JPS60153507A - Robot control device - Google Patents

Abstract

PURPOSE:To remove accidents due to program errors of a robot by controlling plural coordinate values and data annexed to positions necessary for the conversion of coordinates unitedly. CONSTITUTION:A coordinate value and position-annexed data storing means 26 stores data based upon the input of a teaching manual with relation to prescribed names. A coordinate conversion matrix defining means 27 defines the movement and rotational convertion of a robot coordinate system XY and a newly set-up coordinate system X1Y1 by the coordinate values of two coordinate systems. A number is assigned to the coordinate conversion and stored. A positional data retrieving means 21 retrieves the coordinates value and the data annexed to the position, i.e. the selection of right and left arms and the coordinate value number, from a positional name specified by a moving instruction. A coordinate conversion matrix retrieving means 22 retrieves conversion matrix data from the coordinate system number. On the basis of the retrieved data, parallel movement and rotational movement are executed and the coordinate value of the coordinate system XY is obtained. In addition, uniform conversion to the final servo coordinate conversion system is executed by the selecting data of the right and left arms to control the movement.

Description

[Detailed description of the invention] 〔Technical field〕 The present invention relates to a movement control method for a robot control device.

[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.

Next, movement control is performed based on the coordinate values of each servo axis obtained by coordinate transformation.

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.

This means that the posture when inputting instructions is different from the posture when executing the program, which makes accidents more likely to occur.

〔the purpose〕

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.

〔overview〕

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.

〔Example〕

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.

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.

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.

〔effect〕

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.

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.

[Brief explanation of the drawing]

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)

[Claims] (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. (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. (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.