JPS59152094A - Detector for attitude of robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical field to which the invention pertains] The present invention relates to a device for detecting the posture of a robot's arm, wrist, or wrist.

[Prior art and its problems] Technology that quickly detects in which direction a robot's hand is currently facing is essential for developing high-performance robots. When trying to make a robot perform a complex task, such as inserting a hole bar into a hole, the direction of the robot's arm tip, wrist, hand, etc. must be accurately and quickly detected and controlled. For this purpose, a device is required to detect the posture or direction of the robot.

Conventionally, the importance of detecting the robot's posture has only recently been pointed out. For example, in the robot's hand, the position of a ball that moves as the direction of the hand changes. There is a method of detecting the posture of the robot hand by optically detecting the . It has been confirmed that this method can detect the posture with very little accuracy, but the shape of the projected image of the moving ball is converted into an electrical signal, and the posture of the robot arm is detected using a microcomputer, etc. , the detection time is as long as 5QQ m Sec.

Furthermore, when the robot is in motion, the ball is affected by its inertia, and the accurate posture can only be detected when the robot is in a static state.

On the other hand, there is also a method that does not use the special detection device mentioned above and uses complex calculations based on data such as the bending angle of the joints of the robot's hand and arm, and this method is currently common. . However, this method has problems in terms of calculation processing time and detection accuracy.

[Object of the Invention] The present invention was made to improve the above-mentioned deficiencies, and an object of the present invention is to provide a device k that can easily and quickly detect the posture of a robot even when the robot is in motion. shall be.

[Summary of the Invention] The present invention provides a strain gage type piezoelectric type bisecting velocity meter installed in the arm portion, wrist portion, or arm portion of the robot in three directions: x + Y r z.
For each direction, by subtracting the output of the bisecting speedometer, the gravity direction component in each direction applied to the output of the strain gauge accelerometer can be calculated even when the robot is moving. , the posture of the robot's arm, wrist, and hand can be detected quickly and easily.

[Effects of the Invention] According to the present invention, even when the robot is moving, the posture of the robot can be quickly adjusted by calculating the gravitational direction components in each direction applied to the output of the strain gauge type accelerometer. And it can be easily detected.

[Embodiments of the Invention] Hereinafter, the present invention will be described in detail with reference to the drawings. 1st
The figure shows the output of a strain gauge type accelerometer attached to the robot's arm, wrist, or hand.
Figure 42 shows the output of the FE electric type accelerometer. Figure 1,
FIG. 2 also shows an initial stationary state at time a. Time,
d indicates the state of motion, and times c and e indicate the state of stoppage of each motion.

As illustrated in FIG. 1, a component in the direction of gravity is added to the output of the strain gauge type accelerometer due to the movement of the arm or wrist of the robot. As shown in FIG. 2, the one-pressure type accelerometer outputs only the directional component of motion, regardless of the direction of gravity. This means that the gravity direction component can be obtained by subtracting the output of the piezoelectric type accelerometer from the output of the strain gauge type accelerometer. The result of this subtraction is shown in FIG. It can be seen from FIG. 3 that the gravitational direction component is detected not only in a stationary/stopped state but also in a moving state.

Applying the above principle to the three directions x, y, and z, we get
The gravity direction components in each x, y, and z direction are
It is detected not only in the stopped state but also in the moving state, and the x, y of the robot's arm, wrist, or...
, the gravity direction is obtained from each gravity direction component in the z direction.

Fig. 4 shows the relationship between each gravitational direction component in the x, y, and z directions and the gravitational direction, and Fig. 5 shows the relationship between the gravitational direction components in the x, y, and z directions, and Fig. 5 shows the relationship between the gravitational direction components in the x, y, and z directions, and Fig. 5 shows the relationship between the gravitational direction and the gravitational direction in the wrist of the robot, assuming that the y-axis is the longitudinal direction of the wrist. x, y, z
The relationship between each gravitational direction component of the direction, the gravitational direction, and the posture of the robot's wrist is shown.

[Brief explanation of drawings]

Figure 1 is the output diagram of the strain gauge accelerometer, Figure 2 is the output diagram of the piezoelectric accelerometer, and Figure 3 is the result of subtracting the output of the piezoelectric accelerometer from the output of the strain gauge accelerometer. FIG. 4 is a diagram showing the relationship between each gravitational direction component and the gravitational direction, and FIG. 5 is a diagram showing the relationship between each gravitational direction component, the gravitational direction, and the actual posture of the robot wrist. "Representative Attorney", Kensuke Norichika (and 1 other person) Figure 1 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] By attaching an accelerometer using a strain gauge and a piezoelectric accelerometer to the arm, wrist, or hand of the robot in three directions, x+ >' + Z, and calculating their outputs, A robot posture detection device characterized by detecting the posture of a robot arm, wrist, or hand;