JPS60136806A - Device for instructing work of robot - Google Patents

Device for instructing work of robot

Info

Publication number
JPS60136806A
JPS60136806A JP25182283A JP25182283A JPS60136806A JP S60136806 A JPS60136806 A JP S60136806A JP 25182283 A JP25182283 A JP 25182283A JP 25182283 A JP25182283 A JP 25182283A JP S60136806 A JPS60136806 A JP S60136806A
Authority
JP
Japan
Prior art keywords
light emitting
robot
emitting elements
work
dimensional
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP25182283A
Other languages
Japanese (ja)
Other versions
JPH0310125B2 (en
Inventor
Masaru Ishii
優 石井
Shigeyuki Sakane
坂根　茂幸
Masayoshi Kakikura
柿倉　正義
Yoshio Mikami
三上　芳夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP25182283A priority Critical patent/JPS60136806A/en
Publication of JPS60136806A publication Critical patent/JPS60136806A/en
Publication of JPH0310125B2 publication Critical patent/JPH0310125B2/ja
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36451—Handheld toollike probe, work instructor, lightweigted, connected to recorder
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36452—Touch points with handheld probe, camera detects position and orientation probe
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37572—Camera, tv, vision

Abstract

PURPOSE:To enable an operator to hold a work instructor with his hand to instruct a robot by providing the work instructor of a robot work instructing device with plural light emitting elements, detecting the light emitting elements by an image sensor and calculating the three-dimensional position of the light emitting elements. CONSTITUTION:Plural light emitting elements 4 fitted to the upper surface of the work instructor 3 are successively emitted through a control computer 2 on the basis of an instruction from a computer 1, the videos of the spot light are detected by the image sensor 5 and the outputs of the X and Y coordinate values are A/D converted, and the digital values are inputted to the control computer 2. The three-dimensional positions of the plural light emitting elements 4 are found out from said input values and the geometric positional relation of respective points of these light emitting elements 4 to obtain the three-dimensional position and posture of the leading end of the instruction part of the work instructor 3. Thus, the operator instructs the working path of the robot directly by using the work instructor and the obtained three-dimensional information is transferred to the computer 1 and used for the work of the robot.

Description

【発明の詳細な説明】 本発明は、ロボットが作業する３次元空間において、オ
ペレータが指示する任意の３次元位置および姿勢などの
３次元情報をめることのできるロボット作業教示装置に
関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot work teaching device that can receive three-dimensional information such as arbitrary three-dimensional positions and postures specified by an operator in a three-dimensional space in which the robot works. .

従来、ロボットの作業教示法として９人間がロボットの
手先を直接持ったり、ティーチング・ボックスを用いて
ロボットを動かし１作業手順を記録してプレイ／１−ツ
クさせる方式が多く用いられている。［７かし、この方
法はロボットの誤動作や入間の教示ミスにより異常事態
が発生することがあり、またロボットの台数が増すと教
示に要する１１ｊ７間と労力は多大となり１人間にとっ
て危険で負ロボット作業教示装置を提供することを目的
としてなされたものである。Conventionally, as a method of teaching robot work, a method is often used in which nine people directly hold the robot's hands or use a teaching box to move the robot, record one work procedure, and have it play/one-trick. [7 However, with this method, abnormal situations may occur due to robot malfunctions or Iruma's teaching errors, and as the number of robots increases, the time and effort required for teaching becomes large, which is dangerous for humans and can lead to negative robots. This was made for the purpose of providing a work teaching device.

以下、未発明について説明する。The non-invention will be explained below.

本発明のシステム禍成の概合図８第１図に示しその概略
について述へる。A schematic diagram 8 of the system failure of the present invention is shown in FIG. 1, and its outline will be described below.

まず、計算機１からの命令により、制御用計算機２を通
して作業教示器３の上面に取伺けた複φシ個の発光素子
４を指定された１町序に発光させる。First, in response to a command from the computer 1, the light emitting elements 4, which have multiple diameters of φ and which are placed on the upper surface of the work instructor 3, are caused to emit light in a specified direction through the control computer 2.

次に、そのスポット光の映像をイメージセンサ５によっ
て検出しそのＸ、Ｙ座標値の出力をＡ／Ｄ変換して制御
用計算機２に読み込む。これらの値と複数個の発光素子
４の各点間の幾何学的位置関係により、複数個の発光素
子４の３次元位置をめ、これから作業教示器３の指ン１
（部先端における３次元位置と姿勢か得られる。オペレ
ータは、複数個の発光素子４を備えた作業教示器３を用
いてロボン）・の作業パスをｔα接教示し、得られた３
次元情報は計ｒＪ、機１に転送され、ロボン）・の作業
に、利用される。Next, the image of the spot light is detected by the image sensor 5, and the output of the X and Y coordinate values is A/D converted and read into the control computer 2. Based on these values and the geometrical positional relationship between each point of the plurality of light emitting elements 4, the three-dimensional position of the plurality of light emitting elements 4 is determined, and from this, the finger 1 of the work instructor 3 is determined.
(The three-dimensional position and posture at the tip of the robot part can be obtained. The operator uses the work teaching device 3 equipped with a plurality of light emitting elements 4 to teach the work path of the robot) tα, and the obtained 3
The dimensional information is transferred to machine 1 and used for the work of robot.

第２図に、複数個の発光素子４を備えた作業教／ｊ＜器
３の指示部先端における３次元情報を計測する座標系を
示す。０ｒを原点とするロボット座標系を　（Ｘｒ、　
Ｙｒ、　Ｚｒ　）、イメージセンサ５の座標系を（ＸＳ
、Ｙｓ　、　Ｚｓ　）とする。ロボッＩ・座標系におけ
るイメージヤ／す５の原点をＯｓ（Ｘｏｓ　。FIG. 2 shows a coordinate system for measuring three-dimensional information at the tip of the pointing section of the working tool 3 equipped with a plurality of light emitting elements 4. The robot coordinate system with 0r as the origin is (Xr,
Yr, Zr), and the coordinate system of the image sensor 5 is (XS
, Ys, Zs). Os (Xos) is the origin of the imager/su5 in the robot I coordinate system.

Ｙｏｓ　、　Ｚｏｓ　）　、イメージセンサ５の座標系
の各軸まわりの回転角を　α、β、γとすると、２つの
座標系の関係は９次のようになる。Yos, Zos), and rotation angles around the respective axes of the coordinate system of the image sensor 5 are α, β, and γ, the relationship between the two coordinate systems is 9th order.

ここで１回転マトリックスＲは。Here, the one rotation matrix R is.

置ある。There is.

′また。イメージセンサ５の座標系において、スポント
光のイメージセンサ５にょるＸ、Ｙ座標出力を（Ｘｉ、
Ｙｉ　）、レンズの焦点距離をＦとすると。'Also. In the coordinate system of the image sensor 5, the X and Y coordinate outputs of the image sensor 5 of the spot light are expressed as (Xi,
Yi), and the focal length of the lens is F.

次の２式か得られる。The following two equations can be obtained.

Ｘｉ　＝　−Ｆ　ａＸｓ／　Ｚｓ　＋　ＳＸ　（２）Ｙ
ｉ　＝　−Ｆ　＠Ｙｓ／　Ｚｓ　＋　Ｓｙ　（３）以−
にの（１）〜　（３）式により、既知である複数個の発
光素子４の３次元位置（Ｘｈ、Ｙｈ、Ｚｈ　）とこれに
対応するイメージセンサ５の出力値（Ｘｉ、Ｙｉ　）に
ついての５　Ｍｉ以上のチークからギヤリブレージＪノ
を行ない９個の未知パラメータ　（Ｘｏｓ、　Ｙｏｓ。Xi = -FaXs/Zs + SX (2)Y
i = −F @Ys/ Zs + Sy (3)
Using Equations (1) to (3) of 5 Perform gear librage J from a cheek of Mi or higher and find 9 unknown parameters (Xos, Yos.

’ｌｏｓ、ａ、β、　ｙ　、　Ｆ　、ＳＸ、ＳＹ　）を
める。'los, a, β, y, F, SX, SY).

次に、３次元空間において同一平面上にある４点の畿何
学的位置関係が既知の場合、イメージセフ′す５］二で
これら４点の対応点が得られると、投影の逆変換から４
点の３次元位置か一意に決定される。よって、ここでは
４個の発光素子４を備えｍ−う 、メージセンサ５上の対応点までのベクトルをｐｌ（ｉ
＝１　、・・・４）とすると、透視変換により→　、→ ｑｌ　−８１轡ｐ　Ｉ、ｓ　ｉ　）　０　（ｉ＝１．、
、．４　）　（４）である。Next, if the geometrical positional relationship of four points on the same plane in three-dimensional space is known, and when the corresponding points of these four points are obtained by image control, the inverse transformation of the projection 4
The three-dimensional position of the point is uniquely determined. Therefore, here, the vector to the corresponding point on the image sensor 5 equipped with four light emitting elements 4 is expressed as pl(i
=1,...4), then by perspective transformation → , → ql -81轡p I, s i ) 0 (i=1.,
,．． 4) (4).

→ ここで、ｑ　＝　（Ｘｓ、　Ｙｓ、　Ｚｓ　）７　＝　
（Ｘｉ、　Ｙｉ。→ Here, q = (Xs, Ys, Zs)7 =
(Xi, Yi.

−Ｆ）。-F).

４個の発光素子４は、同一平面上の長方形の頂点にある
ので。The four light emitting elements 4 are located at the vertices of a rectangle on the same plane.

、−’）、　＋ｉ　＝　−１）＞　、　ｑ＞ｌ　（５）
１　ｉ”２−Ｆｌ＝Ｉ　６−５１＝　Ｄ　’（８）１　
自−ｒｔ　＋　＝　ｌ　ｑ’ａ　−ｉｌ　＝５−７（７
１→　→ Ｉ　ｑ３−ｑ２１＝ｌ　ｑｌ−ｑ４１＝ｄ　（８）の４
式か得られる。（５）式は、対角線の中点が一致し、（
８）〜　（８）式は、二辺の長さがり、ｄてあり、力］
に直交していることを示している。以」−の関係式から
、（４）式（１）　ｓ　ｉ　ｔ’ｊヨＵ　ｑ　ｉ　（Ｘ
ｓ、Ｙｓ。, -'), +i = -1)> , q>l (5)
1 i”2-Fl=I 6-51=D'(8)1
auto-rt + = l q'a -il =5-7(7
1 → → I q3-q21=l ql-q41=d 4 of (8)
The formula is obtained. In equation (5), the midpoints of the diagonals coincide, and (
8) ~ Equation (8) is the length of the two sides, d, and the force]
This shows that it is orthogonal to From the relational expression (4) and (1) s i t'jyo U q i (X
s, Ys.

そｋめられる。I can't stand it.

Ｊ（４３に示すように、４個の発光素子４を備えたヒ）
ミ業〃示器３の指示部先端の３次χ位置をＨ，４→　→
　→ 個の発光素子４の３次元位置をＩ、ｌ　、　Ｌ２　、　
Ｌ３　。J (H equipped with four light emitting elements 4 as shown in 43)
The third-order χ position of the tip of the indicator of the work indicator 3 is H, 4→ →
→ The three-dimensional positions of the light emitting elements 4 are I, l, L2,
L3.

→ し４とおき、姿勢マトリックスをＰ　（ｒ％、ｎ、ｌｉ
　Ｉ（ただしＡ、、−ｉ、６は長さ１の力量べり１１７
．）。→ Set as 4 and set the posture matrix as P (r%, n, li
I (However, A,, -i, 6 is the strength of length 1 117
．． ).

４個の発光−に子４を備えた作業教示器３の本体のＴ’
；　＋　ａ　−７＄＋　ｄ／２　・ｙｔ＋（Ｉ］＋ｂ）
　・’ｉｉ−β’！（１０’１ＴＦ十ａ　−Ｊ＋　ｄｔ
２−　ｙｔ＋　ｂ−＠　＝　廿（１１）曾＋□−Ｎ−ａ
ｔ２−爵や　５．９８　廿（１２）の４式か得られる。T' of the main body of the work teaching device 3 equipped with four light-emitting pins 4
; + a -7$+ d/2 ・yt+(I]+b)
・'ii-β'! (10'1TF10a -J+ dt
2-yt+ b-@ = 廿(11)曾+□-N-a
You can get 4 formulas of t2-count and 5.98 廿(12).

　ここで、姿勢マトリックスＰは１次の３式からめられ
る。Here, the posture matrix P is determined from three linear equations.

け＝　ｄｘ　６　’　（１３） ｉ・　（廿−＊　）／Ｄ　（１４） 廿＝　（０−け）／ｄ（１５） ４個の発光素子４を備えた作業教示器３の指示トしてま
る。ke = dx 6' (13) i・(廿-*)/D (14) 廿= (0-ke)/d(15) Instructing the work instructor 3 equipped with four light emitting elements 4. circle.

これらからロボット作業空間におけ、る任意の３次元位
置と姿勢が得られる。From these, any three-dimensional position and orientation in the robot work space can be obtained.

Ｌ記の作業教示器３の例では、装置の上面にのみ４個の
発光素子４を取り付けているが、この他に前後左右の側
面に同様なものを取り付けて１ｌｌｌ定箇所を広げるこ
とも可能であり１発光素子を４１内以上取り付けて信頼
性をＬげることも考えられる、またイメージセンサを複
数台用いる場合、２台のイメージセンサによりステレオ
ビジョンを構成し、３測具Ｈの発光素子の３次元位値お
よび姿勢をめ、同時に各々のイメージセンサにおいてｌ
−記のアルゴリズムを併用して１．１頼性をト−げるこ
とが可能である。In the example of the work instructor 3 described in L, four light emitting elements 4 are attached only to the top surface of the device, but it is also possible to attach similar devices to the front, back, left, and right sides to expand the fixed location by 1llll. Therefore, it is possible to increase the reliability by installing one light emitting element within 41 or more.Also, when using multiple image sensors, stereo vision is configured with two image sensors, and three light emitting elements of measuring tool H are used. 3D position and orientation, and at the same time l in each image sensor.
It is possible to improve the reliability of 1.1 by using the above algorithm in combination.

以上説明したように１本発明のロボット作業教示装置は
、オペレータが毛に持って人間の作業動作なロポｙ）へ
安全に教示でき、かつ教示時間も短縮が図れる効果を有
するものである。さらに。As described above, the robot work teaching device of the present invention has the effect that an operator can safely teach human work movements while holding the robot in his/her hand, and the teaching time can be shortened. moreover.

本発明のロボット作業教示装置によって得られた１３次
元情報は、ロボットハンドの位置と姿勢を示１しており
、これらはデータベースに保存され９口縁、ント言諜り
やオフラインプログラミングと芽４〜合することにより
様々な有効な使用法が考えられる。The 13-dimensional information obtained by the robot work teaching device of the present invention indicates the position and posture of the robot hand, and these are stored in a database and combined with information, off-line programming, and so on. By doing so, various effective uses can be considered.

４、図面（７）　Ｉ！１　、”ｌｉ　す説明第１図は１
本発明によるロポｙ　ｌ・作業教示装置のシステム構成
の概念図を説明するだめの図、第２図は、ロボット座標
系とイメージセンサ５の座標系における複数個の発光素
子４を備えた作業教示器３の幾何学的関係を説明するた
めの図、第３図は、複数個の発光素子４を備えた作業教
示器３の指示部先端の３次元位置と姿勢の幾何学的関係
を説明するための図である。4. Drawing (7) I! 1, "li" explanation Figure 1 is 1
FIG. 2 is a diagram illustrating a conceptual diagram of the system configuration of the robot system and work teaching device according to the present invention. FIG. 3, which is a diagram for explaining the geometrical relationship of the device 3, explains the geometrical relationship between the three-dimensional position and posture of the tip of the indicator of the work teaching device 3 equipped with a plurality of light emitting elements 4. This is a diagram for

図中、ｌは計算機、２は制御用計算機、３は作業教示装
置 センサである。In the figure, l is a computer, 2 is a control computer, and 3 is a work teaching device sensor.

第　１　図 第２　図 Ｙｈ 第３　図Figure 1 Figure 2 Yh Figure 3

Claims (1)

【特許請求の範囲】 ロボットの作業空間における３次元位ｔ０姿勢などの３
次元情報をめ、これを用いてロボットの作業を教示する
装置において。 複数個の発光素子を備えた作業教示器と。 該発光素子のスポット光を検出する少なくともシ一台の
テレビカメラなどのイメージセンサと。 １前記複数個の発光素子の夫々の３次元位置を５１４す
ることによりオペレータが指示する３次元位置や姿勢を
算出する制御用計算機と。 から成ることを特徴とするロボット作業教示装６つ[Claims] Three dimensional positions such as t0 posture in the work space of the robot.
In a device that obtains dimensional information and uses this to teach robot operations. A work teaching device equipped with a plurality of light emitting elements. and at least one image sensor such as a television camera that detects the spot light of the light emitting element. 1. A control computer that calculates a three-dimensional position and orientation instructed by an operator by calculating the three-dimensional position of each of the plurality of light emitting elements. Six robot work teaching devices characterized by consisting of
JP25182283A 1983-12-26 1983-12-26 Device for instructing work of robot Granted JPS60136806A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP25182283A JPS60136806A (en) 1983-12-26 1983-12-26 Device for instructing work of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP25182283A JPS60136806A (en) 1983-12-26 1983-12-26 Device for instructing work of robot

Publications (2)

Publication Number Publication Date
JPS60136806A true JPS60136806A (en) 1985-07-20
JPH0310125B2 JPH0310125B2 (en) 1991-02-13

Family

ID=17228432

Family Applications (1)

Application Number Title Priority Date Filing Date
JP25182283A Granted JPS60136806A (en) 1983-12-26 1983-12-26 Device for instructing work of robot

Country Status (1)

Country Link
JP (1) JPS60136806A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61243507A (en) * 1985-04-22 1986-10-29 Riyouki Eng Kk Teaching device for industrial robot
JPS62254206A (en) * 1986-04-28 1987-11-06 Fuji Electric Co Ltd Deciding device for plane direction
US5495090A (en) * 1992-06-29 1996-02-27 Matsushita Electric Industrial Co., Ltd. Welding robot
FR2737024A1 (en) * 1995-07-20 1997-01-24 Patenotre Laurent Process for training industrial robots and object digitisation by following geometric form and contours - involves utilising sensor sending position and orientation data as sensor unit is guided over chosen parts of object, and using computer to translate data to three-dimensional data
WO1998000766A1 (en) * 1996-07-02 1998-01-08 Kuka Schweissanlagen Gmbh Process and device for teaching a program-controlled robot
WO1999038656A1 (en) * 1998-01-29 1999-08-05 Armstrong Healthcare Ltd. A robot control system
EP1074934A2 (en) * 1999-08-02 2001-02-07 Lucent Technologies Inc. Computer input device having six degrees of freedom for controlling movement of a three-dimensional object
KR100420696B1 (en) * 1994-09-28 2004-07-27 얀 게. 페게르 Control device with mobility control member
EP1738881A2 (en) * 2005-06-30 2007-01-03 Shibuya Kogyo Co., Ltd. Robot control system
JP2014136275A (en) * 2013-01-16 2014-07-28 Yaskawa Electric Corp Robot teaching system, robot teaching program generation method, and teaching tool
IT202100017033A1 (en) * 2021-06-29 2022-12-29 Comau Spa "Processing equipment and associated marking device for generating process trajectories"

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5449758A (en) * 1977-09-26 1979-04-19 Agency Of Ind Science & Technol Teaching method for controlling robots
JPS58203513A (en) * 1982-05-21 1983-11-28 Hitachi Ltd Device for instructing operation trace of robot
JPS5988298A (en) * 1982-11-12 1984-05-22 川崎重工業株式会社 Method of guiding body

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5449758A (en) * 1977-09-26 1979-04-19 Agency Of Ind Science & Technol Teaching method for controlling robots
JPS58203513A (en) * 1982-05-21 1983-11-28 Hitachi Ltd Device for instructing operation trace of robot
JPS5988298A (en) * 1982-11-12 1984-05-22 川崎重工業株式会社 Method of guiding body

Cited By (15)

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