JPS62251901A - Course controller for multiaxis robot - Google Patents

Abstract

PURPOSE:To calculate a course in the same time with the same work as a six-axis robot by controlling course with designated one or two of <=7-axis fixed at a prescribed angle. CONSTITUTION:One designated axis is fixed in case of a seven-axis robot and two designated axes are fixed in case of an eight-axis robot, and course calculation is performed with these designated axes fixed and driving of each axis is controlled with reverse conversion of 6-axis. For an obstacle, an axis 23 set as the designated axis to controls the robot with jog feeding. Point data of attitudes 11, 13, 14, and 16 are linearly reproduced, and the robot advances on a line while keeping the hand attitude with the designated axis fixed or released to avoid the obstacle. With respect to course control, numerical operation processing is executed in a control part 30 by a control program in a memory 31, and the result is stored in a memory 32, and the signal from the control part 30 is sent to a multiaxis robot 39 through a axis controller 36 and a servocircuit 37 to control a driving source.

Description

Detailed Description of the Invention (Industry-1- Utilization IF?) The present invention relates to a path control device for a multi-axis robot that controls seven or more axes.

(Conventional technology) Most conventional robots had six robots, but recently, seven robots have been developed.
A redundant industrial Kawaguchi bot has been developed that has more axes than that of a ``suke'', and demand is expected to increase in the future. The advantage of robots with seven or more axes is that they have many degrees of freedom and can easily avoid obstacles.

(Problem to be solved by the invention) However, in the case of robot, b, which has 7 cars or more,
There are too many degrees of freedom, and even if you only specify the position and direction of the hand, the command value for each axis cannot be determined arbitrarily, and the time required to calculate the path control is shorter than the conventional 6+lI pot. In the case of route 1/control, the number is much higher.

This is because 1-, which calculates simple routes such as straight lines and circular arcs, does not have any conditions, and in order to efficiently calculate routes, it is necessary to set some conditions.

Even in a multi-axis robot with 7 or more vehicles, the time required for path control is almost the same as the time required for path control in a conventional 6-vehicle multi-axis robot. The purpose of the present invention is to provide a path control device for a multi-axis robot.

(First Step to Solve the Problems) The present invention provides a path control device for a multi-axis robot having seven or more axes, in which a designated axis is fixed at a predetermined angle (W) and the remaining a first control stage for driving and controlling the axes; a second control means for driving and controlling the designated axes; A storage means for storing a program for changing and controlling the position is provided, and by specifying one or more vehicles in advance, the route calculation is performed with the specified axis fixed. This multi-axis robot path control device solves the problems of the prior art as described above.

(Operation) According to the present invention, in a path control device for a multi-axis robot having seven or more axes, one or more designated axes are set in advance, and the path is controlled while the designated axes are fixed. By doing this, the red road system of the conventional 6-axis multi-axis robot (
Route control calculations can be done in almost the same amount of time as the 11 calculation time at 9 p.m.

(¥Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing a control force formula for a multi-axis robot with 7 to 41 vehicles according to the present invention, and FIG. 2 shows an example of control for avoiding obstacles using a 7-vehicle robot. There is.

FIG. 1 shows an embodiment in which a multi-axis robot is applied to a welding robot, and 100 is a multi-axis robot 39 and a welding machine 4.
The NC device 100 is a numerical control unit (NC device) that controls the control section 30, program memory 31,
, data memory 32, teaching operation panel 33. Operation panel 34. It has a tape reader 35, an axis controller 36, a servo circuit 37, input/output circuits 40, 43, and an address data bus connecting these.

The fifJ control unit 30 includes a central processing unit that executes arithmetic processing based on a control program.

The program memory 31 is composed of a read-only memory (1 (OM)), and stores various control programs such as a basic control program to be executed by the control unit 30 and a return-to-origin program.Data memory 3
Reference numeral 2 is a read/write 11rtb random access memory (RAM), which stores the calculation results executed by the control section 30 and teaching data input from the teaching operation @33.

Data input from the operation panel 34, command data manually input from the tape reader 35, etc. are stored.

The teaching operation panel 33 has a numerical display, lamps, and operation buttons necessary for teaching the multi-axis robot. The operation panel 34 has a CR1 display device, various keys such as a ten-year key, and a function key, and inputs various data from the outside to the NC device.

輔nil i! l A 361*, +iFr Note IJI
W rf630 cy> This outputs a control vl signal to the multi-axis a servo circuit 37, and includes an auxiliary calculation unit that controls multiple axes.

The servo circuit 37 controls the drive source of the multi-axis robot 39 based on control signals from the axis controllers 7:j and 36. The input/output circuit 40 performs signal input/output operations with the welding 41141 via the relay unit 42. The output circuit 40 outputs welding control signals from the control section 30 to the relay unit 42 of the welding a41. do. The input circuit 43 inputs signals from an overtravel switch 0TS44 and a neutral switch NTS45 provided on each axis of the multi-axis robot 39 to the NC device. Welding machine interface 4
7 is a line that provides an interface between the NC device and the welding machine 41. Note that each axis of this multi-axis robot 39 is
The shaft position is controlled by an incremental method.

Normally, in order for such a multi-axis robot to grasp a workpiece with its hand, it is sufficient to have 64 degrees of freedom in three-dimensional position and direction. However, with six robots,
Although it is easy to calculate the coordinates of the target position of the hand (from the WIA movement 4 of each axis), it is difficult to avoid obstacles during route control.

In the present invention, for multi-axis robots with 7 or more axes, we set a condition that the specified axis is a straight line, an inner line, and a axis that is calculated during route control, thereby making it easier to clear obstacles. At the same time, it makes route calculation easier. That is, for example, the conditions for calculation -1- are set, such as setting one designated axis for a seven-axis robot, and setting two designated axes for an eight-axis robot. By doing this, in any multi-axis robot, the axis other than the specified axis can be used for path calculation as 6 axes8.The path calculation is performed while the specified axis is fixed, so It becomes possible to control the drive of each axis by simply inversely converting the information.

When actually performing special route control such as avoiding obstacles, set waypoints on the programmed path, and use the designated axis to set the waypoints! Later, it is decided that the cylinder will move independently within the cylinder, such as by making it move at a constant (angular) velocity (equal to the change in axis value with respect to distance). In the case of jog feed, there are roughly three types of route control. In other words, linear job feed with a fixed hand posture while the specified axis is fixed, and jog feed with a fixed hand posture and position where the specified axis is moved at a constant speed (other axes are also moved to maintain the hand posture and hand position). ) and jog feed for each axis including the designated axis.

By using the first two jog feeds, it is possible to teach special routes when there are obstacles. This will be explained in detail using FIG. In addition to the three axes of the wrist, Figure 2 shows axes 21, 22, 23, and 24.
Route control of a seven-vehicle multi-axis robot having 111, 111, shows control when it is desired to move in a straight line from posture 11 to posture 16 while keeping the hand posture constant, but there is an obstacle 20 on the way.

In this example, axis 23 is set as the designated axis. Jog feed from posture 11 to posture 12 is performed by linear jog feed with the designated axis fixed, and the multi-axis robot 2 moves while holding the axis 23 at a constant angle 01. Next, the jog feed from the figure 912 to the figure 113 is performed by moving the designated axis at a constant speed while keeping the hand posture and hand position fixed.

At this time, the angle of the specified axis is changed from 01 to 02, and at the same time, the angles of the other axes are also changed, so that the position and posture of the hunt are maintained in the same state. This completes preparations for avoiding the obstacle 20.

Next, jog feed from posture 13 to posture 14 is performed by job feed with the specified axis fixed. The specified axis is a constant angle of 0
2, the multi-axis robot passes through the obstacle 20.

Next, jog feed from posture 14 to posture 15 is performed by moving the specified axis at a constant speed while keeping the hand posture and hand position fixed. At this time, the angle of the specified axis is changed from 02 to 03, and at the same time, the position and posture of the hand are maintained at the same y-island due to the movement of the multi-axis robot. This completes preparations for linear feeding after passing the obstacle 20.

Next, the jog feed from posture 15 to posture 16 is linear jog feed with the specified axis fixed as usual, and the specified axis 23 moves while being fixed at a constant angle 1W03.

As mentioned above, the program for controlling job sending is
The point data of yj11.13, 14.16 is 'j-
In this way, in the case of straight line play, the designated axis is independent. This type of jog feed that fixes the specified axis, jog feed that moves the specified axis at a constant speed while keeping the hand posture and hand position fixed, and the above-mentioned hand posture control linear playback are realized. The hand position (X
.

Y, Z), hand posture (P, Q,, R), and specified axis value (n
For a multi-axis robot, if (n-6) is given, if there is a calculation formula to calculate the values of the remaining six axes, the nif calculator can perform coordinate transformations such as rotations and rotations for a conventional six-axis robot. I can cope with it.

(Effect of the invention) According to the invention, even in a multi-axis robot that moves 7 + Il or more axes, the specified axis is usually fixed, and the hand position and posture are fixed when avoiding obstacles. Route control for a multi-axis robot that can calculate the route in the same amount of time and work as a six-car multi-robot by releasing the fixation of the designated axes. 'A location can be provided.

[Brief explanation of drawings]

The fBI diagram is a block diagram showing a control method of a multi-axis robot having seven or more axes according to the present invention, and FIG. 2 is a diagram showing route control according to the present invention when avoiding Ia old objects. LL, 12, 13, 14, 15. 18... Attitude. 20... Obstacle, 21, 22. 24... Axis, 23.
...Specified axis. Patent applicant: FANUC Co., Ltd. Representative: Mr. Tsuji B.C.
Actual figure 2

Claims (1)

[Claims] A path control device for a multi-axis robot having seven or more axes, comprising: a first control means for driving and controlling the remaining axes with a designated axis fixed at a predetermined angle; and a first control means for driving and controlling the designated axis. and a storage means for storing a program for changing and controlling the specified axis position while the hand position and posture of the multi-axis robot are fixed, A path control device for a multi-axis robot, characterized in that, by specifying a specified axis, path calculation is performed with the specified axis fixed.