JPS59165106A - On-line debugging device - Google Patents

Abstract

PURPOSE:To speed up processing and to improve operation efficiency by providing a means which trace back a robot operating program from the up-to-date operation to the past operation. CONSTITUTION:A teaching operator performs operation over a look at the condition of a robot manipulator 2 from a teaching box 1. When the teaching operator makes an error in teaching, or converts operation after teaching, sends a return command from the teaching box 1. An execution interpreter 4 interrupts the operation carried out so far in response to return interruption information 11 and traces back the stored operation from the up-to-date operation to the past operation. The teaching operator looks at the continuous reproduction of the reverse operation of the robot manipulator 2 to complete the reproduction at an objective position of the reproduction and then inputs a reverse reproduction stop command from the teaching box 11. Consequently, the execution interpreter 4 stops the reproduction of the reverse operation. Then, teaching operation is performed.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to debugging a robot operation program.
In particular, the present invention relates to an online debugging device suitable for modifying and changing programs in an online environment without interrupting the flow of operations.

[Prior art]

In conventional debugging of robot motion programs, modifications and changes to the program are performed by interrupting online execution. Therefore, the content of the work had to be changed from understanding the operations for semantic checking to understanding the program, which often resulted in a reduction in the efficiency of the debugging work.

[Purpose of the invention]

An object of the present invention is to make it possible to debug a robot motion program without interrupting the understanding of the motion, to make corrections and changes following the discovery of errors through semantic checking by observing the executed motions, and to improve reliability and ease of use. The objective is to provide an online debugging device.

[Summary of the invention]

When a program execution result is continuously observed and a semantic check is performed, and an error is discovered, it generally takes nine hours to stop observing the program and begin to understand the program. Such discontinuity in thinking causes a decrease in the efficiency of one task and the occurrence of errors in the task.

Since the error is noticed after the execution of the operation has started, in order to correct or change the error, it is necessary to specify a certain part of the series of operations executed in the past.

Specifically, when a behavior description program of 100 words is used, the statements in the source program list are understood and associated with the behavior. In addition, in the case of teaching in which a contact object program is created by moving the robot without writing a source program, the motion taught up to that point is played back from the beginning, and monitoring is continued until just before the relevant location.

The present invention is characterized in that, in order to eliminate the discontinuity of the work contents during debugging as described above, when specifying a place to be corrected or changed, the operation is executed in the opposite direction. Next, an embodiment of the present invention will be described in detail in the case of the above-mentioned teaching, but in the case of using a behavioral description programming language, it is the same as if the teaching process was previously described in the language.

[Embodiment of the Invention] Hereinafter, an embodiment of the present invention will be described in detail. Figure 1 shows
1 shows the overall configuration of an embodiment of the present invention. A teaching worker instructs the robot manipulator 2 to operate while observing the current status of the robot manipulator 2 from the teaching box 1.

The execution interpreter 4 converts the operation command 3 into control data 5. This control data is converted into a control signal 7 by the servo interface 6, and the robot manipulator 2 operates in response to this control signal 7. Sensor information 8 is taken into a sensor interface 9 and converted into robot current status information 10. This robot current status information 10 includes the start and end coordinates and postures of the element motions, and is taken into the execution interpreter 4 and stored as result data of the motion commands 3. When a teaching worker makes a teaching error or wants to convert a taught action,
Give a return command from the teaching box 1. Return 9
In response to the interrupt information 11, the execution interpreter 4 interrupts the previous work and reproduces the above-mentioned stored operations from the latest operation to the past operation. The teach leg worker watches the continuous playback of the reverse motion of the robot manipulator 2,
After the conversion is completed and the playback is completed, a command to stop playback in the reverse direction is input from the teaching box 1. This causes the execution interpreter 4 to stop the continuous reproduction of the reverse operation. after that,
Perform teaching using the dimensions mentioned above.

FIG. 2 is a diagram illustrating the actual teaching and reverse operation reproduction using a program image.

The contents of the teaching will be briefly explained below with reference to the same figure (aXb).

1 Specify the origin coordinates of the manipulator 2 Move backward through the L1 plane and move onto the PLANE 1 plane 3
Position the object to be gripped (in this example, the cylindrical tool) to the right of the L1 plane (relative to the direction of travel), turn left and move along the L1 plane until you reach the 52nd plane 4 Turn right and move along the 52nd plane Move until reaching the L3 plane 5 Turn right and move along the L3 plane to Someheve As explained above, enter the direction of travel, turn right/left 9 and grip posture from the teaching box.

FIG. 2(C) shows a situation in which the operation shown in FIG. 2(b) is reversed. The valley action changes the description of the lower part.

100 Turn left and move to the 52nd plane along the L3 plane 4 Turn left and move to the L1 plane along the 52nd plane 3 Place the held object on the left in the direction of travel (in this example, since it is not specified in 5, Move along the L1 plane (on the left) to the PLANEX plane (the plane is not specified, but the coordinates are memorized from the sensor information during teaching) 2 Move through the L1 plane to the HOME plane (manipulator origin) The function and means for performing such a reverse operation, which is unnecessary since it is not a movement command, will be explained next.

FIG. 3 is a data flow diagram showing the functions of the execution interpreter 4 of FIG. 1. Figures 5M to 9 show the specific operation of the valley processing in Figure 3. Figure 5 is object conversion, Figure 6 is control calculation, Figure 7 is coordinate parameter calculation, and Figure 8 is object table. Figure 9 shows the calculation of the return operation. The functions of each element will be explained below, focusing on input and output.

(1) Object conversion input crab movement command (first movement command 3) Output; object data (movement direction or posture) (2) Control calculation input crab object data or return movement object data Output crab control data (Fig. 1 control Data 5) (3) Coordinate parameter calculation input; Sensor information (Sensor information 8 in Figure 1) Output crab parameter Object data (movement start and end coordinates, attitude parameter) (4) Object table creation Input crab object data fc, are parameters Object data Output storage data (5) Return operation calculation Input storage data and return interrupt information Output return operation object data Figure 4 shows the method of storing object data etc. and calculating the reverse operation in Figure 3. This is what I explained.

FIG. 4(a) is an object table for the motion shown in FIG. 2, where OP indicates a zero orientation designation such as grasping, FROM indicates coordinates at the start of movement, and TO indicates coordinates at end of movement. Unless otherwise specified, a single mark will be used. When there is a mark in the FROM column, the coordinates are the same as the To coordinates in the previous operation. FIG. 4B shows the calculation results for the inverse action object.

OF, FROM, and TO are of reverse operation. The same figure (C
) is a table for calculating OP from the posture conversion table hop. Using these, each column of the reverse action object is created as follows.

(1) When OF is one mark, OP is one mark.

(2) When OP is not one mark, refer to the attitude conversion table to find OP.

(3) FROM at the start of reverse operation is the corresponding FROM
Copy the TO data on the same line as .

(4) To copies the data of TO in the line immediately before the corresponding To.

(5) If there is no line immediately before TO in (4), copy the FROM data of that line to TO.

According to this embodiment described above, the following effects can be expected.

(1) By simply replacing the conversion table and coordinate data,
Processing is fast because the inverse operation is calculated.

(2) Since teaching is not replayed from the beginning, the sooner an error is noticed, the less time it takes to access the location, which improves work efficiency.

(3) It is possible to confirm that the erroneous part has been passed, and even if the erroneous part has been passed, corrections and changes can be made from that point, making the work easier. (If you play from the beginning in the forward direction,
You may pass it or have to start over again. ) [Effects of the Invention] According to the present invention, the following effects occur.

(1) Work efficiency and reliability are improved because only the operations of the parts most relevant to program modifications and changes are visible.

(2) After the erroneous operation is completed, there is no need to pay attention to the operation and understand the program itself until corrections and changes are made, so there is the same effect as in (1) above.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention, FIG. 2 is an actual example of teaching operation and reverse operation, FIG. 3 is a configuration diagram of an example of the processing of the present invention, and FIG. Explanatory diagram of processing, 5th
9 to 9 are flowcharts showing examples of specific operations of each process in FIG. 3. 1...Teaching box, 2...Robot manipulator, 4...Laughter interpreter, 11...°Return section Fig. 5 Fig. 6 Fig. 7 Fig. δ Fig. Kuzu Fig. 9

Claims (1)

[Claims] 1.0 - In a system comprising a pot operation program, a device for converting the program into executable instructions, and a robot device, means for executing the robot operation program in the direction from the current latest operation to the past operation. 1. An online depacking device by performing backward execution of a robot motion program, characterized in that: