gain B: Position input offset Y: Position input mechanical conversion data (position signal S,

D、 発明が解決しようとする課題 上記従来技術においては、位置センサのゲイン−設定値
やオフセット設定値の設定誤り、位置センサの故障、位
置ずれ等により位置入カニ学変換データYがメカストッ
パ上下限値の範囲外の値となってしまうことがあり0、
この場合にはアームがメカストッパに衝突する事故が起
きる。
D. Problems to be Solved by the Invention In the above-mentioned conventional technology, the position input mechanical conversion data Y may fall below the upper and lower limits of the mechanical stopper due to setting errors in the gain setting value and offset setting value of the position sensor, failure of the position sensor, position deviation, etc. 0, which may result in a value outside the range of values.
In this case, an accident may occur in which the arm collides with the mechanical stopper.

本発明は、上記従来技術に鑑み、アームがメカストッパ
に衝突する事故を可及的に低減しアームの暴走を未然に
防止し得るロボットアームの位置上下限処理方式を提供
することを目的とする。
SUMMARY OF THE INVENTION In view of the above-mentioned prior art, it is an object of the present invention to provide a robot arm position upper and lower limit processing method that can reduce as much as possible the accident of the arm colliding with a mechanical stopper and prevent the arm from running out of control.

E。E.

課題を解決するための手段 上記目的を達成する本発明の構成は、位置センサで検出
したアーム位置の現在値を表わす位置信号とアーム位置
の目標値を表わす目標信号とを比較し、両者の差が零と
なるようにアーム位置を制御し、更に前記目標信号に上
下限値を設定してこの目標信号が上下限値内に収まるよ
うリミット処理を行なうとともに、絶対値が上下限値よ
り大きい上下限位置に機械的なストッパを夫々配設して
アームの移動を規制するようになっているロボットアー
ムの位置上下限処理方式において、前記位置信号が機械
的なストッパの上下限位置に対応する位置に達したとき
にはこのことを表わす位置上下限異常信号を発生してシ
ステムを停止するようにしたことを特徴とする。
Means for Solving the Problems The configuration of the present invention that achieves the above object compares a position signal representing the current value of the arm position detected by a position sensor with a target signal representing the target value of the arm position, and calculates the difference between the two. The arm position is controlled so that In a position upper and lower limit processing method for a robot arm in which mechanical stoppers are arranged at lower limit positions to restrict movement of the arm, the position signal corresponds to the upper and lower limit positions of the mechanical stoppers. The present invention is characterized in that when the position reaches the upper and lower limits, an abnormal signal representing the upper and lower limits of the position is generated and the system is stopped.

73作 用 上記構成の本発明によれば位置信号が機械的なストッパ
の上下限位置に対応する位置に達したときにはこのこと
を表わす位置上下限異常信号を発生するので、この位置
上下限異常信号によりシステムが停止され、アームの暴
走が回避される。
According to the present invention having the above configuration, when the position signal reaches the position corresponding to the upper and lower limit positions of the mechanical stopper, a position upper and lower limit abnormality signal representing this is generated, so that this position upper and lower limit abnormality signal This will stop the system and prevent the arm from running out of control.

G、実施例 以下本発明の実施例を図面に基づき詳細に説明する。な
お、従来技術と同一部分には同一番号を付し重複する説
明は省略する。
G. Examples Examples of the present invention will now be described in detail with reference to the drawings. Note that parts that are the same as those in the prior art are given the same numbers and redundant explanations will be omitted.

第1図に示すように工学変換及び上下限処理部6では従
来と同様の工学変換処理を行なった後、この処理により
得られる位置穴カニ学変換データYに基づき上下限処理
を行なう。
As shown in FIG. 1, the engineering conversion and upper/lower limit processing unit 6 performs engineering conversion processing similar to the conventional one, and then performs upper/lower limit processing based on the position hole mechanical conversion data Y obtained by this processing.

即ち、次式で示す判定処理を行なっている。That is, the determination process shown by the following equation is performed.

H>Y>L        ・・・(3)ここで H6
:メカストッパ上限値 Lヨ:メカストッパ下限値 位置穴カニ学変換データ(位置信号)Yが式(3)を満
たしているときは正常とみなし、従来と同様の処理を行
なう一方、式(3)を満たしていない場合には位置上下
限異常とみなし、位置上下限異常信号を送出してシステ
ムを停止させる。
H>Y>L...(3) Here H6
: Mechanical stopper upper limit value L yo : Mechanical stopper lower limit value When position hole mechanical conversion data (position signal) Y satisfies formula (3), it is considered normal, and the same processing as before is performed, while formula (3) is If the conditions are not met, it is assumed that the upper and lower position limits are abnormal, and a position upper and lower limit abnormality signal is sent to stop the system.

■。■.

発明の効果 以上実施例とともに具体的に説明したように、本発明に
よれば、位置センサの出力値に対しメカストッパに相当
する位置に基づいてリミット処理を行なっているので、
位置センサ系の異常に起因するアームの暴走を未然に防
止することができろ。
Effects of the Invention As described above in detail with the embodiments, according to the present invention, limit processing is performed on the output value of the position sensor based on the position corresponding to the mechanical stopper.
It would be possible to prevent the arm from running out of control due to an abnormality in the position sensor system.

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

第1図は本発明の実施例に係る制御系を示すブロック線
図、第28は従来技術に係る制御系を示すブロック線図
、第3図はロボットアームの動作範囲を示す説明図であ
る。 図 面 中、 1は位置リミット処理部、 6は工学変換及び上下限処理部、 Sは目標信号、 Sは位置信号である。 特許出 株式会社 代    理
FIG. 1 is a block diagram showing a control system according to an embodiment of the present invention, FIG. 28 is a block diagram showing a control system according to a conventional technique, and FIG. 3 is an explanatory diagram showing the operating range of a robot arm. In the drawing, 1 is a position limit processing section, 6 is an engineering conversion and upper/lower limit processing section, S is a target signal, and S is a position signal. Patent company representative

Claims (1)

【特許請求の範囲】[Claims]  位置センサで検出したアーム位置の現在値を表わす位
置信号とアーム位置の目標値を表わす目標信号とを比較
し、両者の差が零となるようにアーム位置を制御し、更
に前記目標信号に上下限値を設定してこの目標信号が上
下限値内に収まるようリミット処理を行なうとともに、
絶対値が上下限値より大きい上下限位置に機械的なスト
ッパを夫々配設してアームの移動を規制するようになっ
ているロボットアームの位置上下限処理方式において、
前記位置信号が機械的なストッパの上下限位置に対応す
る位置に達したときにはこのことを表わす位置上下限異
常信号を発生してシステムを停止するようにしたことを
特徴とするロボットアームの位置上下限処理方式。
A position signal representing the current value of the arm position detected by the position sensor is compared with a target signal representing the target value of the arm position, the arm position is controlled so that the difference between the two becomes zero, and furthermore, the position signal representing the current value of the arm position detected by the position sensor is controlled so as to be equal to zero. In addition to setting the lower limit value and performing limit processing so that this target signal falls within the upper and lower limit values,
In a robot arm position upper and lower limit processing method in which mechanical stoppers are provided at upper and lower limit positions where the absolute value is larger than the upper and lower limit values to restrict movement of the arm,
When the position signal reaches a position corresponding to the upper and lower limit positions of a mechanical stopper, a position upper and lower limit abnormality signal representing this is generated to stop the system. Lower limit processing method.
JP19431089A 1989-07-28 1989-07-28 Position upper lower limit processing system for robot arm Pending JPH0360993A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP19431089A JPH0360993A (en) 1989-07-28 1989-07-28 Position upper lower limit processing system for robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP19431089A JPH0360993A (en) 1989-07-28 1989-07-28 Position upper lower limit processing system for robot arm

Publications (1)

Publication Number Publication Date
JPH0360993A true JPH0360993A (en) 1991-03-15

Family

ID=16322482

Family Applications (1)

Application Number Title Priority Date Filing Date
JP19431089A Pending JPH0360993A (en) 1989-07-28 1989-07-28 Position upper lower limit processing system for robot arm

Country Status (1)

Country Link
JP (1) JPH0360993A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003044142A (en) * 2001-08-02 2003-02-14 Taiheiyo Cement Corp Position shift detecting mechanism for position sensor of stage
JP2011212831A (en) * 2010-03-15 2011-10-27 Yaskawa Electric Corp Robot system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6377692A (en) * 1986-09-19 1988-04-07 オムロン株式会社 Industrial robot with working-range variable device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6377692A (en) * 1986-09-19 1988-04-07 オムロン株式会社 Industrial robot with working-range variable device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003044142A (en) * 2001-08-02 2003-02-14 Taiheiyo Cement Corp Position shift detecting mechanism for position sensor of stage
JP4547113B2 (en) * 2001-08-02 2010-09-22 太平洋セメント株式会社 Position shift detection mechanism of stage position sensor
JP2011212831A (en) * 2010-03-15 2011-10-27 Yaskawa Electric Corp Robot system
US8812159B2 (en) 2010-03-15 2014-08-19 Kabushiki Kaisha Yaskawa Denki Robot system

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