JPS5935754B2 - Hand position/posture control method and device for industrial robots - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hand position in an industrial robot in which the position and posture of the hand in the industrial robot can be controlled independently of each other.

The present invention relates to a posture control method and apparatus. In general, in an industrial robot, an arm with a shoulder, an upper arm, an elbow, a forearm, and a wrist, and a hand with a palm and fingers require at least 6
The above arms require degrees of freedom.

Therefore, in order to control the movement of this arm and the above-mentioned hand by an electronic computer, the position and posture of the above-mentioned hand must be determined from the variables of the above-mentioned arm, and when the position and posture of the above-mentioned hand are specified, , it is necessary to find the variables of the above-mentioned arm that realize this, and for these calculations, it is necessary to solve six nonlinear simultaneous equations for the six variables of the above-mentioned hand position and posture.

In this case, it is easy to find the arm posture and the hand position and posture from the above arm variables, but in practice, in order to find the arm variables from the above hand settings, the successive approximation method is used. have to be used, require repeated calculations,
There was a problem in that it took time to calculate the solution and it was difficult to obtain highly accurate solutions for the hand position and posture control variables. Therefore, in order to solve the above problem, that is, as a mechanism that can analytically solve the simultaneous equations for the six degrees of freedom of the arm, a mechanism called a Sheinman Arm has been proposed. If we consider an articulated robot that applies the wrist mechanism that is a feature of the Shinman arm, the mechanism is as shown in Figure 1. Link 1 corresponding to the shoulder of
and is connected to this link 1 via a link 2 corresponding to the upper arm of arm I, and is connected to link 3 corresponding to the elbow of arm I rotating on 02, and connected to this link 3 and 0
, a link 4 corresponding to the forearm of arm I that rotates around the top, a link 5 that is connected to this link 4 and corresponds to the wrist of arm I that rotates on 04, and a link 5 that is connected to this link 5. , and is composed of a link 6 corresponding to the palm of a hand that rotates on 04 and 0, and a link 7 corresponding to a finger of a hand that is connected to this link 6 and moves together with link 6. , link 4, link 5, and link 6 each rotate through a point 04.

Therefore, according to this configuration, once the hand position and posture are set, in order to find the values of the variables of arm I that realize it, it is possible to separate them into two sets of simultaneous equations with three variables. , it is possible to analytically find solutions for each three variables from a six-dimensional simultaneous equation. However, this separation does not separate the posture control of the arm I, the hand position control, and the hand posture control from a functional perspective. In other words, the variables necessary for the position control of the hand I are link 1, link 3, , 5 variables, θ, θ2, θ3, θ4, θ, are needed for link 1, link 3, link 5, link 6, and link 7. θ2, θ3, θ4, θ
5, θ6, of the 6 degrees of freedom, θ1, θ2, θ3
, θ4, θ, which affect both position and posture control, it is difficult to obtain a solution unless the arm I and hand posture are limited as the position of hand I is set. It is. Therefore, after setting the hand position, changing the hand posture without changing the hand position, or after setting the hand posture, changing the hand position without changing the hand posture. is difficult.

Moreover, the mechanism for positioning the hand affects the 5th degree of freedom from the reference coordinate system, that is, from link 1, of the 6 degrees of freedom, so it is difficult to increase the position control. A difficult problem arose. The present invention has been made in consideration of the above-mentioned problems, and its purpose is to support an arm whose one end is movable on the X-axis component, Y-axis component, and Z-axis component in the basic coordinate system. The other end of the hand is moved to the set position by moving the other end of the hand, one end of which is connected to the other end of the arm via the wrist mechanism, and the wrist mechanism moves one end of the hand to the set position. When controlling the hand in an arbitrary position and in an arbitrary posture by displacing it on a spherical surface centered on the other end and changing the posture of the hand, variables and postures in position control are Separate the control variables into two sets of simultaneous equations, and quickly calculate the hand position and posture for each equation.
Furthermore, the present invention aims to provide a method for controlling the position and posture of a hand in an industrial robot that enables reliable calculation. Furthermore, another object of the present invention is to provide the above-mentioned wrist mechanism,
a first drive mechanism that rotates one end of the hand on a circumference of a first plane including the certain position while the other end of the hand is located at a certain position on an extension line of the other end of the arm; , a second step of rotating one end of the hand onto the circumference of a second plane that includes the certain position and is orthogonal to the first plane, with the other end of the hand positioned on the certain position; and a third drive mechanism that rotates the hand on a line passing through the certain position with the other end of the hand positioned above the certain position, and controls the position of the hand according to the above. The hand posture is controlled based on the basic coordinate system of the arm, and the hand posture is controlled by selectively driving the first drive mechanism, the second drive mechanism, and the third drive mechanism in the wrist mechanism, based on the position of the other end of the hand. Variables in position control and
By making the variables involved in posture control functionally independent and obtaining solutions for these variables independently from two sets of simultaneous equations, hand position and posture control can be performed with a simple device and with high precision. The purpose of the present invention is to provide a hand position/posture control device for industrial robots that can control the position and posture of industrial robots.

Hereinafter, the present invention will be explained in detail with reference to embodiments shown in the drawings.

FIG. 2 shows an example of the basic configuration for realizing the hand position/posture control method in an industrial robot according to the present invention, and shows an example of the same configuration and operation as that in FIG. 1. are given the same reference numerals.

In the figure, the wrist 10 of the hand is located at one end 4a of the forearm 4 in the arm I, with the center point φ located on an extension line of the one end 4a of the forearm 4, and moves integrally with the movement of the forearm 4. It consists of a ball shell 11 supported on an outer surface 11a.

Further, the ball shell 11 on this wrist 10 is connected to a first drive mechanism (not shown).

) rotates around the horizontal axis A around the center point Ψ, and a second drive mechanism (not shown).
, it is driven to rotate around a vertical axis B with the center point φ as the center. One end 12a of the palm 12 in the hand
has a finger 13 bent in a roughly U-shape, and within the spherical shell 11 of the wrist 10, the center point φ of the spherical shell 11 and an arbitrary point on the inner surface Ilb of the spherical shell 11 are formed. The point of action 13a on the finger 13 is placed on the axis C connecting ω with the ball shell 11
, and the other end 12 of the palm 12
b is supported on the inner surface 11b of the bulb shell 11.

The palm 12 is connected to a third drive mechanism (not shown).

), it is rotated around an axis C connecting the center point φ and an arbitrary point ω on the shell 11. With this configuration, when the hand position is set now, the point of action 13a of the finger 13 of the hand is located at the center ψ of the shell 11 of the wrist 10 on the extension line of the forearm 4 in the arm I.
The center point Ψ of the ball shell 11 is controlled so that one end 4a' of the virtual forearm 4' whose length is the sum of the length of the forearm 4 and the radius of the ball shell 11 moves to the set position. Bye.

Therefore, the objects to be controlled for moving the point of action 13a of the finger 13 to the set position are link 1 corresponding to the shoulder of arm I and link 3 corresponding to the elbow, with link 1 at center 0 and above. The point of action 13a on the finger 13 is set by simply rotating the link 3 by a fixed angle θ1 around the horizontal axis, rotating the link 3 by a fixed angle θ3 around the horizontal axis, and then rotating the link 3 by a fixed angle θ3 on the center 02. can be moved to position. Therefore, the variables involved in hand positioning control are only three, the amount of rotation θ,, θ2 of link 1 and the amount of rotation θ3 of link 3, completely unrelated to the variables in hand posture control, and these variables The solution can be found directly using simultaneous equations.

In addition, when the hand position is controlled to a set position and the hand posture is set next, the ball shell 11 corresponding to the wrist 10 is fixed around the vertical axis B according to the set hand position. At the same time as rotating the angle θ4, the fixed angle θ is rotated around the horizontal line axis A.
By simply rotating the palm 12 and fingers 13 five times and then rotating the palm 12 and fingers 13 by a fixed angle θ6 on the axis C, the posture of the hand can be controlled while maintaining the point of action 13a on the fingers 13 at the set position. .

Therefore, in this case as well, there are only three variables involved in hand posture control, θ4, θ5, and θ6, regardless of the variables involved in hand positioning control, and the solution of these variables is expressed as a simultaneous equation. It can be found by

3 and 4 show a specific link mechanism and a device that further embodies this link mechanism for realizing the hand position/posture control method for an industrial robot according to the present invention. , those having the same structure and function as those in FIG. 1 are designated by the same reference numerals.

In FIGS. 3 and 4, the forearm 4 of the arm I is located on a line passing through the point of action 13a on the finger 13 of the hand, and the rotation axis 22a may be on the forearm 4.

At this time, the constant angle can be said to be o degrees. The reason why the arm 4 is drawn bent toward the crank is that the rotation axis of θ4 and the arm 4 do not necessarily have to coincide. One end 21a of a first support shaft 21 in the first drive mechanism 20 is fixed to one end 4b of this forearm 4, and the other end 21b of the first support shaft 21 is located on a line passing through the point of action 13a on the finger 13. The point of action 13a is located facing toward the side. Also, the other end 2 of this first support shaft 21
1b includes a first drive motor 2 in the first drive mechanism 20.
2, the rotating shaft 22a is connected to the other end 21b of the first support shaft 21.
, that is, on a line passing through the point of action 13a of the finger 13 and facing toward the point of action 13a. The second support shaft 24 in the second drive mechanism 23 has a substantially L-shape in which one end 24a and the other end 24b are substantially orthogonal to each other. The rotating shaft 22a of the first drive motor 22 of the mechanism 20 is perpendicular to the rotating shaft 22a, and the other end 24b is relative to the rotating shaft 22a.
They are fixed in parallel at the front of the finger 13 on the side of the point of action 13a.

Further, the second drive motor 25 in the second drive mechanism 23 is connected to the other end 24b of the second support shaft 24, and the second drive motor 25 is connected to the rotation shaft 25a.
is on a line passing through the point of action 13a on the finger 13,
It is fixed so as to be perpendicular to the rotating shaft 22a of the first drive motor 22, that is, parallel to one end 24a of the second support shaft 24, and facing toward the point of action 13a. When the rotating shaft 22a of the first drive motor 22 in the first drive mechanism 20 is rotationally driven, the second
The second drive motor 25 in the drive mechanism 23 has a rotating shaft 25a that constantly moves the circumference gl on the horizontal plane in FIG.
It rotates toward the center g. The third support shaft 27 in the third drive mechanism 26 also has one end 2Ta.
and the other end 2Tb are substantially L-shaped and are substantially perpendicular to each other, and the one end 2Ta is shorter than the other end 24b of the second support shaft 24, and the other end 2Tb is shorter than the one end 24a of the second support shaft 24. It has also been shortened.

One end 2Ta of the third support shaft 2T is connected to the second drive mechanism 23.
The second drive motor 25 is perpendicular to the rotating shaft 25a of the second drive motor 25, and the other end 2Tb is one end 2 of the second support shaft 24.
It is fixed so as to be parallel to 4a. Third support shaft 27
A third drive motor 28 of a third drive mechanism 26 is connected to the other end 27b, and a rotating shaft 28a is connected to the point of action 13 on the finger 13.
It is fixed on a line passing through point a so as to face the point of action 13a, and the other end 12b of the palm 12 of the hand is fixed to this rotating shaft 28a. When the rotating shaft 25a of the second drive motor 25 in the second drive mechanism 23 is rotationally driven, the third drive motor 28 in the third drive mechanism 26 rotates the ball shell G via the third support shaft 2T. The circumference G2 on the vertical plane in Fig. 4 passing through the center g of
The rotation axis 28a, that is, the palm 12 and fingers 13 of the hand rotate in a vertical plane in FIG. 4 about the point of action 13a.

Further, when the third drive motor 28 in the third drive mechanism 26 is rotationally driven, the palm 12 and fingers 1 of the hand
3 rotate together around a line connecting the center g of the ball shell G and the rotating shaft 28a of the third drive motor 28. In the above configuration, when the hand position is set, the point of action 13a on the fingers 13 of the hand is located on the extension line of one end 4b of the forearm 4 on the arm I, as in the above embodiment! Since it slopes, the length of the forearm 4 and the finger 13 from one end 4b of this forearm 4
Control may be performed so that one end 4b' of the virtual forearm O', including the length up to the point of action 13a, moves to the set position.

Therefore, in this case as well, the control target for moving the point of action 13a of the finger 13 to the set position is the arm 1.
Link 1 corresponds to the shoulder, and link 3 corresponds to the elbow. Therefore, the variables involved in hand positioning control are only three, the amount of rotation θ, θ2 of link 1 and the amount of rotation θ3 of link 3, completely unrelated to the variables in hand posture control, and these variables are Solutions can be found directly using simultaneous equations. Next, when setting the hand posture controlled to the set position as described above, in FIG.
First, when the first drive motor 22 in the first drive mechanism 20 is driven and the rotating shaft 22a is rotated by a certain angle θ4, the second drive motor 25 in the second drive mechanism 23 is driven to rotate the ball shell G. It rotates on the circumference gl of the horizontal plane in FIG. 4 passing through the center g.

Due to this rotation, the palm 12 and fingers 13 of the hand, which are supported at a constant angle with respect to the horizontal plane, are held on the rotation shaft 25a of the drive motor 25 via the third drive mechanism 26, i.e. It rotates by a constant angle θ4 so as to draw a cone G3 around the center g of the shell G.
From this state, when the second drive motor 25 in the second drive mechanism 23 is driven and the rotating shaft 25a is rotated by a certain angle θ, this causes the third drive motor 28 in the third drive mechanism 26 to rotate. Rotating shaft 25 of 2 drive motor 25
Centering around the movement position a, that is, the palm 12 and fingers 13 of the hand rotate around a circumference G2 on a vertical plane in FIG. 4 passing through the center g of the shell G. Due to this rotation, the palm 12 and fingers 13 of the hand are tilted with respect to the horizontal plane in FIG. 4 in accordance with the rotation angle θ of the drive motor 25. Furthermore, from this state, the third drive mechanism 2
The third drive motor 28 at 6 is driven, and the rotation shaft 28
When a is rotated by a certain angle θ, the palm 12 and fingers 13 of the hand are rotated by the rotation axis 2 of the third drive motor 28.
8a and the center g of the ball shell G, rotate the finger 1
A twist of a constant angle θ6 is applied to the point of action 13a of No. 3.

The hand posture is controlled in the above manner, and the variables involved in this hand posture control are as follows for each drive mechanism 20, 23,
Each rotation shaft 2 of each drive motor 22, 25, 28 in 6
3 of rotation angles θ4, θ5, θ6 of 2a, 25a, 28a
The solution to these variables can be directly determined using simultaneous equations that are completely independent of the variables in hand positioning control.

FIG. 5 shows another embodiment of the present invention, in which the same components as those in FIG. 4 are given the same reference numerals.

In the figure, one end 30a of a connecting link 30 is fixed to the other end 21b of the first support shaft 21, and the other end 21b of the first support shaft 21 is fixed to the other end 30b of the connecting link 30. On the line E connecting the point of action 13a of the finger 13 on the hand, and on the other end 21b of this support shaft 21 and the finger 1
3, a second support shaft 31 of a certain length is fixed thereto.

The second support shaft 31 is arranged such that the other end 21b of the first support shaft 21 is connected to the first drive motor (not shown) on the line E.

), the second support shaft 31 also rotates on the line E via the connecting link 30. Further, a third
A pair of links 33 forming parallel links of the support shaft 32,
One ends 33a and 34a of 34 are attached so that the links 33 and 34 are parallel to each other, and these links 33
, 34 are a pair of second drive motors (not shown)
Therefore, the fingers 13 rotate integrally with respect to the second support shaft 31 at the same angle and in the same direction within a vertical plane that includes the second support shaft 31, that is, the point of action 13a of the finger 13. Another pair of links 35 forming parallel links of the third support shaft 32
, 36, one end 35a of the link 35 is connected to the other end 33b of the link 33 with a pin (not shown).

), it can be rotatably attached and this link 35
The link 34 and the intersection 35b are rotatably attached to the link 34 with a pin (not shown), and one end 36a of the link 36 is connected to the link 34.
It is rotatably attached to the other end 34b with a pin (not shown). Link 35 in the third support shaft 32,
36, the other end 36b of the link 36 is connected to the link 3
4, the other end 12b of the palm 12 of the hand is parallel to the link 34,
Pin (not shown)

)), the other end 35c of the link 35 is attached to the link 35 in a rotatable manner.
It is rotatably attached to a position on the palm 12 with a pin (not shown) when it is positioned parallel to the palm 6. With the above configuration, when posture control is performed with the hand positioned at the position shown in FIG. 5 by the above-described operation in the embodiment, first, the first drive motor (not shown) is activated.

), the second support shaft 31 is rotated by a constant angle θ4 on the line E via the connecting link 30. As a result, the links 33 and 34 in the third support mechanism 32
It rotates around the line E while forming an angle with the support shaft 31. Therefore, the palm 12 and fingers 13 of the hand located parallel to the links 33 and 34 are connected to the link 35.
, 36, in a plane that draws a cone around the point of action 13a, making the same angle as the angle that the links 33 and 34 make with the second support shaft 31 with respect to the horizontal plane passing through the point of action 13a. Rotate. In this case, if the links 33 and 34 are perpendicular to the second support shaft 31, the palm 12 and fingers 13 of the hand rotate on the circumference within the horizontal plane passing through the point of action 13a. . From this state, the second drive motor (not shown) is activated.

) is driven, the links 33 and 34 have one end 33a and 3
4a as a center, and rotates by a constant angle θ5 on the circumference in a vertical plane that includes the point of action 13a of the finger 13. Additionally, a third drive motor (not shown) is provided.

) is driven and the palm 12 is rotated by a certain angle θ6, a twist of a certain angle θ6 is applied to the action point 13a of the finger 13. Therefore, in this embodiment as well, there are six variables involved in hand posture control, θ4, θ, and θ6, regardless of the variables involved in hand positioning control, and in this embodiment, Point of action 13 of the finger 13
A link rotating in a horizontal plane passing through a and a point of action 13
Parallel link 3 with a link that rotates on a vertical plane passing through a
2, and since they do not intersect at the point of action 13a as in the above embodiment, there is an advantage that the work area is not restricted.

FIG. 6 shows another embodiment of the invention,
Components having the same structure and function as those in FIG. 3 are given the same reference numerals.

In the figure, one end 4b of the forearm 4 of the arm I is connected to one end 40a of a rail 40 that extends for a certain length on the circumference of a plane passing through the center g of an imaginary spherical shell G with a certain radius. It is fixed via a link 41.

This rail 40 may be provided all around the circumference of the ball shell G, or may be provided in a portion thereof. The rail 40 has a fourth drive motor (not shown) provided inside the rail 40 passing through the center thereof.

) is equipped with a moving mechanism 42 that reciprocates along the rail 40 on the surface of the ball shell G. Moving mechanism 42
At the bottom of the moving mechanism 42, there is a rail 43 of a certain length that passes through the center so as to be orthogonal to the rail 40.
A conveyance mechanism 44 is attached that moves the ball shell G in and out on the circumference of the surface passing through the center g of the ball shell G by means of a fifth drive motor (not shown) provided inside, centering on the movement position of the ball shell G. . One end 43a of the rail 43 supports the other end 12b of the palm 12 of the hand so that the point of action 13a of the finger 13 is located at the center g of the shell G. is the sixth drive motor (
Not shown.

), one end 43a of the rail 43 and the center g of the ball shell G
Rotate on the line connecting . With this configuration, after the hand positioning control is performed, the hand posture is set, and based on this, the hand position is controlled. When controlling the hand, first, the fifth drive motor (not shown) in the transport mechanism 44 located at the position shown on the rail 40 is used.

) to move the rail 43 in and out of the transport mechanism 44 for a certain length. As a result, one end 43 of this rail 43
Supported on a - The palm 12 and fingers 13 of a certain hand are centered on the center g of the ball shell G, and form a plane G that includes the rail 43 and the center g. The rail 43 rotates by a constant angle θ4 corresponding to the length of the rail 43 moving in and out from the transport mechanism 44. Next, a fourth drive motor (not shown) in the moving mechanism 42 is provided.

) to move the moving mechanism 42 a certain length on the rail 40 toward one end 40a side or the other end 40b side, the palm 12 and fingers 13 in the above state are moved along the rail 40. 43 and the plane G4 including the above center g
, it rotates by a certain angle θ depending on the amount of movement of the moving mechanism 42 . From this state, the sixth drive motor (not shown) is activated.

) is driven, the palm 12 and fingers 13 rotate on a line connecting the center g of the shell G and the other end 43a of the rail 43, twisting the action point 13a of the finger 13 at a constant angle θ6. Add. As described above, in the configuration according to this embodiment, the variables involved in hand posture control are set to θ4, θ,
, θ6, the wrist mechanism is installed on the rail 4.
0, 43 and moving/conveying mechanisms 42, 44, which are extremely simple mechanisms.

FIG. 7 shows another embodiment of the present invention, in which the same structures and functions as those in FIG. 3 are given the same reference numerals. In the figure, at one end 4b of the forearm 4 in the arm I, a rail 50 extending for a certain length on the circumference of the plane G passing through the center g of the ball shell G is passed through the center. , a seventh drive motor (not shown) provided inside.

), the upper surface 51a of the first transport mechanism 51 is moved in and out.
is firmly attached. One end 50a of the rail 50 has a surface G6 passing through the center g of the ball shell G, which is substantially orthogonal to the surface G5-.
A rail 52 that extends for a certain length on the circumference of the
A second transport mechanism 53 for moving in and out is fixed by a drive motor (not shown). This second transport mechanism 53 is
According to the movement of the rail 50 by the first transport mechanism 51, it moves integrally on the circumference of the surface G5. At one end 52a of the rail 52, a point of action 13 of the finger 13 is provided.
The other end 12b of the palm 12 of the hand is supported so that a is located at the center g of the spherical shell G, and the palm 12 and fingers 13 of this hand are connected to a ninth drive motor (not shown).

), one end 52a of the rail 52 and the center g of the ball shell G
Rotate on the line connecting . With this configuration, the posture of the hand is set, and when controlling the hand based on this, first, the eighth drive motor (not shown) in the second transport mechanism 53 located at the illustrated position on the rail 52 is .

) to move the rail 52 a certain length to the second transport mechanism.
Enter and exit from J53. As a result, this rail 52
The palm 12 and fingers 13 of the hand supported on one end 52a are placed on the rail 5 with the center g of the spherical shell G as the center.
2 and the center g, above the rail 52.
It rotates by a constant angle θ4 corresponding to the length of the movement in and out of the transport mechanism 53 marked J.

Next, the seventh drive motor (
Not shown.

) to move the rail 50 in and out of the first transport mechanism 51 for a certain length, the palm 12 and fingers 13 in the above state will be moved against the plane G6 including the rail 52 and the center g. , rotates by a fixed angle θ5 according to the amount of movement of the rail 50. From this state, a ninth drive motor (not shown) is activated.

) is driven, the palm 12 and fingers 13 rotate on a line connecting the center g of the shell G and the other end 52a of the rail 52, twisting the action point 13a of the finger 13 at a constant angle θ6. Add. As described above, in the configuration according to this embodiment as well, the variables involved in hand posture control are set to θ4, θ,
, θ6, the wrist mechanism is installed on the rail 5.
0, 52 and the first and second transport mechanisms 51, 53, which are extremely simple mechanisms.

FIG. 8 shows another embodiment of the present invention, in which the same components and functions as those in FIG. 3 are given the same reference numerals. In the figure, a rotating shaft 60a is attached to the other end 21b of the first support shaft 21, which has one end 21a fixed to one end 4b of the forearm 4 in the arm I.
The tenth drive motor 60 is fixed so that it faces, and the rotation shaft 60a of this tenth drive motor 60 is
It is attached to the upper surface 62a of the transport mechanism 62 via a link 61.

This transport mechanism 62 has a surface G passing through the center g of the spherical shell G.
A rail 63 extending over a certain length on the circumference of 7,
An eleventh drive motor (not shown) passes through the center, and this rail 63 is provided inside.

) allows it to move in and out on the circumference of the surface G. At one end 63a of the rail 63, the point of action 1 of the finger 13 is located.
The other end 12b of the palm 12 of the hand is supported so that the palm 3a is located at the center g of the ball shell G, and the palm 12 and fingers 13 of this hand are connected to the twelfth driving threat (
Not shown.

), it rotates on a line connecting one end 63a of the rail 63 and the center g of the shell G. With this configuration, after the hand positioning control is performed, the hand posture is set, and when controlling the hand based on this, first, the tenth drive motor 60 is driven, and the transport mechanism 62 is activated. It rotates around the center g of the shell G.

As a result, the rail 63 and one end 6 of this rail 63
The palm 12 and fingers 13 fixed to the handle 3a rotate by a constant angle θ4 with respect to a plane G7 including the rail 63 and the center g. Next, an eleventh drive motor (not shown) in the transport mechanism 62 is provided.

) to move the rail 63 in and out of the transport mechanism 62 for a certain length, the palm 12 in the above state is moved.
According to the amount of movement of the rail 63, the finger 13 rotates by a fixed angle θ5 around the center g within a plane G7 including the rail 63 and the center g. From this state, the twelfth drive motor (not shown) is activated.

) is driven, the palm 12 and fingers 13 rotate on a line connecting the center g of the shell G and the other end 63a of the rail 63, twisting the action point 13a of the finger 13 at a constant angle θ6. Add. As described above, in the configuration according to this embodiment, the variables involved in hand posture control are set to θ4, θ5.
, θ6, can be realized using only the transport mechanism 62 and the rail 63, making it possible to provide an extremely simple mechanism.

5. In each of the above embodiments, the mechanism of arm I is as follows:
Any format such as a rectangular coordinate format, a cylindrical coordinate format, a spherical coordinate format, etc. may be used as long as it has three degrees of freedom and can be positioned.

0 As detailed above, according to the method according to the present invention, the other end of the arm is moved and the other end of the hand, one end of which is connected to the other end of the arm via the wrist mechanism, is set. position, and by the wrist mechanism, displace one end of the hand on a spherical surface centered on the other end of the arm,
Since the above-mentioned hand posture is changed, the variables for position control and the variables for posture control can be completely separated from a functional perspective, and the solution for each variable can be found using two independent sets of simultaneous equations. The position and posture of the hand can be controlled quickly and with high precision.

Furthermore, according to the device according to the present invention, the wrist mechanism
With the other end of the hand positioned at a certain position on the extension line of the other end of the arm, one end of the hand is placed in a circle on a second plane that includes the certain position and is orthogonal to the first plane. a second drive mechanism that rotates the hand circumferentially; and a third drive mechanism that rotates the hand on a line passing through the certain position with the other end of the hand positioned above the certain position. Therefore, the position of the hand can be controlled using the basic coordinate system of the arm, and the posture of the hand can be controlled using the first, second, and third drive mechanisms based on a fixed position on the extension of the arm. Therefore, with an extremely simple device, the variables for position control and the variables for attitude control can be made completely independent from the functional point of view, and the solutions of these variables can be It can be determined independently using two independent sets of simultaneous equations.

Additionally, with this device, it is possible to quickly find solutions for variables, so hand position and posture control can be performed quickly.
Moreover, it can be performed reliably with high precision.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view showing a link mechanism between the arms and hands of a conventional industrial robot, and FIG. 2 is a schematic perspective view showing an example of a basic link mechanism for realizing the method according to the present invention.
3 is a schematic perspective view of a link mechanism that further embodies the link mechanism shown in the embodiment shown in FIG. 2, and FIG. 4 is a schematic perspective view of the link mechanism shown in FIG. 3 configured with a specific device. , FIG. 5 is a schematic perspective view showing the structure of another embodiment of the invention, FIG. 6 is a schematic perspective view showing the structure of still another embodiment of the invention, and FIG. 7 is a schematic perspective view showing the structure of still another embodiment of the invention. FIG. 8 is a schematic perspective view showing the structure of yet another embodiment of the present invention. I...Arm,...Hand, 12...
・Palm, 13...Fingers, 13a...
Point of action, 20...First drive mechanism, 23...
...Second drive mechanism, 1...Third drive mechanism, G
...ball shell, g...center.

Claims (1)

[Claims] 1. One end of the arm is supported so as to be displaceable on the X-axis component, Y-axis component, and Z-axis component in the basic coordinate system, and the other end of the arm is moved, and the other end is supported via a wrist mechanism. and move the other end of the hand connected to one end to the set position,
The hand in the industrial robot is characterized in that the wrist mechanism displaces one end of the hand on the other end of the hand or on a spherical surface centered on a set position to change the posture of the hand. Position/attitude control method. 2 One end of the arm is supported so that it can be displaced on the X-axis component, Y-axis component, and Z-axis component in the basic coordinate system, and one end of the hand is connected to the other end of the arm via a wrist mechanism. The wrist mechanism is configured to rotate one end of the hand on a circumference of a first plane including the fixed position while the other end of the hand is positioned at a fixed position on an extension line of the other end of the arm. 1
a drive mechanism, with the other end of the hand positioned above the certain position, one end of the hand including the certain position, and
a second drive mechanism that rotates the hand on a circumference of a second plane orthogonal to the first plane; and a second drive mechanism that rotates the hand on a line passing through the certain position with the other end of the hand positioned on the certain position. and a third drive mechanism that rotates the arm, controls the position of the other end of the hand by displacement of the arm, and selectively drives the first drive mechanism, second drive mechanism, and third drive mechanism in the wrist mechanism. A hand position/posture control device for an industrial robot, characterized in that the above-mentioned hand posture control is performed by using the hand position/posture control device.