JPS60160411A - Robot controller - Google Patents

Abstract

PURPOSE:To decrease the teaching time by adding a function storing the sequence of points giving a path of a robot arm and reading inversely it in the order of teaching to drive a robot. CONSTITUTION:A mode changeover switch 208 is brought into the teach mode from a console 205 at the job teaching to teach a prescribed operation to a robot main body 201. The movement of each joint of the robot at that time is sampled by an inner field measuring section 202 and stored in addresses AD1- ADn of a sequence storage section 209. At the execution of a job, the said switch 208 is brought into the execution mode and the order of reproduction is set whether it is performed in forward or reverse order. A sequence control section 210 reads the information stored therein based on the forward/reverse order of the said addresses AD1-ADn. A drive information calculating section 204 calculates a rotary angle or displacement of each joint based on the said information and drives the robot main body 201 via a drive section 203.

Description

[Detailed description of the invention] [Technical field to which the invention pertains] The present invention relates to a robot control device.

[Common technology]

Generally, among the forms of work execution by robots, the one currently most frequently used and regarded as important is the so-called direct teaching/reproduction form. In this method, the instructor moves the robot's arm to perform the desired task, and at each predetermined sampling time, the spatial position data of the robot's arm is recorded as is.

Alternatively, data is stored after data processing such as data compression fist interpolation is performed in #1, and when the kibot works later, the taught movement is reproduced based on the position data.

[Prior art]

The conventional robot control device includes a storage means for sequentially storing drive coordinate value signals corresponding to the robot at the time of teaching, a readout control means for storing the drive coordinate value signals and reading them out to fcW4, and a readout control means for storing the drive coordinate value signals and reading them out to fcW4. and a driving means for driving the arm of the day pot based on the value signal.

Next, the operation of the conventional robot control device will be explained with reference to the drawings.

FIG. 1 is a schematic configuration diagram for explaining an example of an operation when an arm controlled by a conventional robot control device handles a fragile object.

The robot's hand 102 grasps the handle 103 attached to the fragile part 104 and moves the arm 1 so as to insert it into the part 105.
Let us teach the robot the task of moving 01.

At this time, it is difficult for the instructor to smoothly move his arm and complete one task while gripping the component 104 with one hand 102. In particular, the closer the components 104 and 105 are, the more careful manufacturing is required. Become.

For this reason, there are disadvantages in that teaching takes time and the operation lacks smoothness.

Furthermore, the robot's movements are often repetitive, and it is often sufficient to teach the robot only one way of the movement.

In this case, the entire movement cannot be reproduced by just teaching one way,
That amount of storage capacity is saved.

[Purpose of the invention]

The purpose of the present invention is to shorten the teaching time and alleviate the difficulty in teaching delicate tasks to the robot's arm.
Another object of the present invention is to provide a four-bot control device that can reduce errors in motion, allow the robot to move smoothly, and reduce the memory capacity required for teaching.

[Structure of the invention]

The robot control device of the present invention includes an internal world measuring means that sequentially samples the position of the robot's arm during teaching and outputs it as a coordinate value signal, and a drive coordinate value signal t-sequentially stored in accordance with the coordinate value signal. a storage means, an order control means for reading out the drive coordinate value signals stored during execution in an order opposite to the order in which they were stored, and a drive means for driving the arm of the robot based on the read drive coordinate value signals. It consists of:

In other words, the eye pot control device of the present invention includes a holding means for holding the point sequence that gives the red path of the robot's arm as taught by the operator, either as it is or after passing it through a data processing device; and a companion readout control means for reading out the information in the opposite order to the taught order.

It is constructed by adding a driving means that has the function of driving the robot based on the read points.

[Explanation of implementation-1] Examples of the present invention will be described with reference to page 9.

Figure 2 is a schematic configuration diagram of one embodiment of the present invention.

It includes a robot main body 201 and a robot control device RC.

First, the console 20 is used to teach the gFFi instructor one task.
5, switch the mode changeover switch 208 to the teaching mode and hit the robot body 201 at the desired value)
The address ADZ of the storage unit 209 is sampled by the frame inner field meter side part 202 and is stored in the order of sampled time.
, ADZ , =-, stored in ADn.

Next, when executing the 5th work @, use the console 205 to switch the mode changeover switch 208t to the execution mode, and then change the playback order to forward or reverse j... 1..., A
The information stored in the addresses of the storage unit 209 is read in the order of DZ. The drive information calculation unit 204 calculates the rotation angle, displacement, torque, force, etc. of each joint based on the read information, and the drive unit 203 drives the robot body 201.

Returning to the example shown in FIG. 1, the operation of inserting part 104 into part 105 can also be easily and accurately performed by pulling it out. Therefore, in the teaching, we memorize the pulling motion,
If the insertion operation is performed by reproducing in the reverse direction during execution, the teaching becomes easy and the operation during reproduction becomes smooth and accurate.

In addition, in the above-mentioned embodiment, an apparatus was described in which a taught point sequence is stored as it is in the storage unit, but the present invention also applies when using a point sequence that has been subjected to data compression, interpolation, e-smoothing, etc. before and after storage. included in the range.

In addition, the configuration examples, diagrams, etc. in the explanation are all taken into consideration to explain the idea of the present invention in an easy-to-understand manner.

This is not intended to limit the invention. Each component of the embodiment can be realized using conventional means, and therefore will not be described in detail here.

〔Effect of the invention〕

The robot control device of the present invention holds a sequence of points giving the path of the robot's arm taught by the operator, and reads out the held sequence of points in the reverse order of the teaching.

By adding a function to the robot control device to drive the robot based on the read points, the teaching process can be simplified, the teaching time can be shortened, and delicate movements can be executed easily. In playback, errors in motion can be reduced, allowing the robot to move smoothly, and memory capacity can also be reduced.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram for explaining control operations in a conventional robot control device, and FIG. 2 is a schematic configuration diagram including an embodiment of the present invention. 201...Robot body, RC...Robot system...Inner world measurement section, 203...
Drive unit, 2o4... Drive information calculation unit, 205.
...Console, 2o6...Teaching section, 2
07...Execution unit % 208...Mode changeover switch, 2o9...Storage unit, 21°...Sequence control unit.

Claims (1)

[Claims] internal measuring means for sequentially sampling the position of the robot's arm during teaching and outputting it as a coordinate value signal; a storage means for sequentially storing drive coordinate value signals corresponding to the coordinate value signal; A robot characterized in that it includes a successive control means for reading out coordinate value signals in the reverse order of storage when executed, and a driving means for driving an arm of the robot based on the read driving coordinate value signals. Control device.