JPS60153507A - Robot control device - Google Patents
Robot control deviceInfo
- Publication number
- JPS60153507A JPS60153507A JP979884A JP979884A JPS60153507A JP S60153507 A JPS60153507 A JP S60153507A JP 979884 A JP979884 A JP 979884A JP 979884 A JP979884 A JP 979884A JP S60153507 A JPS60153507 A JP S60153507A
- Authority
- JP
- Japan
- Prior art keywords
- coordinate
- data
- conversion
- movement
- robot
- 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
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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】 〔技術分野〕 本発明はロボット制御装置の移動制御方式に関する。[Detailed description of the invention] 〔Technical field〕 The present invention relates to a movement control method for a robot control device.
゛〔従来技術〕
ロボットの位置決め全直交座標系の座標値に基づいて行
なうとき、同一座標値に基づいてサーボ系の座標値へ座
標変換を行なう場合2つの解を生ずることがある。例え
ば第1図(a)の如き水平多関節型ロボットでに同一座
標値でも第1図(b)のように左腕となって位置決めす
るか、左腕で位置決めするかを別に指示する必要がある
。このため、従来は左右腕の選択を予め命令によって指
示し、移動時の座標変換はその時点で選択されている姿
勢に基づいて行なわれていた。その処理の流れを第2図
に示す。教示入力やマニュアル入力によって与えられた
座標値は座標値記憶手段10によって、特定の位置名称
との関連のもとに記憶される。次に移動命令実行時に、
指定された位置名称によって座標値を検策し、次に左右
腕の選択データを参照して座標変換を行なう。左右腕の
選択データは左右腕の姿勢変更手段14によって変更さ
れる。[Prior Art] When positioning a robot based on coordinate values of a fully orthogonal coordinate system, two solutions may occur when coordinate transformation is performed based on the same coordinate values to coordinate values of a servo system. For example, in a horizontal articulated robot as shown in FIG. 1(a), even if the coordinates are the same, it is necessary to separately instruct whether to use the left arm for positioning as shown in FIG. 1(b) or to use the left arm for positioning. For this reason, in the past, the selection of the left and right arms was instructed in advance by a command, and coordinate transformation during movement was performed based on the posture selected at that time. The flow of the process is shown in FIG. Coordinate values given through teaching input or manual input are stored by the coordinate value storage means 10 in association with a specific position name. Next, when executing a movement command,
The coordinate values are checked based on the specified position name, and then coordinate conversion is performed by referring to the selection data for the left and right arms. The selection data for the left and right arms is changed by the left and right arm posture changing means 14.
次に座標変換によって倚られた各サーボ軸の座標値に基
づいて移動制御を行なう。Next, movement control is performed based on the coordinate values of each servo axis obtained by coordinate transformation.
以上の制御においてに、左右腕の変更指示と移動命令が
分離して行なわれる為、同一の位置データに基づく移動
でちりながらプログラムの流れによって右腕になったり
左腕になったジしてしまう。In the above control, since the left and right arm change commands and movement commands are performed separately, the arm may change to the right arm or the left arm depending on the flow of the program while moving based on the same position data.
これは教示入力時の姿勢とプログラム実行時の姿勢が異
なるということであυ、事故を起しやすくするものであ
った。This means that the posture when inputting instructions is different from the posture when executing the program, which makes accidents more likely to occur.
本発明はかかる問題を解決するもので、その目的とする
ところに、座標値と座標変換のために必要な位置に付随
するデータを一体として管理し、ロボットのプログラム
の誤りによる事故を少なくする制御装置を提供すること
にある。The present invention is intended to solve this problem, and its purpose is to manage coordinate values and data associated with the position necessary for coordinate transformation as an integrated control, thereby reducing accidents caused by errors in robot programming. The goal is to provide equipment.
本発明のロボット制御装置は複数の座標値と、座標変換
に必要とされる位置に付随するデータ、即ち左右腕の選
択データや座標値が属する座標系の情報とを一体のもの
として管理し、位置の名称との関連のもとに記憶し、こ
れら座標値と位置に付随するデータに基づいて座標変換
、移動制御を行なうものである。The robot control device of the present invention manages a plurality of coordinate values and data accompanying the position required for coordinate transformation, that is, selection data of the left and right arms and information on the coordinate system to which the coordinate values belong, as one, The information is stored in association with the name of the location, and coordinate conversion and movement control are performed based on these coordinate values and data associated with the location.
第6図は本発明に基づくロボット制御位置の構成図であ
る。26は座標値及び位置の付随データの記憶手段で、
教示入力やマニュアル入力によるデータを所定の名称と
の関連において記憶する。FIG. 6 is a configuration diagram of a robot control position based on the present invention. 26 is a storage means for storing accompanying data of coordinate values and position;
Data obtained by teaching input or manual input is stored in association with a predetermined name.
位置の付随データとは左右腕の選択データと、座標系の
移動と回転を指示する座標系番号でちる。The accompanying data for the position consists of the left and right arm selection data and the coordinate system number that instructs the movement and rotation of the coordinate system.
例えば、
P 1 = x 、 y / R/ 1と入力すること
によって番号1で指定される座標系における座標値が(
x、y)であって、右腕の姿勢で位置決めされる位置を
Plという名称で記憶する。座標変換マトリクス定義手
段27は第4図に示すロボット座標系xYと新たに設定
された座標系x、 ylの移動及び回転の変換を2点の
各座標系の座標値によって定義する。この座標変換には
番号がつけられて記憶される。位置データ倹策手段21
は移動命令によって指示され次位置名称から座標値と位
置に付随するデータ即ち左右の腕の選択と座標系番号を
検束する。次に座標変換マトリクス倹策手段22は座標
系番号から変換マトリクスデータを倹策する。これに基
づいて平行移動及び回転移動が行なわれ、ロボット座□
標系XYでの座標値が得られる。さらにサーボ座標変換
の際、左右腕の選択データにrって最終的サーボ座標系
への一意的な変換が行なわれ、サーボの移動制御を行な
うことができる。For example, by inputting P 1 = x, y / R / 1, the coordinate value in the coordinate system specified by number 1 becomes (
x, y), and the position determined by the posture of the right arm is stored as Pl. The coordinate transformation matrix definition means 27 defines the transformation of movement and rotation of the robot coordinate system xY shown in FIG. 4 and the newly set coordinate systems x and yl using the coordinate values of each coordinate system of two points. This coordinate transformation is numbered and stored. Location data saving means 21
is instructed by the movement command, and detects coordinate values and data accompanying the position, that is, selection of left and right arms, and coordinate system number from the next position name. Next, the coordinate transformation matrix calculation means 22 examines the transformation matrix data from the coordinate system number. Based on this, parallel and rotational movements are performed, and the robot seat □
Coordinate values in the reference system XY are obtained. Further, during servo coordinate conversion, a unique conversion to the final servo coordinate system is performed based on the selection data of the left and right arms, and the movement of the servo can be controlled.
以上述べたように本発明によれば、座標値と、座標変換
に必要な位置に付随し、たデータを一体のものとして扱
うことができるため、教示入力やマニュアル入力によっ
て設定された位置や姿勢が常に位置の名称によって一意
的に再現でき、プログラムの流れによって姿勢や座標系
が変化し、事故につながるといった不都合を防ぐことが
できる。As described above, according to the present invention, the coordinate values and the data accompanying the position required for coordinate transformation can be treated as one, so that the position and orientation set by teaching input or manual input can be handled as one. can always be uniquely reproduced using a position name, which prevents inconveniences such as the attitude and coordinate system changing depending on the flow of the program, which can lead to accidents.
本発明の説明においてta、2軸の水平多関節型ロボッ
トを用いて説明したが、3〜4軸の水平字間lWoボッ
トや5〜6軸制御の多関節型ロボットでもよい。In the description of the present invention, a 2-axis horizontally articulated robot has been used, but a 3- to 4-axis horizontally articulated robot or a 5- to 6-axis controlled articulated robot may also be used.
第1図(a) 、 (b)は水平多関節型ロボットに訃
ける左右腕の違いの説明図、
第2図は従来例によるロボット制御装置の構成図。
第3図は本発明による実施例のロボット制御装置の構成
を示す図、。
第4図は座標変換の説明図。
以 上
出願人 株式会社諏訪精工舎
代理人弁理士最上 務FIGS. 1(a) and 1(b) are explanatory diagrams of the differences in the left and right arms of a horizontally articulated robot, and FIG. 2 is a configuration diagram of a conventional robot control device. FIG. 3 is a diagram showing the configuration of a robot control device according to an embodiment of the present invention. FIG. 4 is an explanatory diagram of coordinate transformation. Applicant: Suwa Seikosha Co., Ltd. Representative Patent Attorney Mogami
Claims (3)
との関連において記憶する記憶手段と、位置データを位
置名称によって検策する検束手段と、惚策した位置デー
タに基づいて移動制御を行なうロボット制御装置におい
て、前記座標値とともに位置に付随する座標変換の為の
データを記憶する記憶手段と、座標値及び位置に付随す
るデータに基づいて移動制御を行なう移動制御手段を有
することを特徴とするロボットの制御装置。(1) A storage means for storing a plurality of coordinate values as one position data in relation to a position name, a bundle checking means for checking the position data using the position name, and movement control based on the determined position data. The robot control device is characterized by having a storage means for storing data for coordinate transformation associated with the position along with the coordinate values, and a movement control means for controlling movement based on the coordinate values and data associated with the position. robot control device.
のデータを含むことを特徴とする特許請求の範曲第1項
記載のロボット制御装置。(2) The robot control device according to claim 1, characterized in that the data associated with the position includes data for selecting the left and right arms.
スの指定を含むことt−4#徴とする特許請求の範囲第
1項記載のロボット制御装置。(3) The robot control device according to claim 1, wherein the t-4# feature includes a designation of coordinate transformation mechanics as data accompanying the position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59009798A JPH0750408B2 (en) | 1984-01-23 | 1984-01-23 | Robot controller |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59009798A JPH0750408B2 (en) | 1984-01-23 | 1984-01-23 | Robot controller |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60153507A true JPS60153507A (en) | 1985-08-13 |
JPH0750408B2 JPH0750408B2 (en) | 1995-05-31 |
Family
ID=11730212
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59009798A Expired - Lifetime JPH0750408B2 (en) | 1984-01-23 | 1984-01-23 | Robot controller |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0750408B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62243004A (en) * | 1986-04-15 | 1987-10-23 | Matsushita Electric Ind Co Ltd | Controlling method for robot |
JPH04232508A (en) * | 1990-12-28 | 1992-08-20 | Nitto Seiko Co Ltd | Robot controller |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5727689A (en) * | 1980-07-19 | 1982-02-15 | Shin Meiwa Ind Co Ltd | Multi-articulated robot |
-
1984
- 1984-01-23 JP JP59009798A patent/JPH0750408B2/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5727689A (en) * | 1980-07-19 | 1982-02-15 | Shin Meiwa Ind Co Ltd | Multi-articulated robot |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62243004A (en) * | 1986-04-15 | 1987-10-23 | Matsushita Electric Ind Co Ltd | Controlling method for robot |
JPH04232508A (en) * | 1990-12-28 | 1992-08-20 | Nitto Seiko Co Ltd | Robot controller |
Also Published As
Publication number | Publication date |
---|---|
JPH0750408B2 (en) | 1995-05-31 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EXPY | Cancellation because of completion of term |