JPS61253509A - Method for producing robot control data - Google Patents

Abstract

PURPOSE:To decrease extremely both the time and labor by producing the control data after controlling the rotational frequency of a tool round the axis of a robot so that each axial value of the robot which sets the position and direction of the tool to an object to be processed within a structural working range. CONSTITUTION:Both the position and direction of a tool are supplied against an object to be processed. Then the rotational frequency of the tool around the axis of the robot is controlled so that each shaft value of the robot which decides said position and direction of the tool is set within a structural working range and that no collision is produced between the robot main body and a peripheral obstacle. Thus the workable control data on the robot is produced. In other words, the initial value of an initial value setting device 3 which sets the initial value in terms of the rotational frequency of the tool is applied to a coordinate converting device 4 together with the position and direction of the tool supplied from an input device 1. The output of the device 4 is given to an angle displacement calculating device 5 which calculates the angle displacement degree of each joint of the robot. The result of calculation of the device 5 is supplied to a checking device 6. The output of the device 6 is given to a deciding device 9 for decision of the working possibility of the robot. If it is decided that the robot can work, thus result is delivered to a robot controller 10.

Description

[Detailed Description of the Invention] Industrial applications include cutting torches, which use tools that are rotationally symmetrical around an axis, such as cutting torches, and which perform tasks that differ each time, such as gas cutting. The present invention relates to a method for creating robot control data that is preferably used when an articulated robot is used.

BACKGROUND ART Conventionally, control data regarding the position and posture necessary for operating a robot is obtained by an operator directly guiding the robot's arm to each point necessary for the work using a teaching box in the work environment. taught. When trying to operate a robot according to such control data, there is a risk that the robot may collide with surrounding obstacles or exceed its operating range, making it unable to perform the desired operation. may occur. If this is not the case, when working with a tool that is rotationally symmetrical around the axis, the operator should rotate the tool around the axis, re-teach it to a different posture, and then check its operation again, for example, by visual inspection. , the method is used.

Problems to be Solved by the Invention In such prior art, it takes a great deal of time and effort to create the rotation 1t around the axis of a tool as control data that allows the robot to operate without colliding with surrounding obstacles. It required a lot of effort.

Therefore, an object of the present invention is to solve the above-mentioned problems, and by manipulating the amount of rotation around the axis of the tool, the robot can spin with significantly reduced time and effort without having the robot spin directly. It is an object of the present invention to provide a method for creating the rotation m around the axis of a tool as control data for a robot that can operate without colliding with surrounding objects.

Means to Solve the Problem The proposed IJJ4 is a method for creating control data for an articulated robot for work using tools that are rotationally symmetric around the axis of the tool. , zw) and direction (αW, βW), and input this position (xw, yw, zw) and direction (αw, βW
) f: Manipulate the amount of rotation γ around the axis of the tool so that each axis value of the robot to be realized falls within the structural operating range,
This is a method for creating #data for a robot system, which is characterized by creating control data that allows the robot to operate.

The present invention also provides a method for creating control data for an articulated robot for work using a tool that is rotationally symmetrical about the axis of the tool, including the following steps:
w) and directions (αW, βW), and adjust the tool so that the part occupied by the robot body does not interfere with the part occupied by objects around the robot that have been input in advance. This method of creating robot control data is characterized in that control data that allows the robot to operate is created by manipulating g1 rotation amount γ around an axis.

Operation According to the present invention, the position and direction of the tool relative to the object to be worked on are input. Each axis value of the robot that realizes this position and direction is within the structural operating range, and the space occupied by the robot body and the objects around the robot that have been entered in advance are Control data that enables the robot to operate is created by manipulating the rotation (IT) of the tool about one axis so as not to interfere with the other parts. Therefore, when creating robot control data according to the present invention, it is necessary to specify the amount of rotation around the axis in the posture of the tool.
The amount of rotation can be automatically determined to avoid collisions between the robot and surrounding obstacles, and to allow the robot to move easily. By doing so, the work of teaching the position and posture of tools can be reduced.

Example FIG. 1 is a block diagram of an embodiment of the present invention.

The position and direction of the tool are input to the data creation device 2 through the input device 1 .

In the data creation device 2, an initial value from a device 3 for setting an initial value is given to a coordinate conversion device @4 regarding the rotation amount of the tool, which will be described later. The output from the coordinate conversion device 4 is given to a device 5 that calculates the corneal position of each joint of the robot, and the calculated results are input to a checking device 6. In the checking device 16, the operating range checking device 7 and the interference checking device 8 perform checking of control data as will be described later.

The taga from the checking device 6 is given to the determining device 9. Judgment device! In step 19, a determination is made regarding the robot's operability as described later, and if the determination is yes, the position and direction of the companion tool input from the input device 1 and the rotation of the tool set by the initial value setting device 3 are determined. The quantity is output to the robot controller 10. On the other hand, if a negative determination result is obtained in the determination device 9, the initial value set by the initial value setting device 3 (rotation i to be corrected)
In the t correction device 11, the initial value is corrected, and the initial value is input again from the input device 1 and inputted to the condolence conversion device 4 together with the original value. In this way, repeated checking operations are performed until a proper control take determination is obtained.

FIG. 2 is a perspective view of the work object 12, and FIG.
FIG. 3 is a diagram illustrating expression of the position and orientation of the tool 13 using the workpiece coordinate system ΣW. Referring to FIGS. 2 and 3, a workpiece coordinate system ΣW consisting of three mutually perpendicular coordinate axes Xw, Yw, and Zw is projected onto the workpiece 12. Using this workpiece coordinate system ΣW, the position and orientation of the tool 13 are determined by the position of the tool tip (X+Y*z) and a set of numerical values (α,
β.

T).

On the other hand, in the present invention, since the work is performed using a tool 13 that is rotationally symmetrical around the axis, the position and direction of the tool input from the input device 1 (see FIG. 1) are the tip position of the tool 13 (x+y*z). and (α, β) excluding the rotation amount γ around the axis in the tool posture. To move tool 13 here, first move from the previous posture to a posture that does not cause rotation around the physical axis of tool 13! Let them do IJ.

At this time, the value of the rotation amount γ corresponding to the posture after the movement is set by the initial value setting device 3 (see FIG. 1). This is information that is input into the coordinate transformation device 14 of FIG. 1 in this way. , position and orientation vector X of road JAe13 = (x
, y, z, α, β, γ) is the following position/orientation matrix T
It can be converted to . The transformation from X to T and its inverse transformation are expressed by f and f', respectively.

X=(XI Y+ z, α, β, γ)
...11111Tf' Here, S is the tool 13 from the workpiece coordinate system ΣW in FIG.
The coordinate axes of three mutually orthogonal trees set to xt, yt,
It is a coordinate rotation matrix of 3 rows and 3 columns for the tool coordinate system Σt consisting of zt, and each element thereof is represented by a function of α, β, and T, respectively.

The position and orientation vector Xw of the tool 13 expressed in the workpiece coordinate system ΣW is expressed in the robot coordinate system Σr, which is composed of three mutually orthogonal coordinate axes Xr, Yr, and Zr, which will be described later.
The position/orientation vector Xr is converted to the position/orientation vector Xr using the third equation.

Xr = f (Tr - Tw - f (Xw))
-(31 Here, Tw and Tr are coordinate transformation matrices from the workpiece coordinate system ΣW and the robot coordinate system Σr to the absolute coordinate system Σ0, respectively, as will be described later.

Figure 4 shows absolute coordinate system Σ01 and robot coordinate system Σr.

It is a figure which shows the relationship of work coordinate thread|yarn ΣW. The position of the work target object 12 is set with respect to an absolute coordinate system Σ0 consisting of three coordinate axes x, y, and z that are orthogonal to each other. Regarding this work target object 12, the work coordinate system Σ
W is set. Further, a robot coordinate system Σr is set for a robot (not shown) that performs work on the work target object 12.

FIG. 5 is a perspective view showing a modeled mechanism of a robot according to an embodiment of the present invention. In the tree embodiment, links L1-L5 are used, each having a length A1-A5. Each end of each of these links L1 to L5 is a joint, and each joint has three coordinate axes xi that are orthogonal to each other.

A coordinate system Σ1 (i=1 to 6) consisting of Yi and Zi is respectively set. For each coordinate system Σi, a joint angular displacement vector θ=(θ1.θ2.θ3.θ4, θ5.θ6) can be obtained, which has the angular displacement amount θi (i=1 to 6) of each joint as an element. The joint angle displacement amount θi is a value determined based on the mechanism of the robot, the shape of the tool, how it is attached, and the position and orientation Xr of the tool. In addition, it is checked whether the angular displacement θi falls within the structural motion range of each joint, and the feasibility of the tool position/posture vector Xw input from the input device 1 is checked. be able to.

9. The interference check function, which is the second check function expressed in the present invention, calculates the portion that the robot body occupies in Nitdo-cho when the robot takes the posture determined by the angular displacement vector θ, This narrow space and surrounding areas such as obstacles, etc.'! I! This function verifies whether or not there is interference between the parts that occupy the space. This check function will be explained below.

FIG. 6 is a diagram showing the shape of the robot body 15 of the articulated robot 14 and objects around it, and FIG. 7 is a schematic diagram illustrating a method for checking interference between the robot and the work object 12. . The hand portion 16 of the robot body 15 has a cylindrical shape, for example.

Therefore, as shown in FIG.
is approximated by a plurality of (8 (1!if) points P1 to P8 in Kio's example) on both sides of the bottom surface 17.

Further, the object to be worked on 12 has a prismatic shape, for example. Together, the Y-axis of the robot coordinate thread Σr and the workpiece coordinate thread ΣW
Assuming that the X axis of is parallel to the work target object 12
can be approximated by two line segments 18 and 19 as shown in FIG. Concerning these two lines, Q18.19, it is verified that the diagonally shaded @vc20 formed on the opposite side of the hand section 16 is the interference region, and that the point corresponding to the robot does not fall within the interference region 20.

This verification is performed as follows. A Σ6 coordinate system (see FIG. 5) is set in the hand section 16 of the articulated robot) 14, and each approximate point Pj (x6j, y6j, Z6j) (
j = 1 to 8) are defined in this Σ6 coordinate system. Each of these approximate points P j (x6j, y6j, z6
:j)'s coordinates (...j, in the pot coordinate system Σ)
y′・j.

xrj) can be determined by Equation 1.

(4) The matrix Ti (i=1 to 6) is a coordinate transformation matrix from the Σ(i-1) coordinate system to the Σi coordinate system. On the other hand, as shown in FIG. 7, the expression of the line segment 18 corresponding to the boundary of the work target object 12 in the robot coordinate system Σr is Z=a-x+b
Then, as long as the condition shown in equation 1 is satisfied, it can be determined that no interference will occur.
The position and orientation vector W of the tool 13 is determined as described above at t51.
We were able to verify the interference between the robot that works on WK and obstacles around it.

The above operating range check and interference check are performed in the first step.
This is done in the checking device 16 shown in the figure. The results of the two types of checks are shown in Figure 1! l'lJ is given to the constant device 9, and when both are possible, the position 11 posture vector of the tool at that time
is the robot control data. On the other hand, in the determination device 9, when at least one of the two check operations is not possible, the rotation around the axis of the tool iiTw set in the initial value setting theory @ 3 is corrected and the coordinates are converted using μTw + △Tw as a new value. and then check again. Here, 67w has friends such as +30', -30°, +60°,
-60', +90[deg.], and -90[deg.] are sequentially changed, and each interference verification operation is repeatedly performed in the determination device 9 until a positive determination is made.

Position and orientation vector xW1= (x
wl, ywl, zwl, αwl, βwl,
Twl ) to the next position/orientation pect/I/X W
2 = (xw2, 7w2.

zw2. αw2. βw2. Tw2) The position and orientation on the way to the IC can be determined by interpolation calculation. Through these interpolation calculations, during the robot's motion, if all the check results in the above-mentioned determination device 119/( are OK, the set rotation amount T w 2 f around the axis of the companion tool is controlled. Adopt as data.

On the other hand, if an unacceptable result is obtained during the operation of the robot, the value of the rotation amount Tw2 is changed to Tw2 as described above.
+ΔTw2 and perform the same verification operation again until the determination result by the determination device 9/c becomes acceptable.

Therefore, according to the tree embodiment, in the initial value setting device 3, the amount of rotation Tw around the axis of the tool is set, and a check operation is performed regarding the input control data vector Xw including this amount of rotation Two. The value of the 1g1 transposed Tw is changed in accordance with the determination result of the check operation, and the check operation is performed again. Therefore, when creating the control data for the robot, it is possible to create the control data without actually operating the robot in the actual work environment F.

Therefore, in teaching control data to the robot, it is not necessary to teach the rotation amount around the axis of the tool, and the labor of the operator can be saved. In addition, when different tasks are performed each time, it is no longer necessary to actually operate the robot and check that the robot does not collide with surrounding obstacles each time, and the operator is required to make sure that the robot does not collide with surrounding obstacles each time. Since there is no need to stop the robot that is performing the work during the process, the production line including the robot can be improved by 1 iF 1.5.

According to the present invention, the position and direction of the tool relative to the object to be worked on are input, and each axis value of the robot that represents this position and direction is set within the structural motion range. By manipulating the amount of rotation around the axis of the tool, you can create control data that allows the robot to operate at zero speed. Therefore, when creating control data, it is possible to create control data for a robot that does not interfere with the object to be worked on, without teaching the amount of la1 rotation around the axis of the tool, and with easy operation. In addition to being able to create control data for the robot, there is no need to directly operate the robot while checking this data, significantly improving the operating rate of the production line that includes the robot.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a perspective view showing the relationship between the work object 12 and the workpiece coordinate system ΣW, and FIG. 3 is a tool 13 and each coordinate thread ΣW, Σt, etc. 4 is a perspective view showing the relationship between the workpiece coordinate system ΣW and the robot coordinate system Σr, and FIG. 5 is a perspective view schematically showing the configuration of links L1 to L5 of the articulated robot. 6 shows the relationship between the articulated robot 14 and the object to be worked on 12, and FIG. 7 shows the hand capital 16 and the interference area vc2.
It is a figure which shows the relationship with 0. 2... Data creation device, 3... Initial value setting device, 4
...Coordinate conversion device, 5...Joint angle displacement calculation device, 6
... Checking device, 9... Judgment device, 10... Robot control device, 11... Rotation amount correction device, 12...
Work object, 13... Tool, 14... Articulated robot agent Patent attorney Function Kei Part 2 vA Figure 3 λK 7t Figure 4 □ Figure 5 @ r Figure 6 Figure 7 Procedure amendment 1986 June 5, 2015 1. Indication of the case Patent application 1986-94652 2. Name of the invention Method for creating robot control data 3. Person making the amendment Relationship to the case Applicant address name (097) Representative of Kawasaki Heavy Industries, Ltd. 4. Agent address: 1-13-38 Nishihonmachi, Nishi-ku, Osaka, Japan Emerging High-rise Building Country Equipment EXO525-59851NTAPT J
International FAX Gm&GM (06)538-02476
, The entire text of the specification to be amended and Drawing 7, Contents of the amendment (1) The entire text of the specification will be corrected as shown in the attached sheet. (2) Figure 6 of the drawings will be corrected as shown in the attached sheet. Description 1. Name of the invention. Method for creating robot control data. 2. Claims (1) Control data for an articulated robot for work using a tool that is rotationally symmetrical about the axis of the tool. In the creation method, the position and direction of the tool relative to the object to be worked are input, and the amount of rotation around the axis of the tool is manipulated so that the values of each axis of the robot that realizes this position and direction are within the structural movement range. A method for creating robot control data, the method comprising: creating control data that allows the robot to operate. (2) In a method for creating control data for an articulated robot for work using a tool that is rotationally symmetric around the axis of the tool, the position and direction of the tool relative to the object to be worked are input, and the space occupied by the robot body is calculated. The feature is that control data that allows the robot to operate is created by manipulating the amount of rotation around the axis of the tool so that it does not interfere with the space occupied by objects around the robot that have been input in advance. How to create robot control data. 3. Detailed Description of the Invention Industrial Field of Application The present invention uses tools that are rotationally symmetrical around an axis, such as cutting torches, and uses articulated robots to perform tasks that differ each time, such as gas cutting. The present invention relates to a method of creating robot control data, which is suitably used when performing robot control. BACKGROUND ART Conventionally, control data regarding the position and posture necessary for operating a robot is obtained by an operator using a teaching box in an actual work environment to directly guide the robot's arm to each point required for the work. taught. If you try to operate the robot according to such control data, the robot may collide with surrounding obstacles or exceed its operating range.
A situation may arise in which a desired action cannot be performed. In such cases, when working with a tool that is rotationally symmetrical around an axis, the operator should teach the tool to a different posture by rotating it around the axis, and then check the operation again, for example, visually. A method was taken. Problems to be Solved by the Invention In such prior art, it takes a lot of time and effort to create the amount of rotation around the axis of a tool as control data that allows the robot to operate without colliding with surrounding obstacles. It required a lot of effort. Therefore, an object of the present invention is to solve the above-mentioned problems, and by manipulating the rotation amount around the axis of the tool, the robot can move around the surroundings without directly operating the robot and with significantly reduced time and effort. The purpose of the present invention is to provide a method for creating the amount of rotation around the axis of a tool as control data for a robot that can operate without colliding with an object. Means for Solving the Problems The present invention provides a method for creating control data for an articulated robot that uses a tool that is rotationally symmetrical around the axis of the tool.
w, zw) and direction (αW, βW), and manipulate the amount of rotation r around the axis of the tool so that each axis value of the robot that realizes this position and direction falls within the structural operating range. , is a method for creating robot control data, which is characterized by creating control data that allows the robot to operate. The present invention also provides a method for creating control data for an articulated robot for work using a tool that is rotationally symmetrical about the axis of the tool.
KW, yw, zw) and direction (αW, βW), and set the tool so that the space occupied by the robot body does not interfere with the space occupied by objects around the robot that have been input in advance. This method of creating robot control data is characterized by creating control data that allows the robot to operate by manipulating the amount of rotation r around the axis of the robot. Operation According to the present invention, the position and direction of the tool relative to the object to be worked on are input. Each axis value of the robot that realizes this position and direction is within the structural operating range, and the space occupied by the robot body interferes with the space occupied by objects around the robot that have been entered in advance. To avoid this, the amount of rotation of the tool around its axis is manipulated to create control data that allows the robot to operate. Therefore, in creating the robot control data according to the present invention, there is no need to specify the amount of rotation around the axis in the posture of the tool, and the rotation amount can be adjusted so that the robot can operate while avoiding collisions with surrounding obstacles. The amount can be determined automatically. Therefore, the task of teaching the position and posture of the tool can be reduced. Embodiment FIG. 1 is a block diagram of an embodiment of the present invention. The position and direction of the tool are input to the data creation device 2 through the input device 1 . The data creation device 2 inputs an initial value from a device 3 for setting an initial value and an input device l for the rotation amount of the tool, which will be described later.
The position and direction of the tool inputted from are given to the coordinate conversion device 4. The output from the coordinate transformation device 4 is given to a device 5 that calculates the amount of angular displacement of each joint of the robot, and the calculated result is input to a checking device 6. In the checking device 6, the operating range checking device 7 and the interference checking device 8 check the control data as described later. The output from the checking device 6 is given to the determining device 9. The determination device 9 makes a determination regarding the possibility of operation of the robot as will be described later, and if the determination is yes,
The position and direction of the tool input from the input device 1 and the rotation amount of the tool set by the initial value setting device 3 are output to the robot control device 10. On the other hand, if a negative determination result is obtained in the determination device 9, a rotation amount correction device 11 corrects the initial value set by the initial value setting device 3.
At , the initial values are corrected and inputted again to the coordinate transformation device 4 along with the values inputted from the input device 1. In this way, repeated checking operations are performed until a determination of appropriate control data is obtained. FIG. 2 is a perspective view of the work object 12, and FIG.
FIG. 3 is a diagram illustrating representation of the position and orientation of the tool 13 in the workpiece coordinate system ΣW. Referring to FIGS. 2 and 3, a workpiece coordinate system ΣW consisting of three mutually orthogonal coordinate axes XW, Yw, and Zw is set for the workpiece object 12. In this workpiece coordinate system ΣW, the position and orientation of the tool 13 are determined by the position of the tool tip (xtytz) and a set of numerical values (α, β, γ) representing the orientation expressed by the Euler angle.
It is expressed by. On the other hand, since the present invention targets work using a tool 13 that is rotationally symmetrical around an axis, the position and direction of the tool input from the input device 1 (see FIG. 1) are determined by the tip position of the tool 13 (X e 'I g z ) and excluding the amount of rotation r around the axis in the tool posture (α, β). In order to move the tool 13 here, the tool 13 is first moved from its previous posture to a posture that does not cause rotation around the physical axis of the tool 13. At this time, the value of the rotation amount r corresponding to the posture after movement is set by the initial value setting device 3 (see FIG. 1). The position/orientation vector of the tool 13, which is the information input to the coordinate conversion device 4 in FIG.
y#Zlα, βtr) can be converted into the position/orientation matrix T below. The transformation from X to T and its inverse transformation are respectively f,! Expressed as ! = (x, y, z, α, βsr) ... (1) f
↓↑f-1 Here, S is tool 13 from the workpiece coordinate system ΣW in Figure 3.
Three mutually orthogonal coordinate axes xt, yt,
It is a coordinate rotation matrix of 3 rows and 3 columns to the tool coordinate system Σt consisting of zt, and each element is α. They are each expressed as a function of β and r. The position of the tool 13 expressed in the work coordinate system ΣW
The posture vector Xw is a robot coordinate system Σ composed of three mutually orthogonal coordinate axes Xr, Yr, and Zr, which will be described later.
The position/orientation vector Xr at r is converted from the third equation number. Xr=/ (Tr Tw-BaXw) )
=131 Here, Tw and Tr are coordinate transformation matrices from the workpiece coordinate system ΣW and the robot coordinate system Σr to the absolute coordinate system Jo, respectively, which will be described later. FIG. 4 is a diagram showing the relationship between the absolute coordinate system Σo1, the bot coordinate system Σr, and the workpiece coordinate system ΣW. Absolute coordinate system Σ0 consisting of three mutually orthogonal coordinate axes x, y, z
With respect to this, the position of the work target object 12 is set. Regarding this work target object 12, the work coordinate system ΣW as described above is set. Further, a robot coordinate system Σr is set for a robot (not shown) that performs work on the work target object 12. FIG. 5 is a perspective view showing a modeled mechanism of a robot according to an embodiment of the present invention. In this embodiment, links L1 to L5 having lengths A1 to A5 are used, respectively. Each of these links L1 to L5 has a coordinate system Σ1(i
=1 to 6) are set respectively. The end of each link is a joint, and the rotation amount of each joint is θ1 (i = 1 to 6
). The position/orientation vector Xr is realized based on the mechanism of the robot, the shape of the tool, and the way in which it is attached. A joint angular displacement vector (θ1.θ2.θ3.θ4.θ5°θ6) having the angular displacement amount θ1 (i=1 to 6) of each joint as an element can be obtained. Therefore, the angular displacement θi
The feasibility of the tool position/orientation vector rw input from the input device 1 can be checked by checking whether or not it falls within the structural motion range of each joint. In addition, the interference check function, which is the second check function realized in the present invention, calculates the space occupied by the robot body when the robot takes the posture determined by the angular displacement vector θ, and calculates the space occupied by the robot body. This function verifies whether or not there is interference between a spatial portion and a spatially occupied portion such as an obstacle in the surrounding area. This check function will be explained below. FIG. 6 is a diagram showing the shape of the robot body 15 of the articulated robot 14 and objects around it, and FIG. 7 is a diagram for explaining a method of checking interference between the robot and the work object 12. The hand portion 16 of the robot body 15 has a cylindrical shape, for example. Therefore, as shown in FIG.
is approximated by a plurality of points (eight in this example) P1 to P8 on the circumference of the bottom surface 17. Further, the object to be worked on 12 has a prismatic shape, for example. Therefore, the Y-axis of the robot coordinate system Σr and the workpiece coordinate system ΣW
Assuming that the X axis of is parallel to the work target object 12
can be approximated by two line segments 18 and 19 as shown in FIG. Regarding these two line segments 18 and 19, hand part 1
The shaded area 20 formed on the opposite side of 6 is the interference area, and it is verified that the point corresponding to the robot does not fall within the interference area 20. This verification is performed as follows. A Σ6 coordinate system (see Figure 5) is set in the hand unit 16 of the articulated robot 14, and each approximate point Pj (x6j, y6j, z6j) approximated as hand @16 in Figure v47.
(j = 1 to 8) is defined in this Σ6 coordinate system. Each of these approximate points P j (x6j, y6j, z6j)
The coordinates (Xr J + y
r J s Here, the matrix Ti (i=1 to 6) is Σ1−+
This is a coordinate transformation matrix from the coordinate system to the Σi coordinate system. on the other hand,
As shown in Figure tjJ7, the expression of the line segment 18 corresponding to the boundary of the work target object 12 in the robot coordinate system Σr is z=
If a ” x+b, it can be determined that no interference will occur as long as the condition shown in the following formula is satisfied.
(Similarly to 51, interference can also be checked for the line segment 19 corresponding to the boundary of the object 12 to be worked on. As described above, this is realized for the position/orientation vector Xw of the tool 13. We were able to verify the interference between the robot and surrounding obstacles.The above-mentioned motion range check and interference check are performed by the checking device 6 in Fig. 1. Given to the determination device 9 in the figure, when both are acceptable, the position/orientation vector of the tool at that time
Let w = (XW, yw, zw, αW. βw, rw) be robot control data. On the other hand, in the determination device 9, when at least one of the above two check results is not acceptable, the rotation amount rw around the axis of the tool set in the initial value setting device 3 is corrected, and the coordinates are converted using rw+ΔγW as a new value. and then check again. Here, Δrw is, for example, +30°, -30°
, +60°, -6♂, +911 and -90°, and each interference verification is repeated until the judgment device 9 makes a positive judgment. Position/attitude vector of the robot at the time of formation Ww 1=
(xwl, ywl, zvl, αwl, βwl
, rwl), the next position/orientation vector X w 2
The position/orientation on the way to = (XW2, 7w2, zw2.αw2.βw2, 7w2) can be determined by interpolation calculation. If the above-described check result in the judgment device 9 is acceptable for all positions and postures of the robot during its operation determined by this interpolation calculation, then the rotation amount rw2 around the axis of the set tool is determined as follows. Adopted as control data. On the other hand, when a negative result is obtained during the operation of the robot, the value of the rotation amount rw2 is changed to rw as described above.
2+Δrv2 and perform the same verification operation again.
Verification is repeated until the determination result by the determination device 9 becomes acceptable. Therefore, according to this embodiment, the initial value setting device 3 sets the rotation amount rW of the tool around the axis, and checks the input control data vector Xw including this rotation amount rw. Corresponding to the determination result of this check operation, the value of the rotation amount rw is changed and the check is performed again. Therefore, when creating control data for the robot,
It was possible to create control data without actually operating the robot in an actual work environment. Therefore, in teaching control data to the robot, it is not necessary to teach the rotation amount around the axis of the tool, and the labor of the operator can be saved. In addition, when performing tasks that differ each time, there is no need to actually operate the robot and check that the robot will not collide with surrounding obstacles each time it performs each task, which also saves the operator's effort. Furthermore, since there is no need to stop the robot that is actually performing the work, the operating rate of the production line including the robot can be improved. Effects As described above, according to the present invention, the position and direction of the tool relative to the object to be worked are input, and the values of each axis of the robot that realizes this position and direction fall within the structural operating range, and the robot body moves around the surroundings. The robot creates control data that allows the robot to operate by manipulating the amount of rotation of the tool around its axis to avoid collisions with obstacles. Therefore, when creating the control data, it is possible to create control data for the robot that does not cause interference with the object to be worked on, without teaching the amount of rotation of the tool around its axis. Therefore, robot 0 control data can be created with easy operation, and there is no need to directly operate the robot to confirm this data, making it possible to significantly improve the operating rate of the production line including the robot. 4. Brief description of the drawings FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a perspective view showing the relationship between the object 12 to be worked on and the workpiece coordinate system ΣW, and FIG. 3 is a diagram showing the relationship between the tool 13 and A perspective view showing the relationship between each coordinate system ΣW, Σt, etc., Figure 4 is a perspective view showing the relationship between the workpiece coordinate system ΣW and the robot coordinate system Σr, and Figure 5 is the configuration of links L1 to L5 of the articulated robot. FIG. 6 is a diagram showing the relationship between the articulated robot 14 and the object to be worked on 12, and FIG.
It is a figure which shows the relationship with 0. 2... Data creation device, 3... Initial value setting device, 4
...Coordinate conversion device, 5...Joint angle displacement calculation device, 6
... Checking device, 9... Judgment device, 10... Robot control device, 11... Rotation amount correction device, 12...
・Object to be worked on, 13... Tool, 14... Articulated robot Representative Patent attorney Kei Fukan Part 6 Figure 6

Claims (2)

[Claims] (1) In a method for creating control data for an articulated robot for work using a tool that is rotationally symmetric around the axis of the tool, the position and direction of the tool relative to the object to be worked are input, and this position and direction are realized. A method for creating robot control data, which comprises creating control data that allows the robot to operate by manipulating the rotation amount around the axis of a tool so that each axis value of the robot falls within a structural operating range. (2) In a method for creating control data for an articulated robot for work using a tool that is rotationally symmetric around the axis of the tool, the position and direction of the tool relative to the object to be worked are input, and the space occupied by the robot body is calculated. The feature is that control data that allows the robot to operate is created by manipulating the amount of rotation around the axis of the tool so that it does not interfere with the space occupied by objects around the robot that have been input in advance. How to create robot control data.