JPS62165212A - Robot work teaching system - Google Patents

Abstract

PURPOSE:To operate plural robots by simulating a robot program while watching motions of plural robots, those of plural environmental objects, and positional relations between robots and environmental objects which are displayed on a display device. CONSTITUTION:An environmental object editer 1 is used to teach three- dimensional shapes of plural robots, those of environmental objects existing in working spaces of robots, and relative positional relations between them to generate shape data 1.4. In case of simulation, a debugger 3 is first started to display robots and environmental objects in the initial state on the display device and a graphic processing part 6 receives extents of angular movement of joints of individual robots and extents of movement of grasped objects from plural robot locus calculating parts 5.1 and 5.2 and refers to shape data 1.4 and converts it to display data and transmits this data to a display device 7. Thus, parallel works and cooperative working of plural robots are taught and simulated to use considerably efficiently the development time required for robot teaching.

Description

[Detailed description of the invention] Industrial applications The present invention is a work teaching system for multiple robots.

Conventional technology Conventionally, robot work teaching systems, in which a program written in a robot language is displayed on a display in an animated manner and simulated interactively by a human, have been limited to single robots. . Therefore,
For example, there was no way to teach and simulate tasks that require multiple robot arms, such as grasping and transporting large or soft objects.

Problems to be Solved by the Invention In a robot work teaching system, it is an object of the invention to expand the objects that can be taught and simulated not only to a single robot but also to a plurality of robots.

Means to Solve the Problems As an important means to solve the above problems, we have developed a language processing unit that decodes robot programs that describe parallel and collaborative work by multiple robots and translates them into intermediate code strings. , generate multiple processes necessary to decode this intermediate code string and execute the robot program, and schedule these multiple processes.
An execution processing unit that performs exclusive control to achieve parallel processing of robot programs and generates motion commands for multiple robots, and controls the execution order of motion commands for these multiple robots and manages target robots to be executed. A cooperative motion control unit that performs synchronized control of the timing of transmitting motion commands to the robot trajectory calculation unit is realized.

Furthermore, a debugger is required as a teaching system.

Equipped with a robot trajectory calculation unit, a graphics processing unit, a display, and an environmental object editor to generate data on the shape and physical properties of environmental objects, making it possible to work with multiple robots that was impossible with conventional technology. Realize the teaching 7 stem.

Operation The robot work teaching system having the above means and configuration not only makes it possible to teach work to multiple robots, which was previously impossible, but also allows the robot trajectory calculation section to be combined with the actual robot body. It also becomes possible to replace the robot and use it as a robot controller to centrally control multiple robots. This eliminates the need to develop a teaching system and a control device separately, resulting in a significant reduction in development costs.

As shown in the embodiment diagram, the robot work teaching system of the present invention has the following features:
Environmental object editor 1. Language processing unit 2. Debugger-3, execution processing unit 4. Cooperative motion control unit 5゜Two robot trajectory calculation units 5.1 and 5.2. It is composed of a graphic processing section 6 and a display unit. Furthermore, in the figure, environmental management data 1, 1. and two robot mechanism data 1.2 and 1.3. Shape data 1.4 indicates data generated by environment management editor 1, and robot program 2.4 indicates data generated by environment management editor 1.
1 indicates the input to the language processing unit 2, and intermediate code 2.2 indicates the output of the language processing unit 2. Further, in the figure, arrows represent the flow of data and the flow of processing. Although the figure does not show two robot trajectory calculation units and two robot mechanism data, there is no effect even if there are any plurality of these.

Below, a procedure for actually teaching a plurality of robots to work and performing a simulation using the robot work teaching system of the present invention will be explained with reference to the drawings. First, using the environmental object editor 1, the three-dimensional shapes and relative positional relationships of a plurality of robots and environmental objects existing in the robot's work space are taught, and shape data 1.4 is generated. Furthermore, the robot is taught the physical properties and attributes of the environmental objects that the robot works on, such as grasping points, approach points, retreat points, etc., and generates environmental management data 1.1, which is a database regarding environmental objects. It also teaches the mechanism parameters such as the number of joint angles and types of joints of the robot to be used, and generates robot mechanism data 1.2 and 1.3.

Next, a robot program 2.1 is created using robot language to describe the work to be performed by a plurality of robots, and is input to the language processing unit 2 to obtain intermediate code 2.2.

The procedure up to this point corresponds to the teaching of the work, and from this point on, a simulation of the robot program expressed in the intermediate code string 2.2 will be executed. However, since the intermediate code string 2.2 and the robot program 2.1 written in the robot language are correlated by a cross-reference table, from the user's perspective, the original robot program 2.1 is directly simulated. This means that an environment is provided that allows for

In the simulation, the debugger 3 is first started to display the robot and environmental objects in an initial state on the display. Next, normal program debugging commands such as breakpoint and one-step execution are inputted to start the execution processing section 4. The execution processing unit 4 inputs and decodes the intermediate code string 2.2.
f. Generate multiple processes necessary for execution and schedule these multiple processes.

Exclusive control is performed to realize the parallel processing described in the robot program 2.1 and generate operation commands for the plurality of robots 7). If the position/orientation data of the environmental object is undefined in this action command code, the value is determined by referring to the environmental management data 1.1. Further, if the operation command is a command to grasp or release an environmental object, the connection relationship between the environmental objects expressed in the environmental management data 1.1 is updated.

The cooperative motion control section 5 receives and receives motion commands for a plurality of robots generated by the execution processing section 4, controls the execution order and manages robots to be executed, and adjusts the motion commands to robot trajectories. Performs synchronization control regarding the timing of transmission to calculation units 5.1 and 5.2.

Robot trajectory calculation unit 5.1 that received the above operation command
Alternatively, 5.2 refers to robot mechanism data 1.2 or 1.3 corresponding to each mechanism and calculates each joint angle movement amount. At this time, if the robot moves while holding an environmental object, the amount of movement regarding this environmental object is also calculated.

Finally, the graphic processing unit 6 receives the joint angle movement amount and the movement amount of the grasped object for each robot from the plurality of robot trajectory calculation units 5.1 and 5.2, and refers to the shape data 1.4. The data is converted into a display data and sent to the display 7.

Furthermore, since the graphic processing section 6 is directly controlled by the debugger 3, when it is notified of a stop command, viewpoint change command, etc. from the debugger 3, it immediately executes it. Furthermore, debugger 3
When an interference check command is notified from the robot, interference with environmental objects is checked while the robot's motion is displayed, and if interference is detected, the debugger 3 is notified of this fact. The process flow for executing the simulation has been explained above, but
During simulation execution, debugger 3. Execution processing unit 4
．． Cooperative operation control unit 6. Multiple robot trajectory calculation units 5.
1 and 5.2. All the processing units of the graphic processing unit 6 are operating in parallel.

Effects of the Invention The present invention makes it possible to teach and simulate parallel work and collaborative work by a plurality of robots, and can be expected to greatly improve the efficiency of the development period required for robot teaching. Further, the robot work teaching system of the present invention can be used as a control device for a plurality of robots, which greatly contributes to reducing development costs.

[Brief explanation of drawings]

The figure is a configuration diagram of a robot work teaching system according to an embodiment of the present invention. 1...Environmental object editor, 1.1...Environmental management data, 1.2, 1.3...Robot mechanism data, 1.4...Shape data, 2・・・・・・
Language processing section, 2.1...Robot program, 2.2...Intermediate code string, 3...
Debugger, 4... Execution processing section, 6...
Cooperative motion control unit, 5.1.5.2...Robot trajectory calculation unit, 6...Graphic processing unit, 7.
·····display. Patent applicant Tatsu Todoroki, Director of the Agency of Industrial Science and Technology (-One Data

Claims (2)

[Claims] (1) A language processing unit that decodes a robot program that describes parallel work/cooperative work for multiple robots and translates it into an intermediate code string, and defines the shape of the robot and environmental objects that exist in the robot's work space. Furthermore, environmental management data that expresses the relative positional relationships and connection relationships between environmental objects, and physical properties and attributes unique to environmental objects;
an environmental object editor that generates robot mechanism data representing the mechanism data of individual robots and shape data necessary for collision checking and display of three-dimensional shapes; a debugger unit that receives debugging requests for the robot program; A display that displays the shape and the environment management data are used to decipher the intermediate code string, generate a plurality of processes necessary to execute the robot program, and perform scheduling and exclusive control over the plurality of processes. an execution processing unit that realizes parallel processing of the robot program to generate operation commands for the plurality of robots, and dynamically manages environmental management data that changes with execution; a cooperative motion control section that controls the execution order of motion commands, manages target robots to be executed, and synchronizes the transmission timing of motion commands; and a cooperative motion control section that executes motion commands for individual robots while referring to the robot mechanism data. a plurality of robot trajectory calculation units that calculate the joint angle movement amount and the movement amount of the gripped object accompanying the movement of the robot; It is equipped with a graphics processing unit that converts data into display data for moving display, and also realizes debugging requests such as viewpoint changes and interference checks, and allows humans to display multiple robots and multiple environments displayed on the display. A robot work teaching system characterized in that the robot program is simulated while observing the movement of the object and the positional relationship between the robot and environmental objects. (2) The graphic processing unit and the display are removable, and the plurality of robot trajectory calculation units can be replaced with the same number of actual robot bodies, so that it can be used as a control device for multiple robots. A robot work teaching system according to claim 1.