JPH09300272A - Robot control method and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To connect or disconnect path generating devices with path output devices at any time by interposing a relay function system transmitting path information between a functional system generating path information and a functional system executing path information. SOLUTION: Path generating devices 1a-1c constitute a generating function system inputting or generating path information a-c of a robot, path output devices 4a-4c constitute an execution function system executing along the path information a-c of the robot, and an path transmitting device 7 constitutes a relay function system relayingly transmitting the path information a-c of the robot. A robot control device is separated into the path transmitting device 7, the path generating devices 1a-1c, and the orbit output devices 4a-4c, inherent identifiers are added to the path generating devices 1a-1c, and the path transmitting device 7 can receive the path information a-c from the path generating devices 1a-1c, and can transmit the path information a-c to the path output devices 4a-4c identified by the identifiers α-γ.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control method for controlling the operation of a robot manipulator and a control device used directly for implementing the method.

[0002]

2. Description of the Related Art When a robot manipulator is operated, target trajectory (posture sequence) information is sequentially transmitted from the robot controller to the robot manipulator. The robot manipulator moves by changing the current posture to the received target trajectory.

There are various methods by which the robot control method and apparatus generate the target trajectory information. As a method for the operator to sequentially input the target trajectory information, there are a method of directly moving the robot manipulator by a hand, a method of using a teaching box, a method of using a master arm and a teaching arm, and a method of using a three-dimensional pointing device. .

In addition to the above, a method of storing the target trajectory information sequentially input by the operator in a memory device and using the stored target trajectory information (teaching playback), external information such as sensor information, A robot simulator (robot simula) that automatically generates target trajectory information
There is a method of using orbit information generated by another device such as tor).

On the other hand, there are various methods for presenting the target trajectory information to the operator and reproducing the target trajectory information. There are a method of displaying the trajectory as numerical data on the display device, a method of displaying the trajectory as an image on the display device, a method of displaying as a simulation image using a robot simulator, a method of operating an actual robot, and the like.

[0006]

A problem of the conventional robot control method and device is that the robot control device is constructed by fixing the type and number of the trajectory generating device and the trajectory outputting device. For example, a robot controller that employs a teaching box as a trajectory input device cannot use another trajectory generator, which is a three-dimensional position and orientation sensor, connected to it. Further, it is impossible to connect and use a plurality of teaching boxes at the same time.

The main objects to be solved by the present invention are as follows. That is, the first object of the present invention is to
An object is to provide a robot control method and device for connecting and using a trajectory generation device that constitutes an arbitrary type and an arbitrary number of generation function systems and a trajectory output device that constitutes an execution function system.

A second object of the present invention is to provide a robot control method and device capable of connecting and disconnecting a trajectory generating device and a trajectory output device at any time.

A third object of the present invention is to record orbit information by registering or deregistering the unique identifiers assigned to the orbit generation device and the orbit output device, respectively, to orbit delivery devices constituting the relay function system. An object of the present invention is to provide a robot control method and device for transmitting and blocking.

A fourth object of the present invention is to provide a robot control method and device for controlling a remote operation by connecting a trajectory generating device, a trajectory delivering device and a trajectory outputting device via a network.

Other objects of the present invention will be apparent from the description, the drawings, and particularly the description of each claim.

[0012]

[Means for Solving the Problems] To solve the above-mentioned problems,
The present invention achieves the above object by adopting the novel characteristic construction method and construction means listed below.

The first feature of the method of the present invention is that when controlling the robot based on the generated trajectory information, the functional system for generating the trajectory information and the functional system for executing the trajectory information are separated from each other. According to another aspect of the present invention, there is provided a robot control method in which the generation function system and the execution function system are separated and independent, and a relay function system for transmitting the trajectory information is inserted between the two systems to freely connect and disconnect the generation function system and the execution function system.

A second feature of the method of the present invention is that the orbit information generation function system in the first feature of the method of the present invention is 1
There is more than one robot control method.

A third feature of the method of the present invention resides in a robot control method in which the orbit information execution function system in the first or second feature of the method of the present invention is one or more.

A fourth feature of the method of the present invention resides in a robot control method in which the relay function system for trajectory information in the first, second or third feature of the method of the present invention is one.

The fifth characteristic of the method of the present invention is that the relay function system of the trajectory information in the first, second, third or fourth characteristic of the method of the present invention is unique to each of the execution function systems. In the robot control method, the information is transmitted to the execution function system of the transmission destination based on the identifier.

A sixth feature of the method of the present invention is a robot control method in which the disconnection of the relay function system in the fifth feature of the method of the present invention is performed by registering or deleting an identifier in the relay function system.

A seventh feature of the method of the present invention is that the relay function system of the trajectory information in the first, second, third, fourth or fifth feature of the method of the present invention is attached to each of the generation function systems. In the robot control method, the robot is received from the generation function system of the transmission destination based on the unique identifier.

The eighth feature of the method of the present invention is that the relay function system of the trajectory information in the fifth or seventh feature of the method of the present invention is based on the unique identifiers registered in the generation function system and the execution function system, respectively. It is a robot control method which is selected according to setting conditions and is received and transmitted.

The ninth feature of the method of the present invention is that the orbit information in the first, second, third, fourth, fifth, sixth, seventh or eighth feature of the method of the present invention is stored in a network. It is a robot control method that propagates among a generation function system, a relay function system, and an execution function system via the system.

A first feature of the device of the present invention is one or more trajectory generating devices for generating robot trajectory information, one or more trajectory output devices for executing operation according to the input robot trajectory information, A robot controller comprising a trajectory delivery device which relays and receives the trajectory information from a trajectory generation device and relays and transmits the trajectory information to a desired trajectory output device.

A second feature of the device of the present invention is that the trajectory generating device in the first feature of the device of the present invention uses a trajectory generating means for generating or inputting trajectory information of the robot and a trajectory of the robot in the trajectory arranging device. A robot control device comprising: a trajectory transmitting means for transmitting information.

A third feature of the device of the present invention is that the orbit delivery device in the first or second feature of the device of the present invention registers the identifier of the orbit output device which is the destination of the orbit information of the robot. A list, a destination list rewriting means for additionally registering a new identifier to the destination list, or deleting an already registered identifier, and receiving trajectory information of the robot from one or more trajectory generators, and And a trajectory communication means for transmitting trajectory information of the robot to one or more trajectory output devices registered in a destination list.

A fourth feature of the device of the present invention is that the orbit output device in the first, second or third feature of the device of the present invention receives trajectory information of the robot from the trajectory delivery device, And a trajectory output means for outputting the received trajectory information.

The fifth feature of the device of the present invention is that the trajectory output device according to the third or fourth feature of the device of the present invention transmits its own identifier to the destination list rewriting means of the trajectory delivery device, The robot control device includes operating means for additionally registering and deleting its own identifier in the destination list.

A sixth feature of the device of the present invention is that the trajectory generation device, the trajectory delivery device, and the trajectory output device in the first, second, third, fourth or fifth feature of the device of the present invention form a network. The robot control device is configured to be connected via the orbit information so as to be freely transmitted and received.

The seventh feature of the device of the present invention is that the trajectory generating device according to the first, second, third, fourth, fifth or sixth feature of the device of the present invention comprises a teaching box and a three-dimensional pointing device. And a playback trajectory generator, a sensor-based trajectory generator, a master arm, a teaching arm, and a robot controller, which is an optional robot simulator.

The eighth feature of the device of the present invention is that the trajectory output device according to the first, second, third, fourth, fifth, sixth or seventh feature of the device of the present invention is a robot manipulator,
In a robot controller that is a display device or a robot simulator.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with respect to an apparatus example and a method example thereof. In the present embodiment, among the trajectory output devices of the trajectory delivery device, the case of propagating the trajectory information to all the trajectory output devices whose identifiers are registered in the destination list will be described exclusively. All of them are connected in advance, all identifiers are registered in the destination list and the destination list, and the trajectory generator and the trajectory output device are selected and connected manually and / or automatically by setting the conditions. It

(Example of Device) An example of the device of this embodiment will be described with reference to the drawings. FIG. 1 is a block diagram showing the entire system of the present apparatus example.

In the figure, 1a to 1c are trajectory information a of the robot.
Trajectory generators forming a generation function system for inputting or generating C to C, 2a to 2c, trajectory generating means, 3a to 3c, trajectory transmitting means, and 4a to 4c, execution according to robot trajectory information ac. Trajectory output devices that make up the functional system, 5
Reference numerals a to 5c are trajectory output means, and reference numerals 6a to 6c are trajectory reception means.

Reference numeral 7 is a trajectory delivery device constituting a relay function system for relaying and transmitting the trajectory information a to c of the robot, 8 is a destination list rewriting means, 9 is a destination list, and α to γ are trajectory output devices 4a to 4a. The identifier 4c and 10 are orbit communication means.

In this example of the apparatus, a robot controller is used as a trajectory delivery device 7, trajectory generation devices 1a-1c, and a trajectory output device 4a-.
4c, and a unique identifier (not shown) is given to the trajectory generators 1a to 1c, and the trajectory delivery device 7 receives the trajectory information ac from any of the trajectory generators 1a to 1c.
Arbitrary trajectory output device 4a identified by identifiers α to γ
It is possible to transmit the trajectory information a to c to 4c.

The conventional robot controller is any type and number of trajectory generators 1a to 1c and a trajectory output device 4.
The points a to 4c can be connected and used, and the trajectory generators 1a to 1c and the trajectory output devices 4a to 4c can be connected and disconnected at any time.

(Example of Method) An execution procedure showing an example of the method of the present embodiment applied to the present example of the apparatus will be described. The trajectory generators 1a to 1c send the trajectory information a to the trajectory delivery device 7.
It has the orbital transmission means 3a-3c which transmit-c. The orbit delivery device 7 has the orbit communication means 10 for receiving the orbit information ac from the orbit generators 1a to 1c of arbitrary type and arbitrary number connected. The orbit generators 1a to 1c and the orbit delivery device 7 constitute the orbit transmitters 3a to 3c and the orbit communication unit 10 so that they can be arbitrarily connected or disconnected.

Therefore, the orbit delivery device 7 is triggered by the reception from the orbit generation devices 1a to 1c, and the destination list 9 is sent.
The orbit information a to c is transmitted to all the orbit output devices 4a to 4c having the identifiers α to γ held in the.

On the other hand, the orbit output devices 4a to 4c receive the orbit information ac from the orbit delivery device 7 and the orbit receiving means 6a to 6c.
It receives by c, and outputs orbital information ac. Further, the track output devices 4a to 4c have a function of adding and deleting their own identifiers α to γ to the destination list 9 of the track distribution device 7. The track output devices 4a to 4c add their own identifiers α to γ to the destination list 9 when connected to the track distribution device 7. At the stage of disconnecting the track output devices 4a to 4c from the track distribution device 7, the identifiers α to γ of the track output devices 4a to 4c are deleted from the destination list 9.

Therefore, the track delivery device 7 includes the track generation devices 1a to 1c and the track output device 4a of arbitrary types and arbitrary numbers.
~ 4c can be connected and used, the trajectory generation device 1a
˜1c and the orbit output devices 4a to 4c can be arbitrarily connected and disconnected.

Furthermore, the track delivery device 7 and the track generation device 1
The modifications when the connections of a to 1c and the trajectory output devices 4a to 4c are changed are only to add / delete the identifiers α to γ held in the destination list 9 of the trajectory delivery device 7, and the trajectory generation device 1a. 1c and the trajectory output devices 4a to 4c do not need to be turned off, so that the robot controller can be easily reconfigured if necessary.

(Example 1) First example showing application of this embodiment
Embodiments will be described with reference to the drawings. FIG. 2 is a diagram for explaining this embodiment. In the figure, 11 is the trajectory generators 1a to 1c.
Of the teaching box, which is a specific example of the trajectory generating device 1a
Is a three-dimensional pointing device, which is a specific example of the robot manipulator, which is a specific example of the trajectory output device 4a.
A is a teacher who operates the teaching box, B is a teacher who operates the three-dimensional pointing device, and a1 is a teaching box 1.
1 is trajectory information, b1 is trajectory information of the three-dimensional pointing device 12. The same devices and means as those of the present device example shown in FIG.

First, the teaching operator A operates the teaching box 11 to cause the robot manipulator 13 to perform an operation. The teaching box 11 and the track delivery device 7 are connected, and the robot manipulator 13 and the track delivery device 7 are connected. In the destination list 9 of the orbit delivery device 7, the identifier α of the robot manipulator 13 is set.
Is registered and held.

When the teaching operator A inputs an operation command to the teaching box 11, the teaching box 11 transmits the trajectory information a1 to the trajectory delivery device 7. The orbit delivery device 7 transmits the orbit information a1 to all the orbit output devices 13 registered in the destination list 9 by using the reception of the orbit information a1 from the teaching box 11 as a trigger. In this embodiment, since the destination list 9 stores the identifier α of the robot manipulator 13, the trajectory information a 1 is transmitted to the robot manipulator 13. In this way, the robot manipulator 13 operates according to the instruction of the teaching operator A.

Here, the three-dimensional pointing device 12 is connected to the trajectory delivery device 7 so that the teaching operator B can input an operation command by the three-dimensional pointing device 12. Teaching operator B is a three-dimensional pointing device 1
When the operation command is input to 2, the three-dimensional pointing device 12 transmits the trajectory information b1 to the trajectory delivery device 7.

The orbit delivery device 7 comprises a plurality of orbit generation devices 1.
Since the a to 1b can be connected, the teaching operator A and the teaching operator B can operate the robot manipulator 13 in cooperation. Of course, the teaching operator A
A person may operate the robot manipulator 13 using both the teaching box 11 and the three-dimensional pointing device 12. Furthermore, the third and fourth trajectory generation devices 1
You may connect and operate c-1d. Also, the trajectory generation devices 1a and 1b may be disconnected during the operation.

(Example 2) Second example showing application of this embodiment
Embodiments will be described with reference to the drawings. FIG. 3 is a diagram for explaining this embodiment. The same devices and means as those in the first embodiment shown in FIG. 2 are designated by the same reference numerals to avoid duplication of description.

In the figure, 14 is a playback trajectory generator which is a specific example of the trajectory generator 1c, and 15 is a trajectory generator 1.
A sensor-based trajectory generation device which is a specific example of d, a2 is trajectory information generated by the playback trajectory generation device 14, b2 is trajectory information generated by the sensor-based trajectory generation device 15, 16 is a trajectory file, and 17 is a camera. ,
Reference numeral 18 is a work target.

The playback trajectory generator 14 reads out the trajectory information a2 previously stored in the trajectory file 16,
It transmits to the orbit delivery apparatus 7. Subsequently, the sensor-based trajectory generation device 15 photographs the work target 18 with the camera 17, discovers the work target 18 from the photographed image,
The orbit information b2 that allows the work object 18 to be gripped is automatically generated and transmitted to the orbit delivery device 7.

As a result, the track delivery device 7 receives the track information a2, b2 which is a combination of the track information a2 and the track information b2. The identifier α of the robot manipulator 13 is stored in the destination list 9 of the trajectory delivery device 7, and the trajectory delivery device 7 transmits the trajectory information a2, b2 to the robot manipulator 13 via the trajectory communication means 10. The robot manipulator 13 operates according to the trajectory information a2, b2 received from the trajectory delivery device 7.

Using the robot controller of this embodiment,
The trajectory information a2 stored in the trajectory file 16 and the trajectory information b2 automatically generated based on the image information captured by the camera 17 are easily connected to each other, and the robot manipulator 1
3 can be made to work.

(Example 3) Third example showing application of this embodiment
Embodiments will be described with reference to the drawings. FIG. 4 is a diagram for explaining this embodiment. In the figure, 19 is the orbit output devices 1a to 1c.
Is a specific example of the robot simulator, and β is an identifier of the robot simulator 19. In addition, the second shown in FIG.
The same devices and means as those in the embodiment of FIG.

The sensor-based trajectory generation device 15 photographs the target object 18 with the camera 17, discovers the work object 18 from the photographed image, and automatically obtains trajectory information b2 for grasping the work object 18. It is generated and transmitted to the orbit delivery device 7. The destination list 9 of the trajectory delivery device 7 stores the identifier β of the robot simulator 19 which is the trajectory output device 4b and the identifier α of the robot manipulator 13 which is the trajectory output device 4a.

The orbit delivery device 7 transmits the orbit information b2 to the robot simulator 19 and the robot manipulator 13 via the orbit communication means 10. The robot simulator 19 presents a simulation image according to the trajectory information b2 received from the trajectory delivery apparatus 7, and at the same time, the robot manipulator 13 operates according to the trajectory information b2 received from the trajectory delivery apparatus 7.

In this embodiment, the robot simulator 19
And the robot manipulator 13 simultaneously on the orbital delivery device 7
An example in which only the robot simulator 19 is connected, the orbit information b2 is confirmed on the simulator 19, and then the robot manipulator 13 is connected to perform actual work is also shown below. It can be easily realized by the procedure.

First, only the robot simulator 19 is connected. That is, the identifier β of the robot simulator 19 is registered in the destination list 9 of the orbit delivery device 7. Next, the procedure of disconnecting the robot simulator 19 and newly connecting the robot manipulator 13 is performed as follows.

First, the identifier β of the robot simulator 19 is removed from the destination list 9 of the trajectory delivery device 7, and then the identifier α of the robot manipulator 13 is registered in the destination list 9. Thus, the procedure of visually confirming the operation of the robot by the robot simulator 19 and then actually performing the operation by the robot manipulator 13 can be easily realized.

Furthermore, if the robot controller of the present embodiment is used, these procedures simply change the connections of the trajectory delivery device 7, the trajectory generation device 1d, and the trajectory output devices 4a and 4b, and write the destination list 9. This has the advantage that it can be realized only by frogging, and there is no need to change the trajectory generation device 1d and the trajectory output devices 4a and 4b.

(Example 4) Fourth example showing application of this embodiment
Embodiments will be described with reference to the drawings. FIG. 5 is a diagram for explaining this embodiment. In the figure, 20 is a network. The same devices and means as those in the first to third embodiments shown in FIGS. 2 to 4 are designated by the same reference numerals to avoid duplication of description.

The robot controller of this embodiment is particularly suitable when the network 20 is used to connect the trajectory generators 1a to 1d, the trajectory delivery device 7, and the trajectory output devices 4a to 4c. For example, the robot manipulator 13 can be operated from a remote location, the robot placed at a remote location can be monitored, and the robot manipulator 13 can be operated from multiple locations.
It becomes possible to easily perform the operation of.

[0060]

As described above, according to the present invention, it is possible to connect and use any type and any number of trajectory generating devices and trajectory output devices, and to connect the trajectory generating devices and trajectory output devices at any time. Can be separated.

Further, when the connection between the orbit delivery device, the orbit generation device and the orbit output device is changed, the only modification is to rewrite the destination list of the orbit delivery device, and the orbit generation device and the orbit output device must be rewritten. Since it does not need to be changed,
It is possible to easily reconfigure the robot controller as needed.

It is also suitable when the orbit delivery device, the orbit generation device, and the orbit output device are connected via a network. The operation of the robot manipulator from a remote place, the monitoring of a robot placed at a remote place, It is possible to easily operate the robot manipulator from multiple points.

[Brief description of drawings]

FIG. 1 is a block configuration diagram of an entire system of an apparatus example showing an embodiment of the present invention.

FIG. 2 is a configuration diagram of Example 1 showing an application of the present embodiment.

FIG. 3 is a configuration diagram of a second embodiment of the same.

FIG. 4 is a configuration diagram of a third embodiment of the same.

FIG. 5 is a configuration diagram of a fourth embodiment of the same.

[Explanation of symbols]

1a to 1d ... Trajectory generation device 2a to 2c ... Trajectory generation means of trajectory generation device 3a to 3c ... Trajectory transmission means of trajectory generation device 4a to 4c ... Trajectory output device 5a to 5c ... Trajectory output means of trajectory output device 6a to 6c ... orbit receiving means of orbit output device 7 ... orbit delivery device 8 ... orbit delivery device rewriting destination list rewriting means 9 ... destination list 10 ... orbit delivery device orbit communication means 11 ... teaching that is a specific example of orbit generation device Box 12 ... A three-dimensional pointing device that is a specific example of a trajectory generation device 13 ... A robot manipulator that is a specific example of a trajectory output device A ... A teacher who operates a teaching box B ... A teacher who operates a three-dimensional pointing device 14 ... Playback trajectory generation device which is a specific example of the trajectory generation device 15 ... Sensor-based trajectory generation device 16 which is a specific example of the trajectory generation device 16 Track file 17 ... camera 18 ... workpiece 19 ... robot simulator is a specific example of the orbital output device 20 ... a network a1 ~ B2 ... orbit information Arufa～ganma ... Identifier

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Komori, 3-19-2 Nishishinjuku, Shinjuku-ku, Tokyo Inside Nippon Telegraph and Telephone Corporation (72) Masayuki Tsuda, 3-19-3 Nishishinjuku, Shinjuku-ku, Tokyo No. 2 within Nippon Telegraph and Telephone Corporation

Claims (17)

[Claims] 1. When controlling a robot based on generated trajectory information, a functional system for generating the trajectory information and a functional system for executing the trajectory information are separated into separate systems, and the two systems are separated. A robot control method, characterized in that a relay function system for transmitting the trajectory information is inserted therebetween to freely connect and disconnect the generation function system and the execution function system. 2. The robot control method according to claim 1, wherein there is at least one trajectory information generation function system. 3. The robot control method according to claim 1, wherein the orbit information execution function system is one or more. 4. The robot control method according to claim 1, 2 or 3, wherein there is one relay function system for trajectory information. 5. The orbit information relay function system transmits to the execution function system of the transmission destination based on the unique identifiers assigned to the execution function systems, respectively. 4. The robot control method according to item 4. 6. The robot control method according to claim 5, wherein the connection of the relay function system is cut off by registering or deleting the identifier in the relay function system. 7. The orbit information relay function system receives from the generation function system of the transmission destination based on the unique identifiers assigned to the generation function systems, respectively. 4. The robot control method according to 4 or 5. 8. The relay function system of the orbit information is selected and received and transmitted from the unique identifiers registered in the generation function system and the execution function system, respectively, according to setting conditions. The robot control method described in. 9. The orbit information is propagated between a generation function system, a relay function system, and an execution function system via a network, according to any one of claims 1, 2, 3, 4, 5, 6, 7 or. 8. The robot control method according to item 8. 10. One or more trajectory generating devices for generating robot trajectory information, and an operation 1 to execute along the inputted robot trajectory information.
A robot control device comprising: one or more trajectory output devices; and a trajectory delivery device that relays and receives the trajectory information from the trajectory generation device and relays and transmits the trajectory information to a desired trajectory output device. . 11. The trajectory generating device comprises: a trajectory generating means for generating or inputting trajectory information of the robot; and a trajectory transmitting means for transmitting the trajectory information of the robot to the trajectory arrangement device. Item 10. The robot controller according to Item 10. 12. The orbit delivery device includes a destination list for registering the identifiers of the orbit output devices, which are the destinations of the orbit information of the robot, and a new identifier added to the destination list or an already registered identifier. A destination list rewriting means for deleting the trajectory information of the robot from one or more trajectory generation devices, and a trajectory of the robot in one or more trajectory output devices registered in the destination list The robot control device according to claim 10 or 11, further comprising: an orbit communication unit that transmits information. 13. The trajectory output device comprises a trajectory receiving means for receiving the trajectory information of the robot from the trajectory delivery device, and a trajectory output means for outputting the received trajectory information. , 11 or 12, the robot controller. 14. The orbit output device is provided with operation means for transmitting its own identifier to a destination list rewriting means of the orbit delivery device and additionally registering and deleting the own identifier in the destination list. The robot controller according to claim 12 or 13. 15. The orbit generating device, the orbit delivering device, and the orbit outputting device are connected via a network so that the orbit information can be transmitted and received freely.
4. The robot controller according to item 4. 16. The trajectory generator is an optional one of a teaching box, a three-dimensional pointing device, a playback trajectory generator, a sensor-based trajectory generator, a master arm, a teaching arm, and a robot simulator. Item 10, 11, 12, 13, 14
Or the robot controller according to item 15. 17. The trajectory output device is a robot manipulator, a display device, or a robot simulator, according to any one of claims 10, 11, 12, 13, and 1.
The robot control device according to 4, 15, or 16.