JPH11262882A - Robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for actually feeling a difference between the operating target of a robot and the action of a robot mainbody to be operated. SOLUTION: A robot system includes a robot and a robot controller 101 functioning to actually operate the robot in accordance with the input operation of an operator, wherein judgement 117 whether the position or attitude of the robot operated in accordance with the input operation of the operator is correct or not is made to cause the robot to do predetermined appealing operation if judgement that it is not correct is made. The operator finds that the input operation is not correct from seeing the robot doing the predetermined appealing operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot system, and more particularly to a system which can be expected to provide an effect of teaching robot teaching to an operator.

[0002]

2. Description of the Related Art In the prior art of operation training of a robot main body, as shown in FIG. 3, a robot operator employs a method of operating a robot with a robot teaching device. In FIG. 3, reference numeral 301 denotes a robot main body, 302 denotes a robot control device, 321 denotes an operation control unit, 322 denotes an operation control unit and a drive power supply unit, 323 denotes a display control unit, and 324 stores operation programs and parameters of the robot. A reference numeral 303 denotes a teaching device for teaching the operation of the robot;
Reference numeral 331 denotes a display unit, 332 denotes an operation key group including operation keys for moving the robot, operation keys for switching a screen displayed on the display unit 331, and the like. The robot control device 302, the robot main body 301, and the teaching device 303 are connected to each other by a closed circuit other than shown.

An example of the operation will be described. When the robot operation program selection key is operated in the operation key group 332 of the teaching device 303, the information is transmitted to the operation control unit 321. The operation control unit 322 receives the corresponding robot operation program from the file 324 and prepares for the operation. When an operation start signal not described is received, the robot body 301
To work. The display control unit 323 similarly stores the file 32
4, the corresponding robot operation program is received, and its contents are displayed on the display 331 of the teaching device 303. The operator confirms the contents while viewing the display 331 of the teaching device 303 and operates the robot. On the other hand, the teaching of a robot using a personal computer without using such a teaching device (teaching box) is also disclosed in
Known as disclosed in US Pat. No. 5,583,364.

[0004]

However, in the prior art, in order to educate the operator, the operation of the robot main body for the operator such as causing the robot main body to take a certain posture or to grasp an object is performed. Although there is a target to be set, the target is vague in the sense of education of robot operation, and there is a problem that the operation of the robot body by the operator becomes trial and error. Also, when the robot operator moves the robot body according to the target of the robot operation, since the target is vague as described above, the robot operator can compare the operating robot body with the target. Therefore, there is a problem that the robot operation cannot be realized according to the target. The one disclosed in Japanese Patent Application Laid-Open No. H10-58364 also has a problem that it is unclear whether the set target position itself is appropriate. Therefore, an object of the present invention is to provide a device that allows the user to feel the difference between the target of the robot operation and the operation of the operated robot body.

[0005]

In order to achieve the above object, the present invention relates to a robot system comprising a robot and a robot control device having a function of actually operating the robot based on an operation input by an operator. Determining whether the position or orientation of the robot that has operated based on the operation input of the operator is appropriate, and if it is determined to be inappropriate, causing the robot to perform a predetermined appealing operation. is there. As a result, if the operation input is not appropriate, the robot can perform a predetermined appeal operation to notify the operator.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the robot control according to the present invention. In the figure, a personal computer 101, a motor control unit 102, a monitor 103, an operation input device 104 such as a keyboard and a mouse, a camera 105, an operation unit 111 of the personal computer 101, an operation simulator unit 112,
Operation command section 113, robot simulator section 114, current position reading section 115, display section 116, position comparator 1
17, a position / posture shift data creation unit 118, a camera image processing unit 119, a camera image 131 displayed on the monitor 103, and an image / graph 132.

First, the operation will be described by taking as an example a case where a comparison operation between the position / posture designated by the robot simulator and the position / posture of the robot body is not performed. The input operation decoded by the operation unit 111 of the personal computer 101 is transmitted to the operation simulator unit 112 and the calculation is started. The motion simulator unit 112 generates a motion command of the robot by calculating a trajectory so as to realize a specified motion (not shown) based on the calculated current position of the robot contained therein, and transmits the motion command to the motion command 113. The operation instruction unit 113 transmits an operation instruction of the robot to the motor controller 102. The motor controller 102 operates a robot body (not shown), obtains current position information, and transmits the current position information to the current position reading unit 115. The current position reading unit 115 displays the information on the display unit 11
6 is displayed on the image / graph 132 on the monitor 103.

Next, the operation will be described by taking as an example an operation of comparing the position / posture designated by the robot simulator with the position / posture of the robot body. The input operation decoded by the operation unit 111 of the personal computer 101 is transmitted to the position comparator 117.
It is told to. FIG. 2 shows a processing flow in the position comparator 117. First, a target position specified in advance is obtained from the robot simulator unit 114. Next, the current position of the robot body is obtained from the current position reading unit 115. And compare them.

If they do not match, the motion simulator unit 112 is requested to calculate the motion from the current position of the robot body to the target position by the amount of the deviation and from the target position to the current position of the robot body. Then, the operation is output from the operation simulator unit 112 to the operation instruction unit 113. The operation command unit 113 transmits this operation command to the motor controller 102 to operate the robot body. In the present invention, the operation of the robot in this case is referred to as “appeal operation”.
Specifically, if the position of the robot body is inappropriate, the robot reciprocates a predetermined number of times on a line connecting the appropriate position from the current position, and if the posture of the robot body is inappropriate, an appropriate The operation of shifting to the posture is performed a predetermined number of reciprocating operations. Since such an irregular operation occurs, the operator does not appropriately input a command to the target position or the target command, that is, the operation of the robot main body indicates that the specified target position or the target posture has not been reached. You can feel it. Further, the position comparator 117 requests the position / posture shift data creating unit 118 to create a graph or an operation guide based on the shift data, and the information is displayed on the monitor 103 via the display unit 116. -It is displayed on the graph 132. For this reason, the operator can confirm the deviation from the target position as data on the monitor.
Regardless of whether or not the above-described comparison operation is performed, the actual operation of the robot body is performed via the camera 105 and the camera image processing unit 119 via the camera image 13 on the monitor 103.
1 is displayed. In addition, instead of the camera image 131, it may be visually confirmed. The operator only needs to add or modify the teaching of the robot operation based on the "appeal operation" of the robot main body, so that the operation of inputting the correct operation command to the target position can be performed efficiently.

[0010]

As described above, according to the present invention, the deviation between the graphic designated by the robot simulator and the position / posture of the robot main body is expressed as the operation of the robot main body. In addition to the fact that the user can actually feel the movement of the user, the correction along the direction of the movement can provide a correct operation command.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of the present invention.

FIG. 2 is a flowchart of the present invention.

FIG. 3 is a block diagram of a conventional example.

[Explanation of symbols]

101 Personal computer 102 Motor control unit 103 Monitor 104 Operation input device (keyboard, mouse, etc.) 105 Camera 111 Operation unit 112 Operation simulator unit 113 Operation instruction unit 114 Robot simulator unit 115 Current position reading unit 116 Display unit 117 Position comparator 118 Position -Posture deviation data creation unit 119 Camera video processing unit 131 Camera video 132 Image / graph 301 Robot main body 302 Robot control unit 303 Teaching device 321 Operation control unit 322 Operation control unit and drive power supply unit 323 Display control unit 324 File (robot) 331 Teaching device for teaching the operation of the robot 332 Operation keys (operation keys for moving the robot and operations for switching the screen displayed on the display 331) (Composed of operation keys, etc.)

Claims (5)

[Claims] 1. A robot system comprising a robot and a robot control device having a function of actually operating the robot based on an operation input of an operator, wherein the position of the robot operated based on the operation input of the operator is provided. Alternatively, it is determined whether or not the posture is appropriate, and when it is determined that the posture is not appropriate, the robot is caused to perform a predetermined appeal operation. 2. The robot system according to claim 1, wherein, if the position of the robot is inappropriate, the appealing operation reciprocates a predetermined number of times on a line connecting the current position and the appropriate position. 3. The appealing operation includes reciprocating a predetermined number of times to move from a current posture to an appropriate posture when the posture of the robot is inappropriate.
The described robot system. 4. The robot system according to claim 1, further comprising a robot simulator for calculating and displaying a motion simulation image of the robot. 5. The robot system according to claim 1, wherein an image obtained by capturing a movement of the robot body by a camera can be displayed separately from a simulation image displayed by the robot simulator.