JPH0424804A - Robot controller - Google Patents

Abstract

PURPOSE:To easily incorporate a robot language by obtaining a converted action function by reference to an action conversion table when a subject ele ment name and an action name are registered in a subject element name table and an action name table respectively and obtaining a command by adding a parameter to the action function. CONSTITUTION:A command describing a robot action is converted into a relevant action function by reference to an action conversion table 3-7 in response to the input of the command 'subject element name (action name, parameter)' as long as a subject element name and an action name are registered in a subject element name table 3-5 and an action name table 3-6 respectively. Then a command 'action function (parameter)' is obtained by adding a parameter to the converted action function. As a result, the describing forms of the action commands which are described in each fixed state, i.e., the subject element names (action names, parameters) are integrated into an interpreter form under a teaching action. Thus a robot language is easily incorporated as a command (action function) with a taught job defined as a new action.

Description

[Detailed Description of the Invention] [Summary] Regarding a robot control device that analyzes written robot language and converts it into executable commands, the description format of motion commands written in a definite state is changed to an ink printer format during teaching. In order to unify the robot's target element names (for example, a r m 1, etc.) and make it easier to incorporate the taught tasks as new movements as commands (movement functions) in the robot language, Based on the table, the motion name table in which robot motion names (such as move) are registered in advance, the target element name found from the target element name table, and the motion name found from the motion name table,
It is equipped with a motion conversion table that converts into a motion function (for example, move mvl), and in response to input of the command "Target element name (motion name, parameter)" that describes the robot's motion, the target element name and motion name are changed to the above. When the target element name Chiful and the above action name table are registered respectively, the above action conversion table is referred to, the command is converted to the corresponding action function, and the parameter is added to this action function.
"motion function (parameter)" and configure the robot to be controlled based on this.

[Industrial application field]

The present invention relates to a robot control device that analyzes a written robot language and converts it into executable commands.

[Prior Art and Problems to be Solved by the Invention] As a means of teaching movements to a robot, there is a method of describing them in a robot language. A robot language is a language structure for normal computer programs with commands for robot operations added. Use this command to describe a series of actions offline and then execute them.

At the stage of teaching a robot a motion, each time a command is input, the motion is executed and confirmed immediately, or a series of commands is registered as a new motion and executed. An interpreter that can execute modifications in a short cycle is suitable.

Once the motion is determined, it is compiled and incorporated into the robot language as a new motion, and in order to execute faster, the motion sequence written by the interpreter must be written in a way that is compatible with the robot language's internal compiler. Is required.

However, in order to suppress the increase in the number of motion commands, robot languages that control a large number of components simultaneously write motion descriptions in the form of target element name, motion name, and parameters. Therefore, in order to incorporate each actual movement function into a robot language that describes a work sequence, it is necessary to search for the function that is actually being called, which eliminates the effect of suppressing the increase in movement commands. There is.

The present invention unifies the description format of motion commands written in a definite state to an interpreter format during teaching, and easily incorporates the taught work as a new motion as a robot language command (motion function). The purpose is

[Means to solve problems]

Means for solving the problem will be explained with reference to FIG.

In FIG. 1, the target element name table 3-5 is a table in which target element names (for example, arml, etc.) of the robot are registered in advance.

The motion name table 3-6 contains robot motion names (for example, 5
ave, etc.) are registered in advance.

The behavior conversion table 3-7 is the target element name table 3-5.
This is a table for converting into an operation function (for example -0vemvl) based on the target element name (for example, ar resistance) found from the operation name table 3-6 and the operation name found from the operation name table 3-6.

[Effect]

As shown in FIG. 1, in response to the input of the command "target element name (motion name, parameter)" that describes the motion of the robot 7), the target element name and motion name are displayed in the target element name table. 3-5 and action name table 3-6, refer to the action conversion table 3-7, convert it to the corresponding action function, and add a parameter to this action function. ”

Therefore, the description format (
By unifying the target element names (action names, parameters) in the interpreter format during teaching, it is possible to easily incorporate the taught work as a new action as a command (action function) in the Lopo7) language. becomes.

〔Example〕

Next, the configuration and operation of one embodiment of the present invention will be explained in detail using FIGS. 1 to 3.

Figure 1 (a) shows the robot system. Here, the control device 1 controls the robot device 6 in response to instructions from the console 5 to assemble parts and the like.

Input 1/F2 is an input interface that takes in instructions, commands, etc. input from console 5.

The robot language analysis unit 3 analyzes robot language and converts it into executable commands (action functions).

The servo control unit 4 servo-controls the robot device 6.

The console 5 is an input/output device for inputting commands and the like.

Rohon)! 16 is a robot consisting of an arm 7, an arm 8, and a hand 9. The arm 7.8 and the hand 9 each include a motor to drive, an encoder to detect the position driven by the motor, an amplifier to amplify the drive signal of the motor, and the like.

FIG. 1(B) shows a detailed configuration diagram of the robot language analysis section 3 shown in FIG. 1(A). Here, the command input section 3-1 is
It receives commands (target element names (operation names, parameters)) according to this embodiment that are input from the console 5 or the like.

The command analysis unit 3-2 analyzes the command (target element name (action name, parameter)) according to this embodiment and converts it into an executable command (action function) (using FIG. 2). 11).

The motion function execution section 3-3 executes the executable motion function analyzed and converted by the command analysis section 3-2.

The calculation result output unit 3-4 outputs the calculation result as shown in FIG.
It outputs to the servo control section 4 and controls the robot device 6.

The target element name table 3-5 is a table in which target element names are registered in advance (see FIG. 2(a)).

The action name table 3-6 is a table in which action names are registered in advance (see FIG. 2(a)).

The operation conversion table 3-7 converts executable commands (
(see Figure 2 (a))
.

Next, the operation of the configuration of one embodiment of the present invention will be specifically explained using FIG.

FIG. 2(A) shows a specific example of the robot language analysis unit 3 shown in FIG. 1(B).

The command input section 3-1 inputs the following command (1) shown in the figure.
Accept 1. This is a command according to this embodiment that was written to be incorporated as a new action as a robot language command (movement function) after the teaching has been completed.

arml("move", 100, 100, 0, 0.2
) ・ ・ ・ ・ ・ ・ fil Here, a
rml is the target element name, and is described here as a function name. Parameters are in parentheses, and the first mo
ve represents the operation name, followed by 100, 100, 0,
0.2 represents the values of x, ySz, θ, and t, respectively.

The command analysis unit 3-2 analyzes the command (11) accepted by the command input unit 31.

First, it is found that the command (1) "arml" is registered by referring to the target element name table 3-5, and the target element name is found to be "ar resistant".

Second, “move” at the beginning of the parameter of command fl)
is found to be registered by referring to the action name table 3-6, and it is determined that the action name is "move".

Thirdly, the Cabinet. νe” followed by < 100.100,0,0.
2 as a parameter.

The command converter 3-3 converts the result of the analysis by the command analyzer 3-2 into an internally executable operation function.

First, here, as shown in ■, the target element name ara
Select the operation conversion table for arllll from +1.

Second, here, as shown in (■), from the action move in the arml action conversion table, the action function arm1m
Select vl.

Third, pass parameters to the function. As a result, ar1v1(100,100,0,0,2)...
...(2) is generated and converted into an executable operation function.

The motion interval execution unit 3-4 executes the generated motion function (2).

Further, the target element name table 3-5 is a table in which target element names ar+ml, arm2, handl, etc. are registered in advance, as shown in the figure.

The operation name table 3-6 includes the operation name mov as shown in the figure.
This is a table in which e, open, circle, etc. are registered in advance.

As shown in the figure, the motion conversion table 3-7 is a table in which motion functions corresponding to motion names are registered in advance for each target element name. For example, as shown in the figure, in the arml table, the operation function with the operation name IlOνe of the target element name
It is registered as l mvl.

FIG. 2(B) shows a flowchart for explaining the operation of FIG. 2(A) (2). This is the process of selecting the motion conversion table corresponding to the target element name in FIG. 2(a).

In the second step (b), 1. Enter the target element name. This is, for example, ar! as the target element name analyzed by the command analysis unit 32 in FIG. 2(a). Enter 111.

@ determines whether name=arml. If YES, select the ar+zl table with ■. on the other hand,
If NO, perform [phase].

[Phase] determines whether name=arm2. If YES, select the table for ar+m2 with ■. On the other hand, in the case of No, perform [phase].

[Phase] determines whether name=handl. YE
In the case of S, select O to select the handle table.

FIG. 2(C) shows a flowchart explaining the operation of FIG. 2(A) (2). This is a process of referring to the motion conversion table selected according to the flowchart of FIG. 2(b) and selecting the motion function corresponding to the motion name.

In FIG. 2(C), ■ inputs the name of the operation. This is done by inputting the action name analyzed by the command analysis unit 3-2 in FIG. 2(a), for example, move.

0 determines whether the action is "move" or not. If YES, the action function name arI11111vl is selected using ■.

On the other hand, in the case of No, perform [phase].

[Phase] determines whether the motion=circle. YE
In the case of S, the operation function name ar+*1 ci in [phase]
Select r. Do the same below.

Then, for example, the action function name arIIl1m selected with 0
Parameters are added to vl, the operation function (2) described above is generated, and this is executed.

Next, the overall operation of the present invention will be explained using FIG.

In FIG. 3, [phase] describes an operation sequence in an interpreted robot language. For example, if a robot system is configured with two robot arms and one hand, the target element names are A12M1, ARM2, H.
Use AND. At this time, write the following in an interpreted robot language.

ARMI MOVE 100100002...
...= ・f31AR gate 2? l0VE 100100
002 −・・・・−−・+41)IANDMOVE
IO102・・・・・・・・・- [5] In this way, by changing the target element name, the same motion can be described with the same motion name, and the robot's motion sequence can be described and immediately executed to check the motion. It's very convenient.

(2) determines whether the operation is OK or not. This is an interpreted robot language ((3) or 5 above).
)), execute it immediately, and determine whether the operation result is OK or not. If YES, perform [phase]; if NO, repeat 0.

Q describes the motion sequence in the internal representation of the robot language, which is the same as the interpreted format. This is explained above (3
) to 5), which is the same as the format of the interpreted robot language, is rewritten to the following mouth bot language α or a as described above.

ar+ml ('move', 100,100.0,0
．． 2) ...Qmars+2 ('mov
e", 100, 100.0, 0.2) ・ ・ -
-・ -α荀hand ('move', 10,10
．． 2) ・ ・ ・ ・ ・ ・ ・ ・ ・ (
5) [Phase] is analyzed and converted. As described above using FIG. 2, this converts (2) or (2) into the following αe or Ql operating function.

arIIll seagull ν1 (100,100,0,0,2
)・ ・ ・ ・ ・ ・ ・ ・ O1 revision lI2 shock v
1 (100, 100, 0, 0, 2)...a
ηhnd move(10,10,2)...
The motion functions αe to Ql after these conversions are registered and executed to control the robot.

Further, suppose that a task consisting of four commands for picking up an object on a certain table is determined as a macro command in an interpreted robot language as PICK, as shown below.

In PIG: ARMI MOVE 00-5001 WAIT 0.5 11AND MOVE 001 ARMI MOVE OO5001 To register this as the internal representation action function picKO, arml picko arml("move", 0.0.-50.0. 1)w
ait(0,5) hand(“move”, O+O+1) armljimo
ve"+o+o, 50+O+1). This description is converted into a motion function by the process shown in FIG. 2 and registered.

〔Effect of the invention〕

As explained above, according to the present invention, a configuration is adopted in which the description format (target element name (action name, parameter)) of the motion command described in the determined state is unified to the interpreter format during teaching. , it is possible to easily incorporate the taught work as a new action as a command (action function) in the robot language.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of one embodiment of the present invention, FIG. 2 is an explanatory diagram of the operation of the present invention, and FIG. 3 is a detailed explanatory flowchart of the present invention. In the figure, 3 is a robot language analysis section, 3-1 is a command input section, 3-2 is a command analysis section, 3-3 is a motion function execution section, 3-4 is a calculation result output section, and 35 is a target element name table , 3-6 is an operation name, 3-7 is an operation conversion table, 4 is a servo control unit, 6 is a robot device, 7.8 is an arm, and 9 is a node.

Claims (1)

[Scope of Claims] In a robot control device that analyzes a written robot language and converts it into an executable command, there is provided a target element name table (3-5) in which target element names of the robot (for example, arml, etc.) are registered in advance. and the robot's action name (e.g. m
action name table (3-6) in which actions such as "ove" are registered in advance
Based on the target element name found from the target element name table (3-5) and the motion name found from the motion name table (3-6), create a motion function (for example, move_mvl).
It is equipped with a motion conversion table (3-7) that converts the robot's motion into a motion conversion table (3-7), and in response to the input of the command "Target element name (motion name, parameter)" that describes the robot's motion, the target element name and motion name are converted to the above target element. When the action name table (3-5) and the action name table (3-6) are registered respectively, refer to the action conversion table (3-7) and convert it to the corresponding action function. A robot control device characterized in that a command is made into a "motion function (parameter)" with parameters added, and the robot is controlled based on this command.