JPS62127905A - Action simulator device for robot arm - Google Patents

Abstract

PURPOSE:To simulate the action of an optional robot arm by linking the input unit where the structure data and mechanism data of a robot are inputted and the formula processing arithmetic unit to operate based upon respective data given from the input to a coordinate converting arithmetic unit. CONSTITUTION:Based upon respective signals of a data signal where the position and the attitude of a robot arm tip are inputted to a position attitude input unit 1, a signal operated and converted the data signal inputted to an input unit 5 to input respective data of the mechanism and the structure of a robot by a formula processing arithmetic unit 6, and the signal of respective present joint angles of a robot arm, respective next joint angles of the robot arm are operated by a coordinate converting arithmetic unit 2. The output signal of the arithmetic unit 2 is inputted to a control unit 3 of the robot arm, operated to match with respective joint angle displacements and the speed of the robot arm and comes to be the driving signal of the robot arm. A robot arm 4, following the driving signal, acts respective joint angles, following the driving signal inputted from the control unit 3.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a motion simulator applied to a manipulator arm of a robot.

(Prior Art) The configuration of a conventional robot arm motion simulator device is shown in FIG. In the same figure, each joint angle of the robot arm is determined by input device 1 for the position and posture of the tip of the robot arm.
The coordinate transformation calculation device 2 configured in advance performs calculations based on the output signal of the data input to the robot arm 4 and the current joint angle signals of the robot arm 4. Arithmetic device 2
The output signal is input to the control device 3 of the robot arm, and is compared with the displacement and velocity of each joint angle of the robot arm, and becomes a drive signal for the robot arm.

The robot arm 4 follows this drive signal and changes each joint angle according to the drive signal input from the control device 3.
Operate.

In this way, the position and posture of the tip of the robot arm are
Every moment, the robot performs the movements according to the commands given by the position/posture human power device 1.

In the device, a coordinate transformation calculation device 2 is configured in advance based on the position data and posture data of the tip of the robot arm manually inputted by the position/posture input device 1 and the current joint angle signal of the robot arm 4. As a result, the joint angle of the robot arm at the next point in time is calculated by /1ili.However, since the configuration of this calculation device is conventionally fixed, if the configuration of the robot arm is changed, the calculation device's joint angle will be calculated accordingly. The configuration needs to be changed each time, which is inconvenient for general-purpose use, and the configuration becomes extremely complicated for robots with more than 6 degrees of freedom. The drawback was that it was difficult to deal with.

(Problems to be Solved by the Invention) As described above, the conventional robot arm movement simulator is not versatile, and when changing to a robot arm with a different structure/mechanism, coordinate conversion is required each time. There was a problem in that the configuration of the arithmetic unit also needed to be changed.

The present invention has been developed to solve this problem and to provide a robot arm motion simulator device that can simulate y! types of robot arms simply by inputting their structure and mechanism data. It is something to do.

(Means for Solving the Problems) Therefore, the present invention provides a coordinate transformation calculation device that calculates each joint angle of the arm by giving position data and posture data of the robot arm, and a robot arm based on the calculation results of the calculation device. In the simulator device that drives the robot, an input device into which structural data and mechanism data of the robot are input, and a mathematical formula processing device that performs calculations based on each data given from the input device are connected to the coordinate transformation calculation device, and arbitrary The present invention is configured to make it possible to simulate the motion of a robot arm, and is intended to solve the above-mentioned problems.

(Function) When changing the robot arm, data regarding the structure and mechanism of the new robot arm is input into a separate input device, and the output signal from the input device is converted by a mathematical expression processing device and sent to a coordinate transformation calculation device. Output. In addition to the human power signal, the coordinate transformation calculation device receives a human power signal regarding the position and orientation of the robot arm and a current joint angle signal of the robot arm, and calculates the joint angle at the next time point based on these signals. This calculation result is sent to the control device, which processes the angular displacement and velocity of each joint of the robot arm together, and sends a drive signal for the robot arm to the drive section of the robot arm.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings. FIG. 1 shows an embodiment of the present invention. In this embodiment, as shown in the figure, the position and orientation of the tip of the robot arm are input to a data signal input to the position/orientation input device 1, and to an input device 5 that inputs each data of the mechanism and structure of the robot. The next joint angle of the robot arm is calculated by the coordinate conversion calculation device 2 based on the signal obtained by calculating and converting the data signal by the mathematical expression processing calculation device 6 and the signal of the current joint angle of the robot arm. do.

The output signal of the arithmetic device 2 is sent to the control device 3 of the robot arm.
This signal is input to the robot arm, and is calculated together with the angular displacement and velocity of each joint of the robot arm, and becomes a drive signal for the robot arm.

The robot arm 4 operates by following this drive signal and making each joint angle follow the drive signal input from the control device 3.

With this device, even if the structure and mechanism of the robot are changed, there is no need to change the computing unit 2 (this can easily be done by inputting data regarding the structure and mechanism of the robot 1- into the data human-powered device 5). Become.

(Effects of the Invention) As explained above in detail (according to the present invention, the structure and mechanism of robots of different types are inputted to another input device, and the coordinate transformation calculation device operates based on the data). Therefore, there is no need to change the configuration of the arithmetic unit as in the past, and the operation of the robot arm can be quickly examined as a general-purpose robot simulator.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a robot arm motion simulator device showing an embodiment of the present invention, and FIG. 2 is a block diagram of a conventional same device. Explanation of main parts of the figure 1 - Position/orientation input device 2 - (coordinate transformation) calculation device 3 - Control device 5 - (structure/mechanism) input device 6 - (mathematical processing) calculation device

Claims (1)

[Claims] Structural data and mechanism data of the robot are input to a coordinate transformation calculation device that calculates each joint angle of the arm by giving position data and posture data of the robot arm, and a simulator device that drives the robot arm based on the calculation results of the calculation device. A mathematical formula processing calculation device that performs calculations based on an input device and each data given from the input device is connected to the coordinate transformation calculation device, thereby making it possible to simulate the motion of an arbitrary robot arm. A robot arm motion simulator device.