JPH07111647B2 - Robot arm control method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for controlling a robot arm, and is particularly suitable for high precision control that enables accurate positioning by performing arbitrary acceleration and deceleration. The present invention relates to a method for controlling a robot arm.

[Conventional technology]

The control method conventionally used for accelerating and decelerating the robot arm uses, for example, a trapezoidal velocity pattern as described in JP-A-61-193204, and JP-A-59-83210. As described in the publication, a speed table and a distance table are prepared, and an operation speed including acceleration / deceleration is determined by searching them, and a function operation is used as described in JP-A-61-5311 Are known.

[Problems to be Solved by the Invention]

Many of the above-mentioned conventional techniques lack flexibility with respect to changes in system specifications, and insufficient consideration has been given to applying them to robot arms that perform various functions by teaching.

The present invention has been made in order to solve the above-mentioned problems in the prior art, and in a method of controlling a robot arm provided with a pattern table for acceleration / deceleration control, which is versatile and can be adapted to various operating conditions, It is an object of the present invention to provide a control method for a robot arm.

[Means for Solving the Problems]

In order to achieve the above object, a robot arm control method according to the present invention includes a robot arm control device, a computing means, an acceleration pattern table and a deceleration pattern table, and the robot is referenced by referring to the pattern table. In the robot arm arithmetic control means for controlling the movement between the two points by instructing the robot arm driving speed or the minute incremental movement amount, the given movement distance l ₀ between the two points is added. , The deceleration pattern table is referred to in a predetermined step and compared with the moving distance l, and when l ₀ <l, the conversion constant of the conversion constant for multiplying the table value is set so that l becomes equal to l ₀ . When the robot arm operation starts, the reference address of the acceleration pattern table is searched in the above step and the table value obtained Is multiplied by the conversion constant to obtain the speed command value or the minute incremental movement amount of the robot arm, after acceleration is completed, the reference address of the deceleration pattern table is searched in the step, and the obtained table value is multiplied by the conversion constant. The speed command value or the minute incremental movement amount is obtained, and the operation of the robot arm is controlled based on the speed command value or the minute incremental movement amount. Further, in the above means, a value obtained by multiplying a table value by a conversion constant, which should be referred to when controlling the movement between two points, in the calculation procedure storage unit of the control device becomes the velocity or the minute movement distance of the robot arm. An acceleration pattern table and a deceleration pattern table are provided, and the moving distance l ₀ between two given points is compared with the moving distance l when the acceleration / deceleration table is operated according to a predetermined reference step, l ₀ <l In this case, the conversion constant is minute and the table reference step is expanded so that l becomes equal to l ₀ , and the obtained conversion constant and the table reference step are used to accelerate at the start of the operation of the robot arm. The pattern table is searched sequentially from the low speed side to the high speed side. Is the remaining travel distance (specified movement distance) L ₀ that is the difference between the target position and the current position, and the deceleration required distance (acceleration / deceleration operation distance) when decelerating from the current operation speed according to the deceleration table. ) Compared with L, if L ₀ L holds the current speed command value, and if L ₀ <L, decelerates the reference address of the deceleration table by the table reference step The value is searched, the deceleration required distance L is corrected by an amount corresponding to this value, and the robot arm operation control is performed by using the value obtained by multiplying the table value by the conversion constant as the speed command value or the minute increment movement amount, and the acceleration and deceleration pattern is obtained. The robot arm may be operated accordingly. The above-mentioned "step" is the same as the "table reference step" or "reference step", and will be described as "table reference step" or "reference step" in the following description.

[Action]

The present invention enlarges or reduces the acceleration / deceleration pattern table according to the operating distance to optimally operate the robot arm.

Provided that the acceleration / deceleration operation distance is L and the designated operation distance is L ₀ , the present invention provides a method of reducing the table value and expanding the table reference step so that L ₀ = L is corrected. To be done.

Here, the table reference step is for instructing an interval between addresses corresponding to the table values when sequentially referring to the table values. That is, the expansion of the table reference step means expansion of this interval. That is, if the table value is decreased, the maximum speed and acceleration are decreased. Therefore, if the table reference step is expanded by that amount and the acceleration is corrected to the acceleration shown in the initial table pattern, the operation time can be shortened while maintaining good operation characteristics of the robot arm.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 10.

FIG. 1 is a block diagram showing the configuration of a robot system according to an embodiment of the present invention, FIG. 2 is a perspective view of a general robot device, and FIG. 3 is an example of the teaching means of FIG. It is a block diagram which shows the structure figure shown, FIG. 4, and the structure of the calculating means of FIG.

As shown in FIG. 1, the robot system comprises a robot body 2 and a controller 1.

The controller 1 manually operates the robot, issues a command to store the operated position in the position storage means 18, inputs the operation procedure of the robot, and issues a storage command to the operation procedure storage means 17, Teaching means 14 including a plurality of operation switches for instructing the robot to operate in accordance with the operation procedure stored in the procedure storage means 17 and a display device for displaying the operation status, and the computing means 15 The PWM signal generation circuit 11 which receives the pulse width modulation (hereinafter referred to as PWM) command output by the and the PWM signal generation circuit 11 and the power which operates by the PWM signal and supplies the operating current to the robot body 2, especially the servo motor. A circuit 12 and a pulse counter 13 for counting encoder pulses of an encoder mounted on the servo motor to measure the rotational position of the servo motor,
Position storage means 18 for storing the positions through which the plurality of robot arm tips pass, operation procedure storage means 17 for storing the operation procedure of the plurality of positions stored in the position storage means 18,
Calculation procedure storage means 16 for storing the calculation procedure of the calculation means 15
And an appropriate calculation procedure stored in the calculation procedure storage means 16 determined according to the input signal of the teaching means 14, and stored in the operation procedure storage means 17 and the position storage means 18 as necessary. Calculation means such as a micro-computer that controls the operation of the robot by performing calculations using the stored information 15
It consists of and.

Here, the PWM signal generating circuit 11, the power circuit 12, the servo motor 2, and the pulse counter 13 are provided in the number of degrees of freedom of operation of the robot in the connection relationship as shown in FIG. In the figure, only one set is shown to simplify the description.

Although not shown in FIG. 1, an I / O interface for transmitting / receiving data to / from an external device and a communication interface for communicating with a higher-level device are also provided.

FIG. 2 shows an example of the robot device used for explaining the present embodiment.

The robot arm shown in FIG. 2 is a well-known horizontal articulated robot, and has three rotations (θ ₁ , θ ₂ ,
It has the freedom of θ ₃ ) and the freedom of one linear motion (z ₃ direction). However, it is needless to say that the present invention is not limited to a robot having a specific mechanism, and the application target thereof may be a vertically articulated robot or an orthogonal motion robot.

FIG. 3 shows an example of the operation switch of the teaching means 14 and the display device. Detailed description thereof will be omitted, and reference will be made as necessary in the following description of the embodiments.

First, the configuration of the calculation means 15 will be described with reference to FIG.

FIG. 4 shows the minimum functional configuration of the calculating means.

When the initial setting of turning on the power is completed, the calculation means 15 causes the operation mode button fetching section 20 to switch the operation mode buttons (buttons for position teach, program teach, origin alignment, test operation, continuous operation, etc. in FIG. 3). Have input. When any button (key) is pressed, any one of the processing units of the origin alignment processing unit 21, the operation teaching processing unit 22, the position teaching processing unit 23, the test operation processing unit 24, and the reproduction operation processing unit 25 is correspondingly pressed. Or do Except for the case of the motion teaching processing unit 22, it is related to the motion control of the robot in all other cases, and the motion control of the robot arm is performed in accordance with these teachings as shown by the broken line below these. It is equipped with a servo control unit 30 that executes.

Of these, the origin alignment processing unit 21, the position teaching processing unit 23,
When the robot arm is operated by executing one of the processes of the test operation processing unit 24 and the reproduction operation arm processing unit 25, the current position and the target position of the robot arm are given,
In the meantime, the acceleration / deceleration mode is appropriately given to calculate the waypoint of the robot arm, and this is given to the servo control unit 30 to operate the robot arm.

An acceleration / deceleration pattern processing method for operating the robot arm according to an appropriate acceleration / deceleration pattern will be described below.

FIG. 5 is a column diagram showing an example of an acceleration pattern, and FIG. 6 is a configuration diagram of an acceleration and deceleration table.

In FIG. 5, the horizontal axis represents the table address and the vertical axis represents the dimensionless speed. FIG. 5 specifically comprises the table for acceleration and deceleration shown in FIG.

In FIG. 6, the pattern of the acceleration and deceleration table may be arbitrary, and the designer can set the optimum pattern for the acceleration / deceleration control of the robot arm. Also acceleration
The size of the deceleration table may be different. It suffices that the maximum dimensionless speed when the two are used in combination is the same or substantially the same when the two are used so that no speed gearing occurs when the two are switched. Further, when the same pattern is used during acceleration and deceleration, it is possible to provide only the acceleration table and share it during deceleration.

The acceleration and deceleration table shown in FIG. 6 can be prepared separately for each rotational movement of the robot and for linear movement, which does not change the gist of the present invention described below. Absent.

In the following, a case will be described as an example in which two acceleration tables and deceleration tables are provided and shared under all operating conditions. It can be applied to the above-described modified example with some modification.

In order to share the acceleration and deceleration tables and to be able to refer to any table portion, an n-axis ROM memory as shown in FIG. 6 is prepared for each motion axis and linear motion. In the following description, the expression for the n-th axis is the name of one representative example that is prepared separately for all motion axes and linear motion.

The table of FIG. 6 is labeled to refer to the acceleration and deceleration tables for the nth axis.

ASTRN: Acceleration start reference address AMAXN: Acceleration end reference address DMINN: Deceleration end reference address DMAXN: Deceleration start reference address Store the above label values in the n-axis ROM memory areas ASTR, AMAX, DMIN, DMAX. This is written as ASTR DC, W ASTRN, for example, in assembly language as follows, and if the assembler is used, the value of ASTRN, that is, the table address is automatically stored in the area labeled with ASTR. This accomplishes the labeling procedure.

As a result, when accelerating, the acceleration table ASTRN to AMAX
When decelerating N, it is possible to refer to the range of DMINN to DMAXN in the deceleration table. Further, by resetting the position of the label of each table arbitrarily, it is possible to refer to the table in an arbitrary range.

The reference reduction rate of the table is defined in the area defined by SHUKU of the n-th axis ROM memory.

For example, when the defined value is 1.0, it means that the table reference intervals are referred to one by one, that is, the tables are sequentially referred to, and when defined as 0.5, the table is referred to every other table.

That is, the reciprocal of the defined value represents the table reference interval. As we will see later, this reciprocal number does not have to be an integer.

SPDG1 to SPDGn of the n-th axis ROM memory correspond to the speed specified when operating the robot arm, and when the maximum value of the acceleration or deceleration table is multiplied by that value, the result becomes the specified speed. This area stores the selected conversion constant. Here, n conversion constants are discretely prepared, but only one conversion constant may be prepared, and the actual conversion constant may be calculated by multiplying the ratio with the designated speed.

The SPDG area of the n-th axis RAM memory is provided for storing the value of SPDGn or the value corrected for its actual operation.

The KASOKU and GENSOKU areas store the address of each table currently referenced when referring to the table.

DELTBL stores the reference interval of the table, that is, the reciprocal of the SHUKU value or its corrected value, and is used for the address calculation of the table reference.

KASOKU, GENSOKU and DELTBL store the table reference address and reference step that contain the value less than the decimal point, but when referencing the table using the value in KASOKU or GENSOKU, the value less than the decimal point is truncated. . With this function, the table created by the fixed pitch can be referred to by the free pitch.

In the IKPULS and IDPULS areas of the nth axis RAM memory,
The integrated value of the table values within the table range defined by reference in the n-th axis ROM memory is stored therein. Each value * reduction rate * conversion constant gives the acceleration distance and the deceleration distance, respectively.

The values of IKPULS and IDPULS can be calculated in advance and stored in the n-th axis memory if the table is fixedly handled.

Here, when the computing system is initialized, the computing means is the n-axis RO
It is assumed that the integrated value is obtained by referring to the M memory and stored in the area.

When the above table and memory are prepared and given from the specified operating distance L _{0 of the} robot arm and the specified speed V ₀ (actually, the index that refers to SPDG1 to SPDGn of the n-axis ROM memory) The table reference planning procedure is described below.

FIG. 7 is a flow chart for explaining a table reference plan of this embodiment, FIG. 8 is a flow chart showing a correction method of the table reference plan, and FIG. 9 is a table reference for accelerating and decelerating a robot arm. FIG. 10 is a flow chart showing the method, and FIG. 10 is a diagram showing an example of the acceleration / deceleration pattern according to the present embodiment.

The block 4000 shown in FIG. 7 reads the conversion constants from SPDG1 to SPDGn of the nth axis ROM memory and sets them in the SPDG area of the nth axis RAM memory, using the specified speed V ₀ as an index.

The block 4001 obtains the total number of members of the acceleration and deceleration tables by using the table reference address stored in the n-axis ROM memory. When the pitch of the table reference address is 1, the formula shown in block 4001 is obtained. If the pitch is other than 1, it may be corrected accordingly. This value indicates the number of table references when the robot arm is operated only by acceleration / deceleration and the table is referenced one by one, which also indicates the movement time of the robot arm.

Block 4002 obtains the operating distance L when the robot arm is operated only by the acceleration / deceleration operation.

The block 4003 compares the specified operation distance L ₀ with the acceleration / deceleration operation distance L.

If L ₀ L, the specified operation distance L ₀ is larger than the acceleration / deceleration operation distance L specified by the acceleration / deceleration table. That is, it is necessary to operate the robot arm in a pattern of acceleration → constant speed → deceleration. In this case, the processing of block 4004 is performed.

In block 4004, the number of table references including the constant velocity part,
Practically, the movement time ITiME of the robot arm nth axis is calculated. This is used when all the operating axes of the robot arm are simultaneously started and operated at the same time, as will be described later.

Next, the deceleration integrated value IDPULS is corrected to DPULS, and the table reference step DELTBL is calculated.

DPULS is the reference value for deceleration control during deceleration.
Are used as step increments / decrements of table lookup.

If L ₀ > L, it means that if the acceleration / deceleration is performed according to the table pattern, the robot arm will pass the target position. In such a case, a method of cutting off the high speed side of the table pattern can be considered, but this method does not effectively use the table pattern prepared optimally at all, so it is unexpected in the robot arm. This is not preferable because the vibration and sudden change in acceleration may occur. Also decrease the table value, ie
It is possible to use a method in which SPDG is made smaller and modified so that L ₀ = L is used, but in this case, the operating time is the same as the time set in the table pattern and is constant despite the short operating distance. Is a long time, which is not preferable.

In view of this, the present invention provides a method of reducing the table value and expanding the table reference step so as to correct L ₀ = L.

The principle is as follows. That is, if the table value is decreased, the maximum speed and acceleration are decreased. Therefore, expand the table reference step by that amount,
If the acceleration is corrected to the value shown in the initial table pattern, the operating time can be shortened while maintaining the operating characteristics of the robot arm in good condition. The problem here is how to determine the allocation rate associated with reduction and expansion.

If the table value is prepared using a functional expression, it is possible to obtain the enlargement ratio of the reference step where the maximum acceleration is the same, using the reduction ratio of the table value as a parameter.

Here, the block 4005 is shown as a method of dealing with an arbitrary table pattern and easily determining the distribution rate.

Table pattern reduction rate And the table step magnification is 1 / M.

As a result, the conversion constant SPDG is corrected to SPDG * M → SPDG.

Number of table references or travel time ITiME is N * SHUKU *
It becomes M. The deceleration integrated value is IDPULS * SHUKU * M.

Therefore, the table reference step DELTBL is 1 / (SHUKU *
M).

After the above preparation, in block 4006, the initial address of the table reference is set to KASOKU and GENSOKU.

As described above, the table reference plan for each motion axis of the robot or for the linear / curved motion is obtained.

Here, the reduction of the table pattern in the block 4005 is the same in both the horizontal axis and the vertical axis. However, depending on the table pattern to be prepared, when the same ratio of reduction is performed, the motion acceleration may be larger than the initial table pattern. Such an example appears when utilizing a cycloid curve, for example. If the motion acceleration is larger than the initial table pattern at such a reduction, it may cause unexpected vibration when the motion distance is short, which is not preferable. In such a case, it is desirable that the reduction ratio in the horizontal axis direction be smaller than the reduction ratio in the vertical axis direction. An example of the method is as follows. When a given moving distance between two points is l ₀ and a moving distance when the acceleration / deceleration table is operated according to a predetermined reference step is 1, M ′ = (l ₀ / l) / M (y> = 1), 1 / M is the enlargement ratio of the table reference step, M ′
Let M be the reduction rate of the conversion constant, then M'M is obtained. If y = 2 ^N (integer of N> = 0) here, the logical operation can be executed by shifting the data, so that the operation efficiency can be improved.

As a supplementary note, when y = 1, M = 1, which means that the table is not reduced in the horizontal axis direction.
In the case of ∽, M = x, which means that the same reduction is performed in both the horizontal axis and the vertical axis direction. Therefore, by appropriately specifying the value of y or the value of N, it is possible to determine the distribution ratios of the horizontal axis and the vertical axis that optimally use the table pattern.

For M ', the table reference step obtained in M is used to obtain the Σ table value again, You may ask for it.

Next, a method of correcting the table reference plan in the case where all the motion axes of the robot are simultaneously started in the machine coordinate system and simultaneously ended will be described with reference to FIG.

First, in 4010 shown in FIG. 8, the maximum movement time ITiMEMAX is obtained for the movement axes to be simultaneously operated from the movement time ITiME of each movement axis obtained using FIG. Then, in block 4011, steps 4012 to 4014 are executed for the axes to be simultaneously operated.

In block 4012, the movement time increment ΔITiME of the nth axis is calculated. In block 4013, the operating distance L of the n-th axis when the constant velocity moving unit is added by the time increment is obtained.

L = Ln + ΔITiME * table maximum * SPDG where, L _n is the operating distance of the n-axis, the table maximum,
The maximum table value referenced by the n-th axis, that is, the dimensionless maximum speed, SPDG, is a conversion constant for the table value of the n-th axis.

Next, in block 4014, the conversion constant of the nth axis is reduced.

SPDG = SPDG * L _n / L With this, even if the servo control is performed so that each axis independently operates by referring to the acceleration / deceleration table, the robot arms operate to start and stop simultaneously.

A table reference method for accelerating and decelerating the robot arm when the trajectory is planned as described above will be described with reference to FIG.

In FIG. 9, as an initial value, the address indicating the reference start address of the acceleration table is KASOKU, the final address of the deceleration table (minimum value) is GENSOKU, the table reference step is DELTBL, and the sum of the deceleration table values is DPULS. ,
A conversion constant that converts the table value into a value that controls the operation of the robot arm is set in SPDG. This is similar to that described for the table reference plan. Further, the acceleration mode is set in Flag as a flag for controlling the table reference. Under such conditions, the table reference in FIG. 9 is executed.

First of all, since the acceleration mode is set in Flag at first,
Block 4101 is executed according to the judgment of block 4100.
Block 4101 checks whether the address indicated by KASOKU exceeds the maximum. At first it ’s not exceeded,
Block 4103 is executed.

That is, the acceleration table value is read from the acceleration table address indicated by KASOKU and set in the register. Then add the table reference step DELTBL to KASOKU and GENSOKU. Although not described here, the reason why GENSOKU is added is to set the deceleration table address when the robot arm is forcibly decelerated during operation. As a result, the table address to be referred to next is updated.
As described above, DELTBL, KASOKU, and GENSOKU include values below the decimal point, and an integer point of KASOKU or GENSOKU is used when actually referring to the table. Then, the obtained table value is multiplied by the conversion constant in block 4110 to obtain the speed at which the robot arm is actually driven. The above-described process is repeatedly executed, and the speed pattern at the time of acceleration is sequentially obtained by using the table. Finally, the maximum limit of the KASOKU table is reached. At this time, blocks 4102 and 4110 are executed.

In other words, after acceleration is completed, the operation will start in constant speed or deceleration mode.
GENSOKU is set, the determination flag Flag is set to the constant speed mode, the deceleration table value indicated by GENSOKU is read into the register, and converted to obtain the operating speed. Next, when the table reference is activated, the block 4104 is in the constant speed mode.
The subsequent steps are executed.

That is, the remaining movement amount = target position-current position or target operating distance-actuated distance deceleration required amount = deceleration table integrated value (DPULS) * conversion constant (SPDG) is compared, and the former is larger than the latter. If it is not necessary to decelerate, the processes of blocks 4105 and 4110 are executed. Although not shown in FIG. 9, the operating distance = Σ
Since the table address value indicated by GENSOKU, which is (speed obtained from the table), is read, the value is constant if the value of GENSOKU does not change, that is, the constant speed is specified, and the robot arm moves at the constant speed. Will work with. If this state continues, the robot arm sequentially approaches the operation target point, so the determination result of the block 4104 becomes N ₀ , and the processes of block 4106 and thereafter are executed.

At block 4106, the value of GENSOKU is reduced by the table lookup step DELTBL.

That is, the value is updated to indicate the address indicating the value on the low speed side of the deceleration table. Blocks 4107 and 4108 are
This is a safety measure to prevent reference outside the definition of the deceleration table.

In block 4109, the deceleration table value is read from the address indicated by GENSOKU. Further, the value of DPULS is reduced by the read value, and the value of the deceleration required amount at the time of the next reference is updated. Block 4110 is the common processing of the above-mentioned contents.

In this way, a command value for commanding the robot arm to perform acceleration → constant speed → deceleration or acceleration → deceleration is obtained.

Here, although not shown in the above, when it is necessary to forcibly decelerate and stop the moving robot arm, the deceleration table is referred to so that it may be decelerated from anywhere as described above. Since the address of is set to GENSOKU, the robot arm can be decelerated and controlled by constantly executing blocks 4106 and thereafter. In this case, it is not necessary to make a correction regarding DPULS of block 4109.

The 10th example in which acceleration / deceleration control of one axis of the robot arm is performed based on the above table reference plan and table reference
Shown in the figure.

The acceleration pattern and the deceleration pattern given in FIG. 10 are the same, and the cycloid curve was used here.

In FIG. 10, is a case where the operating distance is short and the table pattern is reduced to operate in the acceleration → deceleration mode, and is a sufficiently long operating distance and operates in the acceleration → constant speed → deceleration mode. Is just the case of the boundary between the two.

Thus, according to the deceleration table processing method of this embodiment,
The robot arm can always be operated in an optimum pattern regardless of the size of the operating distance.

In the acceleration / deceleration pattern processing method described above, the acceleration table and the deceleration table having the dimensionless speed as a table value are used. Here, when the acceleration pattern and the deceleration pattern are the same, even if only the acceleration pattern table is provided and shared with the deceleration table, the contents of this embodiment can be applied without any change.

Further, the table may be configured so that the table value is not the dimensionless speed but the dimensionless operation distance. In this case, when the dimensionless speed is required, the dimensionless speed can be easily obtained by taking the difference between the table values, and it can be dealt with by slightly changing the table processing method in the above description.

Further, even if the acceleration table is given a dimensionless velocity and the deceleration table is given a dimensionless operation distance as a reference, the contents of this embodiment can be easily applied, and substantially the same result can be obtained. Further, when the acceleration / deceleration pattern can be described by a certain specific relationship, the present invention can be easily realized by providing a function value calculation processing section instead of the table and performing the function value calculation with reference to the table. . In this case, the acceleration / deceleration plan can be realized by utilizing the characteristic peculiar to the function, which is as described above.

According to the present embodiment, as described above, an arbitrary acceleration and deceleration pattern table optimal for driving the robot arm is provided, and when the operating distance is long, a constant speed section is inserted between the acceleration and deceleration sections. If the operating distance is small, make a table reference plan to reduce the table value and expand the table reference step, refer to the table according to this plan, and use the obtained value to drive the robot arm. By doing so, the following excellent effects are brought about.

(1) Arbitrary optimum table patterns can be freely designed.

(2) The robot arm always operates smoothly according to the table pattern, and does not generate vibration even when stopped.

(3) When the operation distance is short, the table reference step is enlarged, so that the operation time is shortened.

The technique of the above embodiment is not only applicable to the control of the robot arm, but can be widely applied to the movement control of the object by the point movement control.

〔The invention's effect〕

As described above, according to the present invention, movement control corresponding to various distances can be performed by using one type of optimum acceleration / deceleration pattern table in consideration of good operation characteristics and reduction of operation time. Therefore, it is possible to provide a versatile robot arm control method that can be adapted to various operating conditions.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a robot system according to an embodiment of the present invention, FIG. 2 is a perspective view of a general robot device, and FIG. 3 is an example of the teaching means shown in FIG. FIG. 4 is a block diagram showing the configuration of the calculation means shown in FIG. 1, and FIG. 5 is a column diagram showing an example of an acceleration pattern.
FIG. 6 is a configuration diagram of the acceleration and deceleration table, FIG. 7 is a flow chart for explaining the table reference plan of this embodiment, and FIG. 8 is a flow chart showing a correction method of the table reference plan. FIG. 9 is a flow chart showing a table reference method when accelerating and decelerating a robot arm.
FIG. 10 is a diagram showing an example of the acceleration / deceleration pattern according to the present embodiment. 1 ... Control device, 14 ... Teaching means, 15 ... Computing means, 16
…… Computation procedure storage means, L …… Acceleration / deceleration operating distance, L ₀ ……
Specified operating distance, l ...... moving distance, l ₀ ...... travel distance between two points given, M ...... table pattern shrinkage low rate,
M '... conversion factor reduction ratio, 1 / M..table reference step enlargement ratio.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hironao Kagaya 800 Tomita, Ohira-cho, Shimotsuga-gun, Tochigi Prefecture Tochigi factory, Hitachi, Ltd. (56) Reference JP-A-61-5311 (JP, A) JP-A-62 -229307 (JP, A)

Claims (5)

[Claims] 1. A robot arm controller is provided with a computing means, an acceleration pattern table and a deceleration pattern table, and the robot arm is driven by an operating speed or a minute incremental movement amount with reference to the pattern table. In the operation control method of the robot arm for controlling the movement between two points by instructing the means for performing a reference movement of the given movement distance l ₀ between the two points and the acceleration / deceleration pattern table at a predetermined step. Of the table value is reduced and the above step is enlarged so that l becomes equal to l ₀ when l ₀ <l.
The reference address of the acceleration pattern table is searched in the step, and the obtained table value is multiplied by the conversion constant to obtain the speed command value or the minute incremental movement amount of the robot arm, and after the acceleration is completed, the reference address of the deceleration pattern table. In the above step, multiplying the obtained table value by a conversion constant to obtain a speed command value or a minute incremental movement amount, and controlling the operation of the robot arm based on the speed command value or the minute incremental movement amount. And a method for controlling the operation of a robot arm. 2. The method for calculating and controlling a robot arm according to claim 1, wherein a reduction rate of the conversion constant is reduced. And the calculation control method of the robot arm, wherein 1 / M is the enlargement ratio of the step. 3. A robot arm arithmetic control method according to claim 1, wherein: M = X + (1−x) / y, M ′ × M = 1 × ₁₀ / l (y> = 1), 1 / M is the enlargement ratio of the step, and M ′ is the reduction ratio of the conversion constant, A method of computing and controlling a robot arm, wherein y = 2 ^N (N> = 0 integer). 4. The method of computing control of a robot arm according to claim 1, wherein one table sharing an acceleration pattern table and a deceleration pattern table is used. . 5. The robot arm arithmetic control method according to claim 1, wherein the acceleration / deceleration pattern table is an operating distance pattern table, and the speed is calculated by multiplying the difference between the retrieved table values by a conversion constant. A method of computing and controlling a robot arm, characterized in that a command is obtained.