JPH11165286A - Operation device for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation device of a robot capable of intelligibly indicating a bending shape and bending motion of each of bending parts of the robot to which a plural number of links having two freedom on one joint are connected for an operator. SOLUTION: This device is furnished with a selection button 121 to select a joint to take bending motion, a joy stick 122 free to incline in an optional direction of two freedom to decide a bending angle and a direction of the joint, a coordinate conversion part 150 to convert bending information 153 of the joint to a motor driving information 151 and a robot control part 140 to control a robot 130 by the motor driving information 151. The coordinate conversion part 150 applies coordinate conversion to the motor driving information 151 so that a relation against a link on the root side of a link on the finger's end side directly corresponds to the inclining direction and the inclining angle of the joy stick 122 so that an operator can intuitively grasp a position and motion of the link to control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for an industrial robot, a nuclear robot, a space robot, etc., in which a plurality of links having two or more degrees of freedom are connected to one joint.

[0002]

2. Description of the Related Art Robots are controlled by providing motor drive information. In order for the operator to operate the robot, means for instructing the operation of the robot is required. For that purpose, it is necessary to convert input information to a robot operating device such as a joystick or a button into motor drive information of the robot. In a robot operating device, it is required that the operator can easily instruct the conversion from the input of the operating device to the operation of the robot. 2. Description of the Related Art Conventionally, a configuration of a robot operating device that directly instructs motor drive information of a robot by inputting a button is generally known. This configuration is shown in FIG. FIG. 8 is a schematic configuration diagram of a conventional robot operating device using button input. In the figure, reference numeral 820 denotes an input unit, 821 denotes a button, and 830 denotes a button.
Is a robot, 840 is a robot control unit, and 851 is motor drive information. By operating the button 821 of the input unit 820, the motor drive information 851 is directly transmitted to the robot control unit 840.
And the robot 830 is controlled.

[0003] In recent years, as a robot operating device using a joystick, a "method of driving a robot at the time of teaching" disclosed in Japanese Patent Application Laid-Open No. 58-56784 and an industrial device disclosed in Japanese Patent Application Laid-Open No. 8-108385. A teaching device for a robot is known. FIG. 9 is a schematic configuration diagram of a conventional robot operating device using a joystick. In the drawing, reference numeral 920 denotes an input unit, 921 denotes a button, 922 denotes a joystick, 930 denotes a robot,
940 is a robot controller, 950 is a coordinate converter, 951
Denotes motor drive information and 952 denotes hand position and orientation information.
Button 921 of input unit 920 and joystick 922
Is converted into motor drive information 951 by the coordinate conversion unit 950 and the robot control unit 940
And the robot 930 is controlled. That is, the hand position / posture information 952 input from the joystick 922 of the operator is converted into the motor drive information 951 of the robot so that the target position / posture of the hand of the robot 930 and the operation direction and operation speed of the hand can be indicated. Was.

[0004]

In the configuration of the robot operating device for directly instructing the motor drive information of the robot by inputting the button described above, when an operation instruction is given to a link having two degrees of freedom for one joint, Since the bending motion is determined by the plurality of motors, there is a problem that the bending motion of the joint is difficult for the operator to understand. Also, in the configuration of the robot operating device that converts the robot's motor drive information so that it can indicate the target position and orientation of the hand based on the input of the joystick and the direction and speed of the hand,
Since the operation of the robot is determined by the hand position and orientation, there is a problem that it is difficult for the operator to understand the bending state of each joint of the robot and the overall shape of the robot. Further, the calculation for converting the hand position and orientation into the motor drive information has a problem that the calculation amount increases with an increase in the degree of freedom. Further, for a robot having six or more degrees of freedom, there is a problem that a plurality of solutions exist in the conversion for obtaining the motor drive information from the hand position and orientation information, and the entire shape is not uniquely determined.

When the above problems are integrated, first, it is difficult for the operator to understand the bending motion of the joint of the robot, second, it is difficult for the operator to understand the overall shape of the robot, and third, calculation for obtaining the motor drive information from the hand position. There was a problem that the amount was large.

SUMMARY OF THE INVENTION An object of the present invention is to solve such a conventional problem and provide an operator with easy-to-understand instructions for the bending shape and the bending operation of each bending portion of a robot having a plurality of links connected to one joint with two degrees of freedom. An object of the present invention is to provide a possible robot operating device.

[0007]

A robot operating device according to the present invention is a robot operating device in which a plurality of links having two or more degrees of freedom are connected to one joint, and the robot operating device has a bending operation. Joint selection button for selecting a joint to be bent, a joystick capable of tilting in any direction with two degrees of freedom for determining the bending angle and direction of the joint, and input of the flexion joint selection button and the joystick to the motor drive information of the robot. And a robot controller that controls the robot based on the motor drive information of the coordinate converter. The coordinate converter allows the operator to intuitively grasp the position and operation of the link to be controlled. In this way, the relationship between the link on the hand side of the joint selected by the flexion joint selection button and the link on the root side is determined by the tilt of the joystick. To directly correspond with the tilt angle direction, subjected to coordinate transformation to the motor drive information of the robot.

According to another aspect of the present invention, there is provided an operating device of a robot in which a plurality of links having two or more degrees of freedom are connected to one joint, and the operating device of the robot is a bending device for selecting a joint performing a bending operation. A joint selection button, a joystick that can be tilted in two directions, positive and negative, to determine the bending angle of the joint, a dial that determines the bending direction of the joint, and an input of the bending joint selection button, the joystick, and the dial It has a coordinate conversion unit that converts to motor drive information, and a robot control unit that controls the robot based on the motor drive information of the coordinate conversion unit. The coordinate conversion unit allows the operator to intuitively control the position and operation of the link to be controlled. The relationship between the link on the hand side of the joint selected by the flexion joint selection button and the link on the base side can be grasped by the joystick. Click tilting degree and so corresponds directly to the direction of rotation of the dial is subjected to coordinate transformation to the motor drive information of the robot. In this case, the dial may be attached to the tip of the joystick.

[0009] The coordinate conversion unit may determine whether or not the posture of the root side link of the joint selected by the flexion joint selection button is to be determined.
A coordinate conversion may be performed on the motor drive information of the robot by associating the bending direction of the bending side of the joint on the hand side link of the joint vertically upward with the upward operation of the joystick. However, the motor drive information may be subjected to a coordinate conversion of the bending operation speed of the robot corresponding to the tilt amount of the joystick, or the motor drive information may be subjected to the coordinate conversion of the bending target angle of the robot corresponding to the tilt amount of the joystick. Good.

Further, the coordinate conversion section may perform a coordinate conversion of a turning operation speed of the robot corresponding to the rotation amount of the dial to the motor drive information, and may perform a rotation operation of the robot corresponding to the rotation amount of the dial to the motor drive information. The coordinate conversion of the target angle may be performed.

[0011] The configuration of the operating device of the present robot allows the operator to instruct the operation of each bending section, that is, the operation of each joint, so that the bending shape and the bending shape of each bending section of the robot in which a plurality of links having two degrees of freedom are connected to one joint. The bending operation is easy to understand, and the whole shape is easy to imagine.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a robot operating device according to the present invention will be described in detail with reference to FIGS. FIG. 1 is a schematic block diagram showing an embodiment of a robot operating device according to the present invention.
1 is a selection button, 122 is a joystick, 130 is a robot, 140 is a robot control unit, 150 is a coordinate conversion unit, 151 is motor drive information, and 153 is joint bending information. Except for the configuration of the input unit 120, other configurations are common to each embodiment described later.

The operator instructs the operation of the robot through the input unit 120. By operating the input unit 120, joint bending information 153 is generated, and the coordinate converting unit 150 converts the joint bending information 153 according to an operator's instruction into robot motor drive information 151. The robot control unit 140 controls the robot 130 based on the motor drive information 151.

Next, an example of a joint of a robot as an object of the robot operating device of the present invention will be described with reference to FIGS. The robot operating device according to the present invention is suitable for a multi-degree-of-freedom robot in which a plurality of links having two degrees of freedom are connected to one joint.

FIG. 2 is a perspective view showing a joint structure of a first example of a multi-degree-of-freedom manipulator having two or more degrees of freedom in one joint. In the figure, reference numeral 231 denotes a bent portion, 232 denotes a first rotating shaft,
233 is a second rotating shaft, 234 and 235 are links.
This is an example in which a first rotation shaft 232 and a second rotation shaft 233 that are orthogonal to each other are arranged at a bent portion 231 that connects the link 234 and the link 235. This structure is called a universal joint.

FIG. 3 is a perspective view showing a joint structure of a second example of a multi-degree-of-freedom manipulator having two or more degrees of freedom in one joint, in which reference numeral 331 denotes a bent portion, 332 denotes a first rotation axis,
333 is a second rotation axis, 334 and 335 are links.
The first rotating shaft 3 extends along the longitudinal direction of the link 334 on the root side.
32 is disposed, and the second portion is orthogonal to the link to the bent portion 331.
This is an example in which a rotating shaft 333 is arranged.

Next, an example of the input unit will be described with reference to FIGS. FIG. 4 is a perspective view of the input unit of the first embodiment of the robot operating device of the present invention. In the figure, reference numeral 420 denotes an input unit, 421 denotes a bending joint selection button, and 422 denotes a joystick. When an operator operates a robot in which a plurality of links having two degrees of freedom are connected to one joint, a joint to which an operation instruction is given is selected by a bending joint selection button 421. Next, the joystick 22 that can be tilted in any direction
The motion information is given to the bending joint of the robot by tilting the robot.

FIG. 5 is a perspective view of an input unit according to a second embodiment of the robot operating device of the present invention. In the figure, reference numeral 520 denotes an input unit, 521 denotes a bent joint selection button, 522 denotes a joystick, and 523 denotes a dial. It is. When an operator operates a robot in which a plurality of links having two degrees of freedom are connected to one joint, a joint to which an operation instruction is given is selected by a bending joint selection button 521. Next, motion information is given to the bending joint of the robot by tilting the joystick 522 in two positive and negative directions and rotating the dial 523 mounted on the tip of the joystick.

FIG. 6 is a perspective view of an input unit of a robot operation apparatus according to an application of the second embodiment of the present invention. In the figure, reference numeral 620 denotes an input unit, 621 denotes a flexion joint selection button, and 622.
Is a joystick and 623 is a dial. In the configuration of the second embodiment, the dial 523 of the input unit 520 is mounted not on the tip of the joystick 522 but on another part of the input unit.

Next, the conversion operation of the coordinate conversion unit 150 will be described. In the input unit according to the first embodiment, the coordinate conversion unit generates a bending direction, a bending target position, and a bending operation speed of the robot according to the amount of tilt of the joystick 422. In addition, by making the upward operation of the joystick 422 correspond to the vertical upward movement of the hand-side link with respect to the posture of the robot's root-side link, it is possible to give an operator an operation instruction that is easy to understand. This configuration has the advantage that the bending operation of the joint having two degrees of freedom can be operated by the operator with only one joystick, and the operation of the robot is easy to understand.

In the input unit according to the second embodiment, the coordinate conversion unit generates a bending target position and a bending operation speed of the robot according to the amount of tilt of the joystick 522. Further, a target position in the bending direction and a turning operation speed of the robot are generated according to the rotation amount of the dial 523. In this configuration, the operator can directly instruct the bending operation and the turning operation of the bending joint, and there is an advantage that the operation of the robot can be easily understood.

The operation of the joystick and dial in each direction and the correspondence of the bending position of the hand side link to the posture of the base side link of the robot in each direction will be described with reference to the vector diagram of FIG. FIG. 7 is a vector diagram showing the correspondence between the input of the joystick of the input unit of the robot operation device of the present invention and the operation of the robot. In the figure, reference numeral 761 denotes a hand side link, 762 denotes a root side link, and 763 denotes a vertical upward vector V. ↓ a, 764 are the root side link posture vector V ↓ b,
765 is an upward input, 766 is a downward input, 767 is a leftward input, 768 is a rightward input, and 767 is a plane H.

Here, the vertical upward vector at the bent portion is defined as a vertical upward vector V ↓ a763. Vertical upper vector V ↓ a763 and root side link posture vector V ↓
A plane including b764 is referred to as a plane H769. The base side link 7 on the plane H769 of the hand side link 761
Up and down movement orthogonal to 62 and joystick 4
22, 522, and 622, the upward input 765 and the downward input 766 are associated with each other. Further, the joystick 422 and the dial 52 move in the left-right direction orthogonal to the plane H769 of the hand side link 761 and orthogonal to the base side link 762.
3, 623 left direction input 767 and right direction input 768 are associated with each other.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. Input unit 42 of the robot operating device of the present invention
The operation unit 0 includes a flexion joint selection button 421 and a joystick 422. When operating a robot in which a plurality of links having two degrees of freedom are connected to one joint, an operator selects a joint to be operated by a bending joint selection button 421. Next, motion information is given to the bending joint of the robot by tilting the joystick 422 in an arbitrary direction.

In the first embodiment, the coordinate conversion unit 150
Generates a bending target position of the robot according to the amount of tilt of the joystick 422. The bending target position is associated with the input of the joystick in the following procedure. In FIG. 7, as described above, the vector directed upward from the bent portion is referred to as a vertical upward vector V ↓ a763, and the vertical upward vector V ↓ a763.
A plane including ↓ a763 and a root link posture vector V ↓ b764 is referred to as a plane H769. Hand side link 761
The upward input 765 and the downward input 766 of the joystick 422 are associated with the upward and downward movement orthogonal to the root side link 762 on the plane H769. In addition, the joystick 4 is used to move the hand side link 761 in a horizontal direction orthogonal to the plane H769 and orthogonal to the root side link 762.
The left direction input 767 and the right direction input 768 are associated with each other. The motor drive information is associated so that the robot bends to the maximum position when the joystick is tilted to the maximum.

According to this embodiment, the bending operation of the robot can be controlled by one joystick, and an arbitrary bending target position can be specified.

Next, a second embodiment of the present invention will be described. Joystick 4 of input unit 420 described in the first embodiment
The coordinate conversion unit 150 is designed such that the bending direction and the bending operation speed of the hand-side link are generated according to the amount of tilt of the link 22. The motor drive information is associated with the robot so that the bending speed of the robot becomes maximum when the joystick is tilted to the maximum position. According to the present embodiment, it is possible to instruct the robot on the operation speed at which the robot wants to bend, so that the robot can operate smoothly.

A third embodiment of the present invention will be described with reference to FIGS. Input unit 5 of the robot operating device of the present invention
The operation unit 20 includes a bending joint selection button 521, a joystick 522, and a dial 523 mounted on the tip of the joystick. When operating a robot in which a plurality of links having two degrees of freedom are connected to one joint, the operator selects a joint to be operated by using the bending joint selection button 521. Next, use the joystick 522 in the positive and negative directions.
To give bending motion information to the bending joint of the robot. By rotating the dial 523, turning operation information is given to the bending joint of the robot.

The coordinate conversion section 150 generates a target bending position in accordance with the amount of tilt of the joystick 522 and converts it into motor drive information so as to generate a target rotation position in accordance with the rotation of the dial.

As shown in the input section 620 of FIG.
Reference numeral 23 may be mounted not on the tip of the joystick 622 but on another part of the input unit 620.

According to the configuration of this embodiment, the bending information and the turning information can be easily instructed by the operator to the bending portion of the robot.

Next, a fourth embodiment of the present invention will be described. The input unit of the fourth embodiment has the same configuration as the input unit 520 of the third embodiment. The coordinate conversion unit 150 generates a bending operation speed according to the amount of tilt of the joystick 522, and converts the motor driving information to generate a turning operation speed according to the rotation of the dial 523.

[0033]

The robot operating device according to the present invention has the following features.
An operation which is easy for an operator to understand is realized in a robot in which a plurality of links having two degrees of freedom are connected to joints. The operator first selects the joint to be bent, and
And instruct the selected joint to bend using the joystick and dial.

This has the effect that the operator can easily understand the bending shape and the bending operation of each bending portion of the robot and can easily imagine the overall shape.

Further, the conversion of the operation of the operator of the present operating device into the operation of the robot, that is, the calculation of the conversion from the operation information of the input unit to the motor drive information in accordance with the instruction of the operator uses information of only one bent portion. Because it is a calculation,
The amount of calculation is small as compared with the calculation of the conversion from the hand position and orientation information to the motor drive information. Thus, there is an effect that application to a redundant multi-degree-of-freedom robot having six or more degrees of freedom is facilitated.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram showing an embodiment of a robot operating device according to the present invention.

FIG. 2 is a perspective view showing a joint structure of a first example of a multi-degree-of-freedom manipulator having two or more degrees of freedom in one joint.

FIG. 3 is a perspective view showing a joint structure of a second example of a multi-degree-of-freedom manipulator having two or more degrees of freedom in one joint.

FIG. 4 is a perspective view of an input unit of the robot operating device according to the first embodiment of the present invention.

FIG. 5 is a perspective view of an input unit of a robot operating device according to a second embodiment of the present invention.

FIG. 6 is a perspective view of an input unit of a robot operation device according to an application example of the second embodiment of the present invention.

FIG. 7 is a vector diagram showing the correspondence between the input of the joystick of the input unit of the robot operating device of the present invention and the operation of the robot.

FIG. 8 is a schematic configuration diagram of a conventional robot operating device by button input.

FIG. 9 is a schematic configuration diagram of a conventional robot operating device using a joystick.

[Explanation of symbols]

120, 420, 520, 620, 820, 920
Input unit 121 Selection button 122, 422, 522, 622, 922 Joystick 130, 830, 930 Robot 140, 840, 940 Robot control unit 150, 950 Coordinate conversion unit 151, 851, 951 Motor drive information 153 Joint bending information 231 331 Bend 232, 332 First rotation axis 233, 333 Second rotation axis 234, 235, 334, 335 Link 421, 521, 621 Bending joint selection button 523, 623 Dial 761 Hand side link 762 Root side link 763 Vertical upward vector V ↓ a 764 Root side link posture vector V ↓ b 765 Upward input 766 Downward input 767 Leftward input 768 Direction input 769 Plane H 821,921 button 952 Hand position / posture information

Claims (8)

[Claims] 1. An operating device for a robot in which a plurality of links having two or more degrees of freedom are connected to one joint, wherein the operating device for the robot includes a bending joint selection button for selecting a joint to be bent. A joystick that can be tilted in any direction with two degrees of freedom to determine the bending angle and direction of the joint; a coordinate conversion unit that converts the bending joint selection button and the input of the joystick into motor drive information of the robot; A robot control unit that controls the robot based on the motor drive information of the conversion unit. The coordinate conversion unit is configured to select the bending joint selection button so that an operator can intuitively grasp the position and operation of the link to be controlled. The relationship between the link on the proximal side of the link on the hand side and the link on the proximal side selected by the above is directly related to the tilt direction and tilt angle of the joystick. So as to correspondingly performs coordinate transformation on the motor driving information of the robot, operating apparatus for a robot, characterized in that. 2. An operating device for a robot in which a plurality of links having two or more degrees of freedom are connected to one joint, wherein the operating device for the robot includes a bending joint selection button for selecting a joint performing a bending operation; A joystick that can be tilted in two directions, positive and negative, to determine the bending angle of the joint; a dial that determines the bending direction of the joint; input of the bending joint selection button, the joystick, and the dial; A coordinate conversion unit that converts the information into drive information; and a robot control unit that controls the robot based on the motor drive information of the coordinate conversion unit. The coordinate conversion unit allows the operator to intuitively control the position and operation of the link to be controlled. As can be grasped, the relation of the link on the hand side of the joint selected by the flexion joint selection button to the link on the root side, Serial As the tilt of the joystick corresponds directly with the rotational direction of the dial is subjected to coordinate transformation to the motor drive information of the robot, operating apparatus for a robot, characterized in that. 3. The robot operating device according to claim 2, wherein the dial is attached to a tip of a joystick. 4. The method according to claim 1, wherein the coordinate conversion unit is configured to bend the hand-side link of the joint vertically above the bending position of the joint with respect to the posture of the base-side link of the joint selected by the bending joint selection button. 3. The robot operating device according to claim 1, wherein the direction is associated with an upward operation of the joystick, and the motor drive information of the robot is subjected to coordinate conversion. 4. 5. The robot operating device according to claim 1, wherein the coordinate conversion unit performs a coordinate conversion of a bending operation speed of the robot corresponding to a tilt amount of the joystick to the motor drive information. 6. The robot according to claim 1, wherein the coordinate conversion unit performs coordinate conversion of a target bending angle of the robot corresponding to a tilt amount of the joystick to the motor drive information. Operating device. 7. The robot operating device according to claim 2, wherein the coordinate conversion unit performs a coordinate conversion of a turning operation speed of the robot corresponding to a rotation amount of the dial to the motor drive information. 8. The robot operating device according to claim 2, wherein the coordinate conversion unit performs a coordinate conversion of a target rotation angle of the robot corresponding to a rotation amount of the dial to the motor drive information. .