JPH08171410A - Robot mastering method - Google Patents

Abstract

PURPOSE: To reduce the burden of a mastering job by attaching two mastering jigs forming a pair at the base and finger sides of a robot respectively and having a mastering attitude with a specific position relation secured between both jigs. CONSTITUTION: A hole 112 of a jig 110 provided at the base side is formed at the center part of an outer face and concentrically with the outer edge part of a main body. The hole 112 has an elliptical opening part and also has an elliptical truncated conical hollow part 113. A jig 120 provided at the arm tip side is attached to a flange 121 via an attachment hole 125. The outer circumferential face 124 of a projection 123 of the jig 120 has a size and a shape matching with the part 113 of the hole 112 of the jig 110. Therefore, the face 124 is in a perfect close contact with the part 113 and the projection 123 is set into the hole 112. Under such conditions, the position/attitude relation is uniquely decided between both jigs 110 and 120. Then a robot has a mastering attitude by the shapes and sizes of both jigs 110 and 120.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is an industrial robot used for various purposes (hereinafter, simply referred to as "robot").
The present invention relates to a method applied to a mastering process for teaching the origin position, and more specifically, to a method for allowing a robot to automatically take a mastering posture by using a force sensor.

[0002]

2. Description of the Related Art Generally, in order to use a robot having multiple joints, it is necessary to know an absolute value of a linear movement position or a rotation position of each joint shaft consisting of a linear motion shaft or a rotary shaft. For example, regarding a rotary joint axis, a motor that drives the joint axis is provided with a rotation angle detection sensor, and the relative rotational movement amount of the joint axis is grasped by the sensor, but the absolute position of the rotation angle is known. In order to do so, in addition to the relative movement amount, an origin position (or origin angle, which serves as a reference for the rotation angle of the joint shaft, hereinafter referred to as “origin position” for both the linear motion axis and the rotation axis). Will be needed.

This origin position does not necessarily mean the value "0", but may be any value as long as it is a value determined as an absolute value. In order to acquire this origin position, generally, the robot takes a certain standard posture such that the value of the angle of each joint axis of the robot is uniquely determined, and the value of each joint axis in that state is taught to the robot. Is done, and this is called mastering. The instructed joint axis value is used for the subsequent control of the robot. Also, the attitude that the robot takes when acquiring the origin position is called the mastering attitude.

Generally, it is necessary to perform mastering in (a) the final stage of the manufacturing process of the robot or during adjustment work for shipping to the user, (b) when the robot is used, For example, when the servo motor, which is a drive source of the wrist or the like, is replaced, and (c) when an interference accident during the robot operation is repaired.

In order to carry out mastering as described above, the robot must first take a mastering posture. In the conventional method, the following work was performed for that purpose. First of all, a mastering treatment is applied to both the hand of the robot (the movable end of the final joint axis; the same applies below) and the base (the fixed side of the first joint axis applies to the same. The same applies below). Put on the equipment.

Then, the robot is manually moved (jog feed) so that the jig attached to the hand of the robot approaches the jig attached to the base. Furthermore, the position of the robot is adjusted by manual operation, and a position where both jigs have a predetermined positional relationship is set as a mastering posture. In other words, both jigs for mastering are designed to inevitably assume the mastering posture when the robot is operated so that they have a predetermined positional relationship.

To confirm that such a positional relationship has been realized, for example, a measuring instrument equipped with a plurality of movable members (called dial gauges) is used. That is, a dial gauge is brought into contact with a specific surface on the base side, and it is confirmed that the above-mentioned positional relationship is realized in a state where the indicated value of the measuring instrument indicating the position of each dial gauge matches a predetermined value.

Such confirmation work is performed at a position very close to the robot while manually operating the robot.
In addition, the reading of the indicated value of the measuring instrument will be performed while paying attention. Therefore, the work for taking the mastering posture is not only complicated for the operator but also extremely dangerous.

[0009]

DISCLOSURE OF THE INVENTION As described above,
When performing mastering by the conventional method, there is a great danger in making the robot take the mastering posture,
Also, the position adjustment of the robot, which is performed at the final stage, must be performed manually, resulting in poor work efficiency.

Therefore, one object of the present invention is to avoid a risk of taking a mastering posture by automating a part of the work required to take the mastering posture and to reduce the work load accompanying the mastering work. Is to reduce.

[0011]

According to the first aspect of the present invention, "a pair of mastering jigs are attached to the base side and the hand side of the robot, respectively, and both have a specific positional relationship. The above technical problem is solved by a “mastering method of a robot that takes a mastering posture in a state”. Further, in the second aspect of the present invention, "a robot having a base side and a hand side of the robot elastically coupled by an elastic body and having a specific internal stress state in the elastic body has a mastering posture. The above technical problem is solved by the “mastering method”.

In the first embodiment, "(a) a step of moving the robot by a manual operation so that the jigs have at least a positional relationship close to a specific positional relationship, and (b) a force sensor. And (c) detecting the force or moment acting between the jigs by reflecting the difference between the positional relationship between the jigs at that time and the specific positional relationship. A step of determining the movement amount of the robot by software processing using the result and the data of the Jacobian matrix at the time of the mastering posture,
(D) The step of executing the robot movement corresponding to the movement amount determined by the software processing by the automatic operation "is executed.

These steps (b) to (d) are repeated as necessary to converge the robot to the mastering posture and teach the origin position.

Further, in the case of executing the detection by the force sensor and the judgment of the necessity of repeating the movement of the robot,
"(A) A step of manually moving the robot to realize a positional relationship close to at least a specific positional relationship between the jigs, and (b) a force sensor is used to detect the positional relationship between the jigs at that time. Detecting the force or moment acting between the jigs by reflecting the difference between the positional relationship and the specific positional relationship; and (c) the movement of the robot based on the detection result. The presence / absence of the robot by software processing, and (d) the robot using the force or moment detection result and the data of the Jacobian matrix in the mastering posture when the determination result indicates that the robot needs to move. The amount of movement of the robot is determined by software processing, and (e) the robot movement corresponding to the amount of movement determined by the software processing is automatically performed. Stage "and to be executed by the rotation is executed.

The steps (b) to (e) are repeated until it is determined in the step (c) that the robot does not need to move. Thereby, the robot is converged to the mastering posture and the origin position is taught.

The "set of mastering jigs" used in the first embodiment may have a projection and a hole having a matching shape and size for receiving the projection.

According to the second aspect of the present invention, "(a) the step of moving the robot by manual operation to bring the hand side closer to the base side of the robot, and (b) the base side and the hand side of the robot. Elastically coupled by the elastic body, and (c) using a force sensor to detect a force or moment generated reflecting the internal stress state of the elastic body, and (d) A step of determining the movement amount of the robot by software processing using the detection result and the data of the Jacobian matrix in the mastering posture, and (e) the robot movement corresponding to the movement amount determined by the software processing is automatically performed. The step of “doing” is executed a necessary number of times to converge the robot to the mastering posture.

Further, in the case of executing the determination by the force sensor and the necessity of repeating the robot movement,
"(A) a step of manually moving the robot to bring the hand side closer to the base side of the robot, and (b) a step of elastically connecting the base side and the hand side of the robot with the elastic body. , (C) detecting a force or moment generated by reflecting the internal stress state of the elastic body using a force sensor,
(D) determining whether or not the robot needs to move based on the detection result by software processing,
(E) when the determination result indicates that the robot needs to move, the amount of movement of the robot is determined by software processing using the force or moment detection result and the data of the Jacobian matrix in the mastering posture,
(F) The step of executing the robot movement corresponding to the movement amount determined by the software processing by the automatic operation "is executed. Then, the steps (b) to (f) are repeated until it is determined in the step (d) that the robot does not need to move, and the robot is converged to the mastering posture.

[0019]

In any of the above modes, when the robot takes the mastering posture, it is not necessary to rely on manual operation until the mastering posture is realized. That is, it is sufficient to move the robot by manual operation until it achieves a posture close to the mastering posture (corresponding to the posture in which the elastic body is coupled in the second embodiment).

After that, the robot can be converged to the mastering posture by automatic operation. The automatic driving is performed using the detection output of the force sensor and the data of the Jacobian matrix when the robot is in the mastering posture.

In the first embodiment, the force or moment acting between the jigs is used as an index indicating the deviation from the mastering posture. Further, in the second embodiment, the force or moment generated by the internal stress state (deformed state) of the elastic body that elastically connects the base side and the hand side is used as an index indicating the deviation from the mastering posture.

Using these indexes and the data of the Jacobian matrix in the mastering posture, the movement amount of the robot is calculated, and the robot is moved in the direction approaching the mastering posture.
By performing this detection and movement cycle as many times as necessary,
The robot approaches the mastering posture in a successive approximation. If the software processing determines whether or not the index indicating the deviation from the mastering posture is sufficiently small, the mastering can be performed more efficiently.

As described above, in the method of the present invention, the final adjustment step for taking the mastering posture is automated, so that the work load on the operator is reduced and at the same time, the safety is enhanced. In addition, the burden required for reading the dial gauge and determining the robot movement direction is eliminated, and the realization of the mastering posture can be confirmed objectively.
The reliability of mastering accuracy is improved.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 illustrates the axial configuration of a 6-axis vertical articulated robot. The method of performing mastering according to the present invention will be described below by taking this robot as an example. In FIG. 1, θ1 to θ6 are joint axes 1
Represents an angle of ~ 6. In the state where mastering is not performed, the origin positions of the angles θ1 to θ6 are preliminarily set to appropriate positions. Further, the values of the coordinate axes of the xyz orthogonal space in which the robot is installed are taken as shown in the figure and set to x1 to x6. The origin position of the xyz orthogonal space is fixed and set at an appropriate position.

In order to perform mastering, it is necessary to determine a mastering posture such that the angle of each joint axis is uniquely determined. This is determined according to the axis configuration of the robot, the joint axis link length, and the like, and what is adopted as the mastering posture is not a problem directly related to the present invention, so here, the mastering posture is used. I will not go into detail about how to decide.

However, since the following Jacobian matrix can be expressed in a simple form by appropriately determining this mastering posture, it is possible to adopt a posture in which the form of this Jacobian matrix is simple as the mastering posture. It can be said that it is preferable. This Jacobian matrix defines the conversion relationship between the variables (θ1 to θ6) representing the joint axis angle and the variables (x1 to x6) representing the position or angle with respect to the spatial coordinates, and is defined as follows.

That is, with the symbol <> as a symbol representing a vector, the joint axis vector <θ> and the orthogonal space vector <x
> Is defined as <θ> = [θ1, θ2, θ3, θ4, θ5, θ6] ^T <x> = [x1, x2, x3, x4, x5, x6] ^T , Xi = fi (θ1, θ2, θ3, θ4, θ5, θ6),
The following 6 × 6 matrix obtained when (i = 1,2, ... 6) holds is the Jacobian matrix in this example.

[0028]

[Equation 1] If this Jacobian matrix is used, <Δx> = Jx (θ) · <Δθ> (1) holds. Here, <Δθ> = [Δθ1, Δθ2, Δθ3, Δθ4, Δθ5
, Δθ6] ^T <Δx> = [Δx1, Δx2, Δx3, Δx4, Δx5
, Δx6] ^T.

The Jacobian matrix Jx (θ) changes depending on the values of the joint axis angles θ1 to θ6. If the mastering posture is appropriately set and this Jacobian matrix is simple and regular, the inverse matrix of the Jacobian matrix Jx (θ) can be obtained by simple calculation. The relationship at this time, <Δθ> = Jx (θ) ⁻¹ · <Δx> (2), is used for automatic adjustment of the position / orientation of the robot during mastering in the present invention, as described later. It As an example, if the robot mastering posture shown in FIG. 2 is adopted, the form of the Jacobian matrix Jx (θ) can be simplified as in the following Expression (3). In the formula, a12, a13 ...
・ A65 represents a real number that is not 0, and its value is determined by the link length of each joint axis.

[0030]

[Equation 2] By obtaining the inverse matrix of this equation (3), when <Δx> is given from the relationship of the equation (2), it is possible to obtain the minute change amount <Δθ> of each joint axis for realizing it.

Next, on the premise of the above, an example of a system and a jig used in this embodiment, and a mastering procedure using the same will be described.

FIG. 3 is a block diagram showing an essential part of a system configuration that can be used to carry out the present invention. Referring to FIG. 1, the entire system includes a robot controller 10, a robot main body (mechanical portion) RB controlled by the robot controller 10, a force sensor 30 supported by an arm tip of the robot main body, and the force sensor 30. The signal processing device 30 processes the detection signal of.

The robot controller 10 has a central processing unit (hereinafter referred to as CPU) 11, and the CPU 1
Reference numeral 1 denotes a teaching operation panel equipped with a memory 12 made up of a ROM, a memory 13 made up of a RAM, a non-volatile memory 14, and a keyboard for inputting various commands or set values for teaching the robot and the operation of other system parts. 1
5, the input / output device 16 that functions as an interface with the signal processing device 30, and the robot axis control unit 17 that controls the operation of each axis of the robot body 1 via the servo circuit 18 respectively via the bus 19. It is connected.

As the force sensor 30 mounted on the tip of the arm of the robot body RB, a well-known structure having a plurality of bridge circuits which are composed of strain gauges and are AC-driven by an oscillator can be used. From the force sensor 30, each detection signal representing each of the three components of the force and moment of the six-axis force is output to the signal processing device 20.

The outline of the signal processing in the signal processing device 20 is as follows. Each detection signal output from the force sensor 30 is amplified by a differential amplifier, synchronously rectified and converted into a DC signal, and then input to a multiplexer. The multiplexer is the robot controller 10
According to a control signal received from the CPU 11 via the input / output device 16, the signals of the sensor detection output components are sequentially sent to the input / output device 16 via the sample hold circuit and the A / D converter. The CPU 11 sequentially stores this in a predetermined area in the nonvolatile memory 14. The stored detection data of the force sensor 30 is used for robot control for performing automatic mastering in a manner described later.

The ROM 12, the RAM 13 and the non-volatile memory 14 store the detection data of the force sensor 30, a program for controlling the operation of the robot controller 10 itself, a process for executing mastering described later,
It is used for storing programs for controlling signal exchange with the signal processing device 20 and related setting data for each process.

Further, in the non-volatile memory 14, (i) data of a transformation matrix between the sensor coordinate system set in the force sensor 30 and the orthogonal coordinate system (x1 to x6) set in the robot, ii) The detection signal received via the input / output device 16 is processed according to the calculation procedure described later, the displacement amount of the robot position to be commanded to the robot is calculated based on the result, and the axis controller 16 corresponds to the calculation result A force control program for executing a series of processes for giving the command and related setting data are stored.

Next, FIG. 4 is a schematic diagram for explaining the arrangement and the shapes of both jigs used when the mastering method according to the present invention is carried out in the first embodiment using the system shown in FIG. is there.

In the figure, reference numeral 110 indicates a jig attached to the base 100 of the robot, and reference numeral 120.
Represents a jig attached to the arm tip portion AM of the robot. The jig 110 on the base side has a hole 112, and the reference numeral 30 is provided between the hole 112 and the fixing plate 101.
The force sensor indicated by is installed. The fixing plate 101 is mounted on the base 100 by mounting screws 102a to 102c which are inserted into the mounting holes 103a to 103c.
Fixed against.

The hole 112 of the jig 110 on the base side is provided in the center of the outer surface concentrically with the outer edge of the main body. Hole 11
2 has an elliptical opening, and has an elliptical truncated cone-shaped cutout 113 from the opening to the bottom.

On the other hand, the jig 120 on the arm tip side is attached to the flange 121 through the attachment hole 125 (the attaching screw is not shown). Jig 120
Has a projection 123, and the outer peripheral surface 124 of the projection 123 has a size and shape that match with the hollow portion 113 in the hole 112 of the base side jig 110. Therefore, when the outer peripheral surface of the protrusion 123 is completely in close contact with the punched portion 113 and the protrusion 123 is completely fitted in the hole 112, the jig 110,
The position / orientation relationship of 120 is uniquely determined. Therefore, the shapes and dimensions of both jigs 110 and 120 are designed so that the posture of the robot that realizes this completely fitted state (which is naturally determined) is the mastering posture.

In the force sensor 30, the jig 120 is the jig 11
By mechanically making contact with 0, when a force or moment acts on the jig 110, this is detected and transmitted to the robot controller 10. As described in the related description of FIG. 3, since the calibration that defines the conversion relationship between the sensor coordinate system and the Cartesian coordinate system (x1 to x6) has been completed, the force sensor 30 detects the force acting on the jig 110. And moment, x1, x2, x3 force in each direction (translational force) and x
The robot controller 10 measures by dividing the moment around each of the axes 1, 2, and x3 (in the directions of x4, x5, and x6).
You can tell

A procedure and a process for executing mastering using the system shown in FIG. 3 and the jig shown in FIG. 4 will be described below. First, a target value (six-axis force) to be taken when the jig shown in FIG. 4 reaches a completely fitted state is set in advance. Here, this is expressed by the following equation.

[0044]

(Equation 3) In the above equation, the left side <Fd> is a vector representing the 6-axis force,
Only the first component has a non-zero value -Fd1. This is because when the projection 123 of the jig 120 is completely fitted in the hole 112, the outer peripheral surface 124 of the projection 123 is pressed against the inner wall surface of the hollow portion 113 of the hole 112, but the jig 110 is moved in the transverse direction. It corresponds to the fact that the force of shifting or twisting around the axis along the depth direction of the hole 112 does not work.

Therefore, it is preferable that the value -Fd1 of the first component is set to a magnitude corresponding to an appropriate pressing force considered at the time of complete fitting. Further, it is preferable that the -Fd1 value can be set or updated by manual input from the teaching operation panel 16. Jig 11
Preparation including installation of 0, 120, input of -Fd1 value or threshold value ε and constant k which will be described later, Jacobi matrix data in mastering state (data of matrix elements a12, a13, etc. above). When is completed, start mastering. Hereinafter, description will be made with reference to the flowchart shown in FIG.

First, the robot is moved by manual operation (jog feed), and the projection 123 of the jig 120 is fitted into the hole 112 of the jig 110 to be in a substantially fitted state (incomplete fitted state) ( Step S1). It should be noted that there is no problem even if the completely fitted state is realized only by manual operation.

Then, the teaching operation panel 15 is operated to switch to a mode for automatic mastering (step S).
2). As a result, a program that executes the processing of step 3 and subsequent steps is started. When the automatic mastering is started, the detection output of the force sensor 30 is read in step S3. The detection output of the force sensor 30 can be represented by the following vector <F> having 6 components F1 to F6 corresponding to the 6-axis force.

[0048]

[Equation 4] In the following step S4, the degree of difference between <F> read by the robot controller 10 and the set <Fd> is determined according to an appropriate determination formula. Here, <Fd>
Norm of vector of difference between <F> and <F> | <Fd>-<F> |
Is compared with a preset threshold value ε (small positive value) (step S4).

If the completely fitted state has already been achieved only by the manual operation in step S1, step S4
However, the judgment in step S4 of the first time is normally NO. Therefore, the process proceeds from step S4 to step S5. In step S5, the following equation (4) is calculated. <Δx> = k · (<Fd> − <F>) (4) Here, k is the rate at which the robot moves in accordance with the imperfect fitting state of both jigs. It is a constant set in advance as a factor that determines whether or not. Generally, the smaller this value, the finer the movement of the robot, but if it is too small, mastering will take time.
On the contrary, if the value of k is too large, the robot may not converge to the mastering posture. Therefore, it is desirable that the value of k be set to an appropriate value in view of, for example, an appropriate experiment or experience in use.

When the equation (4) is calculated in step S5, the movement amount <Δθ> of each joint axis of the robot is calculated in combination with the relation of the above equation (2) (step S6).
Here, the Jacobian matrix Jx (θ) is required, but since the robot has already taken a posture close to the mastering posture, the Jacobian matrix in the mastering state having the form of the above equation (3) is approximately used. You can do it.

Then, the robot is moved according to the movement amount <Δθ> calculated in step S6 (step S6).
7). Since this robot movement is performed in the direction of compensating <Fd>-<F>, the fitting state of both jigs 110 and 120 approaches a more complete one unless the k value is set excessively large. Become. Since this movement is automatically performed, the operator's work load is light and there is no danger.

When the above processing is completed, step S
3. Execute step S4 to check the completeness of the fitted state. If | <Fd>-<F> | ≧ ε, it is determined that the completeness of the fitted state is insufficient, and step S
5 to step S7 are re-executed. At this time, the robot should be closer to the mastering posture than at the previous time, so it is considered that the error due to the use of the Jacobian matrix of the equation (3) in Step 5 is smaller.

Hereinafter, the above-mentioned processing cycle is repeated until a positive determination is made in step S4. If the judgment in step S4 is YES, the state of complete fitting, that is,
It is determined that the mastering posture has been realized, and the joint axis values at that time are taught as origin positions to the robot (step S8). Then, a signal indicating the end of mastering is output and displayed on, for example, the teaching operation panel 15 (step S9), and the entire process is ended.

In this embodiment, the case in which the present invention is applied to the robot having the axis configuration shown in FIG. 1 in which the mastering posture shown in FIG. 2 is designated has been described. It is clear from the above description that it is not limited. The force sensor 30 may be installed between the jig 120 and the arm tip portion AM instead of the base side.

As for the jigs to be used, those shown in FIG. 4 are merely examples, and jigs of any shape can be adopted as long as they are combinations that can correspond to the mastering posture and a specific force action relationship. Is. Further, it is possible to make one or both jigs have elasticity to make the convergence to the mastering posture smoother.

Another method of utilizing elasticity is to elastically connect the jig attached to the base and the jig attached to the hand to each other when the jig is approached to some extent. This facilitates smooth movement of the robot in the direction in which the robot converges to the mastering posture, and more reliably prevents the robot from moving in the direction in which the robot and the robot are separated from each other during automatic operation.

When the method of joining both jigs with an elastic body when they approach each other is adopted, the "specific positional relationship" between the jigs, that is, the positional relationship in the mastering posture and the jigs May be designed so as to correspond to a specific deformation state of the elastic body mounted so as to couple with each other (for example, there is only a constant pressure in the axial direction and other stress components are 0). In this method, since the jig only needs to play the role of the elastic body mounting portion, the base mounting portion itself or the robot hand portion itself functions as a "jig".

FIG. 6 shows a modified example corresponding to the second mode of the present invention in which this system is adopted. In this example, the elastic body 130 to which the force sensor 30 is fixed is fixed to the fixing plate 105 of the base 100 by the flange 13.
It is attached in advance through 1. Reference numeral 132a, 1
32b is a mounting screw. Then, as shown in FIG. 6A, when the arm tip portion AM approaches the flange 133 of the elastic body 130 attached to the base 100, the flange 13 is appropriately deformed while deforming the elastic body 130 appropriately.
3 to the mounting portion (not shown) of the arm tip portion AM, and screw 1
Attach using 34a, 134b.

The order in which the elastic body 130 is attached is changed, and the elastic body 130 is attached to the arm tip portion AM, and the elastic body 130 approaches the base 100, and then the elastic body 130.
May be attached to the fixed plate 105 of the base 100. In that case, the installation position of the force sensor 30 is preferably between the arm tip portion AM and the elastic body 30.

The base 130 (corresponding to the jig 110) and the robot in which the elastic body 130 has no twist or flexure and only a proper pressure (corresponding to -Fd1) in the axial direction of the cylinder exists. If the mastering posture is designed when the positional relationship of the attachment part of the hand (corresponding to the jig 120) is realized, the automatic driving using the force sensor 30 described above from the state of FIG. 6 (1). By FIG.
The mastering posture shown in (2) can be reached.

That is, when the force and the moment generated according to the deformed state of the elastic body 130 are sensed by the force sensor 30, the elastic body 130 is free from twisting and bending, and only the set pressure remains. , The robot is moved. If necessary, the detection by the force sensor 30 and the movement of the robot are repeated a required number of times, and the robot eventually converges to the mastering posture shown in FIG. 6 (2). The processing during this period is similar to that described with reference to the flowchart in FIG.

[0062]

According to the present invention, since the final adjusting step for taking the mastering posture is automated, the operator is freed from manual operation, and the work is simple and safe. In addition, the burden required for reading the dial gauge and determining the robot movement direction is eliminated, and the realization of the mastering posture can be confirmed objectively.
The reliability of mastering accuracy is improved.

[Brief description of drawings]

FIG. 1 shows an axial configuration of a 6-axis vertical articulated robot to which the method of the present invention is applied.

FIG. 2 illustrates a mastering posture of a 6-axis vertical articulated robot having the axis configuration shown in FIG.

FIG. 3 is a block diagram illustrating an essential part of a system configuration that can be used when implementing the present invention.

FIG. 4 is a schematic diagram illustrating an arrangement and a shape of both jigs used when the mastering method according to the present invention is carried out using the system shown in FIG.

FIG. 5 is a flowchart illustrating a mastering procedure and processing according to the present exemplary embodiment.

FIG. 6 is a diagram illustrating one modified example of the present invention using an elastic body, in which (1) represents a state at the time of starting automatic operation,
(2) represents the state when the mastering posture is realized.

[Explanation of symbols]

1 to 6 robot joint axis 10 robot controller 11 central processing unit (CPU) 12 ROM 13 RAM 14 non-volatile memory 15 teaching operation panel 16 input / output device 17 robot axis control unit 18 servo circuit 19 bus 20 signal processing unit 30 force Sensor 100 base 101, 105 fixing plate 102a to 102c mounting screw 103a to 103c mounting hole 110 jig (base side) 112 hole 113 hollow portion 120 jig (arm tip side) 121 flange 123 protrusion 124 outer peripheral surface 125 of protrusion 125 Mounting hole 130 Elastic body 131, 133 Flange 132a, 132b, 134a, 134b Mounting screw AM Robot arm tip RB robot

Claims (5)

[Claims] 1. A mastering method for a robot, wherein a set of mastering jigs are attached to a base side and a hand side of a robot, respectively, and a mastering posture is established in a state where they have a specific positional relationship. (A) a step of manually moving the robot to realize a positional relationship close to at least a specific positional relationship between the jigs, and (b) a position of both jigs at that time using a force sensor. Detecting the force or moment acting between the two jigs by reflecting the difference between the relationship and the specific positional relationship, and (c) the detection result and the data of the Jacobian matrix in the mastering posture. And a step of determining the amount of movement of the robot by software processing, and (d) a step corresponding to the amount of movement determined by the software processing. And a step of performing a step movement by an automatic operation, the steps (b) to (d) are performed a required number of times to converge the robot to a mastering posture, and teach the origin position to the robot. Mastering method. 2. A method of mastering a robot, wherein a pair of mastering jigs are attached to a base side and a hand side of a robot, respectively, and a mastering posture is established in a state where they have a specific positional relationship. (A) a step of manually moving the robot to realize a positional relationship close to at least a specific positional relationship between the jigs, and (b) a position of both jigs at that time using a force sensor. Detecting the force or moment acting between the jigs by reflecting the difference between the relationship and the specific positional relationship, and (c) moving the robot based on the detection result. Determining the presence or absence by software processing, and (d) detecting the force or moment when the determination result indicates that the robot needs to move. A step of determining the movement amount of the robot by software processing using the result and the data of the Jacobian matrix in the mastering posture; and (e) a step of automatically performing robot movement corresponding to the movement amount determined by the software processing. And the steps (b) to (e) are repeated until it is determined in the step (c) that the robot does not need to move, thereby causing the robot to converge to the mastering posture. A method of mastering a robot, wherein the origin position is taught to the robot. 3. The method of mastering a robot according to claim 1, wherein the one set of mastering jigs has a protrusion and a hole having a shape and a size for receiving the protrusion. . 4. A mastering method for a robot, wherein a base side and a hand side of the robot are elastically coupled with an elastic body, and the elastic body has a specific internal stress state in a mastering posture. a) moving the robot by manual operation to bring the hand side closer to the base side of the robot; (b) elastically coupling the base side and the hand side of the robot with the elastic body; c) detecting a force or moment generated by reflecting the internal stress state of the elastic body using a force sensor, and (d) the detection result and the data of the Jacobian matrix at the mastering posture. And a step of determining the movement amount of the robot by software processing, and (e) a robot corresponding to the movement amount determined by the software processing. Mastering of the robot, in which the robot is converged to a mastering posture by performing the steps (b) to (e) a required number of times and teaching the origin position to the robot. Method. 5. A mastering method for a robot, wherein a base side and a hand side of the robot are elastically coupled with an elastic body, and the elastic body is brought into a mastering posture with a specific internal stress state. a) moving the robot by manual operation to bring the hand side closer to the base side of the robot; (b) elastically coupling the base side and the hand side of the robot with the elastic body; c) detecting a force or moment generated by reflecting the internal stress state of the elastic body using a force sensor, and (d) whether or not the robot needs to move based on the detection result. And (e) the result of detection of the force or moment when the determination result indicates that the robot needs to move. The step of determining the amount of movement of the robot by software processing using the data of the Jacobian matrix in the mastering posture, and (f) the step of executing robot movement corresponding to the amount of movement determined by the software processing by automatic operation. By including the steps (b) to (f) until it is determined that the robot does not need to move in the step (d), the robot converges to the mastering posture, and A method for mastering the robot, wherein the origin position is taught.