JPS5919685A - Method and device for compositely controlling multi-articulated 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 The present invention relates to a composite control method for an articulated robot, and is particularly concerned with all features of the composite control for controlling the position and torque of each link of an articulated rosette.

Conventional multi-g+! :The first control method for a one-section robot is position control. As a method of controlling the position of each link of an articulated robot, a motor corresponding to the number of degrees of freedom of rotation of the articulated robot is placed at each joint, and each link is given a displacement by driving each μs f+ii. Position sensors are placed on the joints to detect the inclination angle of each joint, and a motor is driven to match the external inclination angle instruction signal with the inclination angle detection signal from the position sensor, and the position of each link is determined by law. It was a way to do it. Also, in terms of torque control,
A force sensor or other signal that responds to changes in load caused by holding the tip of a link or an object? The method was to convert the torque and transmit it to the motor to control the torque.

In this way, in the conventional control method for articulated robots, the position of each link is first determined by position control, and then torque control is performed, so there is a time gap between position control and torque control. A discrepancy occurred. In addition, since position control was performed by detecting the inclination angle of each r@ node, after position 1w detection (1) is completed, only the motor current necessary to support each link flows, and position detection Is torque controlled by changing the load on the link after completion? ff1
In order to start I, there was a problem in that the load and impact applied to the link caused displacement of the link.

The present invention has been made to solve the above-mentioned problem (1), and an object of the present invention is to appropriately combine position control and torque control of a plurality of links. A composite control method for an articulated robot characterized by controlling the link in a tensioned state by performing torque control separately from position control and being able to stand by against loads and impacts applied to the link, and an articulated mouth 4? Our objective is to provide a complex control device for the

That is, according to the present invention, in order to achieve this object, a position control method for positionally displacing a plurality of links by appropriately rotating a plurality of joints connecting a plurality of links, and a hit record method are provided. a torque control method of controlling the torque of the link by varying the telescoping force of a torque control telescoping member connected to at least one of the links of the number of extensions, and controlling the position control method and the torque control method. This is a composite control method that is combined based on commands.

Further, a primary control device for positionally displacing the plurality of links by appropriately rotating a plurality of joints connecting the plurality of links, and a torque connected to at least one link of the plurality of links. It consists of a torque control device that controls the torque of the link by changing the way of expansion and assembly using the control expansion and contraction part, and the above-mentioned A-X device control device and 111.
A composite control device is obtained by combining the torque control device (1) with a control command device.

Therefore, in the first composite control method for an articulated robot according to the present invention, the position Irt control method and the torque control method for a plurality of links are appropriately combined, and the torque control is performed separately from the position control. , the links are controlled in a tensioned state so that they can stand by against loads and shocks that are applied to the links, and are advantageous in that there is less misalignment of multiple links.

In addition, in the compound side six-wheel device of the articulated robot of the present invention, the mounting of the plurality of links R4 and the torque control device are appropriately combined, and the position control is performed using the torque based on the torque control device. , the position of the links is controlled in a tensioned state so that they can stand by against loads and impacts applied to the links, and the positional deviation of a plurality of links is also reduced.

Hereinafter, one embodiment of the present invention will be described in detail with reference to all drawings.

FIG. 1 is a configuration diagram of the links forming the joint #j, and is an example in which the joints are rotated by cables.

In the figure, Ia, lb, 1cGi link, 2a.

2b is pivot y* j4. Joint formed by V, φ1. φ,
The bending angles of the four ci joints, 3a, 3b, and 3c are the cables, and 4 is the attachment point at the base. Links la and lb can be bent at joints 2a and 2b formed by pivots0 Cables 3a, 3c LX link 1a bending j
Connected to both sides with IR capability. Cable 3t)
C'iIJ link 1b.

The cable lengths of the cables 3a, 3b, and 3c can be set to a certain extent by an external position control command, and the tension of the cables can also be varied. The tensile force of the cable 3a can be set using an external torque control command.

Note that the number 5 is E-day.

First, the method of controlling the position of the link will be explained. To displace the link 1a, the cable 3a is used.

If the cable length changes due to the expansion and contraction of link 3c, link 1a
IL; joint 2aσ) composed of t pivot; inclination angle φ1
The angle changes, and the position can be changed.

To displace link 1b, cables 3a, 3
b.

3c is displaced by changing the cable length due to expansion and contraction. Here, if the lengths of the cables 3a, 3b, 3c are determined, the displacement of the links Ia, lb is uniquely determined. That is, the function 1! constituted by P Iζt! ttj
2a and 2b are two, and link 1a.

There are three cables 3a, 3b, and 3c connected to 1b. The free numerical value at which links la and lb can move freely is 2.
, and the cable variables that control links ja and jb are 3, so link Ia.

The displacement position of 1b can be determined by the lengths of cables 3a, 3b, and 3c by an external command.

Next, to explain the torque control method, link Ia
, Ib are connected to the cables 3a, 3b.

The tensile strength of 3c corresponds to the torque of links la and lb. Here, the initial values of the lengths of the cables 3a, 3b, and 3c are set by external commands, and the position ji+ is controlled! 2
, when an external command is given to increase the tensile strength of cable 3C, the positions of links la and lb are displaced 1 (increasing the tensile strength of cables 3b and 3c, and the length of cables 3a, 3b, 3c is It attempts to become the initial value given as a constant value.

Regarding the torque control method, if an initial value σ) torque is applied to one of the cables connected to the link that serves both as a position control and a torque control phase, the other cables can also apply a corresponding torque.

The torque control method in the above is the position iζf ff1ll
The method used was to perform torque control using an external torque command after the completion of Nl, but by giving an external torque command together with the external torque command (3) of position control, the position side tI
Ill and torque control can also be performed simultaneously.

As shown in σ), in such 11 examples, links la and Ib are irI system secondary and torque system? llI bi1
) The cable 3 connected to the links la and lb without directly driving the joints 2a and 2b composed of ζts Pd.
Since this is a method of controlling the link position and torque control r, n+ using the lengths and tensions of a, , 3 b, '3 c, the stone grain f can be directly connected to the links 1vl'i2a and 2b remotely. There is no need to place
It is possible to increase torque. Also, link σ)1
1. Negative change applied to the link is possible because torque control is possible. There is also little misalignment with respect to the

It is a conventional control method centered on one company control,
After the position control is completed, only the force necessary to support the link is applied to each link, and the disadvantage that it is not possible to wait for the weight applied to the link after that can be eliminated in this embodiment G. Furthermore, even if the number of free links increases, the same effect can be obtained by increasing the number of free cables plus one.

Next, a second embodiment of the present invention will be described with reference to the drawings.

FIG. 2 is a two-dimensional diagram of a link forming a multi-joint structure, and is an example of a case where the rotation of the pubic area is directly driven by a motor.

The same parts as those in the first embodiment will be described with the same reference numerals.

In the figure, 6a and 6b are a drive motor and 7ζ is a torque control cable. In this embodiment, the method of controlling the position of the link will be explained briefly.The driving motors 6a, 6b rotate based on an external position control command 161, and the bending angle of the joint is φ3. This is a method of controlling by changing φ2. Next, regarding the method of controlling the torque of the link, there is a method of controlling it by changing the tensile strength of the torque control cable 7 connected to the link. The external control command is sent to the drive motor 6a as the first M value for position control.
, 6b, the links Ia and lb are displaced by the rotation of the drive motors 6a and 6b (11 old control is possible, and the torque connected to the link 1a is 1!,
External aIl increasing the tensile strength of the tll I11 cable 7
If j is given 11 degrees, motor 5a for fJ1 will be given.
, 6 b IiC'+lVt system? ml Kazure σ) IC
The torque of the drive motors 6a and 6b is increased to achieve position control and torque control.

In this way, if the actual 11i J4'l & here, the link c-X is connected, one σ) If the instruction 7i- to specify the tension from the outside is given to the torque control 1Jll woople 7, then the torque control m1 Tensile strength G of cable 7, two symptoms? <! 11. The torque of i+kawashita can also be increased by 1 to achieve torque control Ml, and the link can be tightened (
It can be kept at 1, place b”+.

The link can wait by adding 7・j to the impact and weight applied to the link after control m1. In addition, since a torque control cable was used in addition to the control θ11, the positional density 1σ) precision 1([
It also improves.

Next, the 9th example 1a+i of the present invention will be illustrated as follows: 1)1
FIG. 6 is a block N showing an embodiment of the arrangement control device for an articulated robot according to the present invention. Note that the same parts as those in the first embodiment will be described with the same reference numerals. 8a, 8
b, 8c is H < 1t (l Msj fit, 9th.

9b and 9c are position sensors. -4 The moving equipment 8a is a device that serves as a transmission means for the expansion and contraction of the cable 3a, and is also a device that can vary the tension of the cable 3a. The position sensor 9a8t detects the length of the cable 3a, and the cable 3a is wound around the axis of the potentiometer, and the cable 3a is expanded and contracted to convert the change in length (1) into a resistance value G. It is also q). Drive 1 devices 8b, 8c correspond to position f6 sensors 9b, 9c, drive cables 3b, 3c, and convert the length. 10a is a control circuit;
V-F converter 11, current value counter 12, comparator 13,
Differential amplifier 14, tracking counter 15, drive control circuit 16
Consists of.

1Flb,]Oc is also a control circuit, and has the same (para β) configuration as the control circuit 10&.

Reference numerals 17a, +7b, and 17c are initial value setting circuits, which perform position setting and torque setting, and which control the control circuit.

Next, the effect will be explained. When displacing link 1a downward, fl
The length of the cable 3a is determined by the setting circuit 17a and given as an initial value of 1i11. Based on the initial value, '+
1 (Slave counter 15 operates and inputs to comparator 13.

- 10,000, 4(ri(, +' sensor 9a is connected to cable 3a
(1) ) is detected and passed through the ■-F converter 11,
The current value is inputted to the comparator 13 by generating 12 volumes of 1 pill for each of the 7 counts. The frequency comparison signal of the follow-up counter 15 and the current value counter 16 is softened by the comparator 13 and the difference amplifier 14 amplifies the comparison signal and inputs it to the motion control circuit 16.

The drive control circuit 16 (11), adjusts the gain by torque setting based on the initial setting circuit 17, and readjusts the gain by backing up all the comparison signals of the differential amplifier 14 by 9 feet, 11), 111) 58aC-jsr
Gives constant rotation and torque.

Then, the drive device θ8aG: is driven until the cable 3a connected to the link 1a is at the position set at the initial value (the follow-up counter 15 and the current value counter 12 coincide. 1<r,
Torri construction based on 6 & 1 rjl road! G Koyori 1
Day 7 tun:: GIIll (, θ1 by Shinkai Kago i16
It is pulled with the required force by the drive device ii: 8a with the gain adjusted to 1.

In the above, the cable 3a was described, but for the cable 3c, the fIII control circuit 1 is set so that the gain is maintained in balance with the cable 3c by simply setting the initial value of the position.
The position of the link 1a is controlled while the cable 3a and the cable 3C are in tension.

When displacing the links la and Ib, it is sufficient to set the displacements to the cables 3a, 3b, and 3c as initial values.

Next, when displacing link Ia%, link 1
A case will be explained in which the tip of the cable a hits the object A and the cable cannot correspond to the set initial value. Link 11L
When the tips of the cables 3a and 3c touch the surface of the object A, the positions of the cables 3a and 3c cannot be controlled based on the initial values. If no suitable torque control exists here, cable 3a,
3c is a control circuit 1.3c so as to match the initial value. Oa, 1
0c performs gain adjustment to increase torque to the maximum. If the surface of object A is soft, this may even lead to destruction.

However, in the embodiment, the initial value of torque is set, and based on the initial value of 8.4 < jl! ! 1
i′Iisu18tl I+++Route 12 Key 8 in 6+:
t1 adjustment and difference 1t; 11 le 1' 11 unit 14 #, # ratio A1 is driven by a signal dtr + control division circuit u 16 & this is fed back to make Keyne's writing i''+4 even. The tip of link 1a (Σ) is (M, corresponding to the initial value of fiT setting I: If it is not possible, then the tip of link 10 is set to r+"A with the adjusted torque!! J body A is r, ≦"11 ．．
Tru.

In this way, in such a fruit or li fill (1
,first time! i, -1 value U) if<> JL place 1f'
=j L 'J nk17) (j46f+', t!
, 'J 1all 7'l' te@, Moreover, the first J", 1 (17, +
Since the torque can be set as such, it is possible to create tension in the link that can withstand changes in the load applied to the link and shocks. In addition, the position "Y control is not correct arr"
Even in the case of joints, the torque control is properly controlled and is effective when the tip of the link is connected or slid.

The embodiments of the present invention have been described above from Figure G to Ml, but the torque control connected to the link! + 11.1 Is the telescopic kidnapping also a control? Even if wholesale circuit G is difficult, any configuration is sufficient as long as the position and torque can be set based on the initial value setting O, and the torque can be adjusted according to the length of the torque control telescopic member. In addition, the initial value setting circuit is used as a host computer, and the K, 6 motion control circuit is 7! i'> ill
The present invention can also be applied to a computer with a multi-joint finger or a multi-joint arm using a plurality of multi-joint links.

[Brief explanation of the drawing]

Figures 1 and 2 number: Configuration 5 of descending links forming multi-joints
FIG. 6 is a block diagram showing 14 examples of the complex control device rtL for an articulated robot according to the present invention. 1a, 1b, 1c --- link, 2a,
2b, 2c... 114 nodes, 3a, 3b, 3c... Cable (expandable partner), 7... Extendable member for torque control, 10... Control circuit. Applicant: Yuushin Development Co., Ltd. Figure 1 Figure 3

Claims (1)

[Claims] 1) Appropriate rotation of a plurality of joints connecting a plurality of links.
The torque of the link is controlled by a position control method of positionally displacing the plurality of links by causing the plurality of links to move, and by varying the expansion phase by a torque control expansion and contraction phase connected to at least one link of the plurality of links. Torque control method and ζ "i11 heavy position control method and
A compound control method for an articulated robot, which combines the torque control method described in J and II as a side command.2. A torque control device for controlling the torque of a link by varying the elastic force by a torque control elastic member connected to at least one link of the plurality of links described in 011. 1. A complex control device for an articulated rosette, comprising a control device, and a combination of a position control device as described in Rjl and the torque control device by a control command device.