JPS6237706A - Measuring device for robot performance - Google Patents

Abstract

PURPOSE:To measure the locus of a robot with high accuracy and the repetitive reproducibility by detecting the position of a position originating source set at the working area of the robot by means of a digitizer in the form of the 2-dimensional coordinates. CONSTITUTION:A robot main body A is actuated on a digitizer D in a 2-dimensional way. A position originating source C is set at a working area B of the robot A. Then the digitizer D detects the position of the source C and delivers the 2-dimensional coordinate signal of the source C. While a sampling means E samples the coordinate signal sent from the digitizer D for each set time. An arithmetic means F calculates the locus, the speed or the acceleration of the source C based on the sampling result. A display means G displays the arithmetic result of the means F. In such a way, the locus of the robot A can be measured repetitively with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot performance measuring device, and more specifically, it continuously detects and records the two-dimensional position of a working part of a robot during operation. This invention relates to a device for determining trajectory accuracy, velocity, and acceleration fluctuations.

[Prior Art] Conventionally, as a means of measuring the operational performance of a robot, a ballpoint pen is held at the tip of the robot, and on graph paper on which a reference pattern is drawn on a drawing board, the robot is moved according to the reference pattern. The accuracy of the trajectory is determined by comparing the trajectory drawn on the same graph paper during teaching and reproduction with a reference pattern.

[Problems to be Solved by the Invention] However, the above conventional technology has the following problems.

(1) Since the pattern is actually drawn on paper with a ballpoint pen, minute deviations cannot be measured accurately due to the thickness of the line.

(2) When many types of trajectories are drawn on the reference pattern, it becomes difficult to distinguish between the trajectories, and the graph paper becomes worn out.
It may break.

(3> Since there is no information on the position of the ballpoint pen at each time, the reproduction speed and reproduction acceleration cannot be determined.

The present invention was made to solve the above-mentioned problems, and it is possible to measure the motion trajectory of a robot with high viscosity and repeatability, and also to measure not only the motion trajectory but also the velocity and acceleration. The purpose of this invention is to provide a fjF measurement device for Zarubot 1.

[Means for Solving the Problems] The present invention, which has been made to achieve the above object, has a position transmitter mounted on the side of the working part of robots 1 to A that perform at least two-dimensional movements, as shown in a3 in Fig. 1. a digitizer D that detects the position of the position source C and outputs two-dimensional coordinates of the position source C;
a sampling means E for limpling the coordinate signal from the source at every set time; and a sampling means E for calculating at least one of the locus, velocity, or acceleration of the position source C based on the limp results by the sampling means. Arithmetic means 1'
:, a display means G for displaying the calculation result of this calculation means, and the following.

Here, "-" robot 1 includes robots that perform multidimensional motions, and at least plane motions, and is particularly effective for cutting robots, assembly robots, etc. whose trajectory accuracy is manually checked. It has a controlled drive means for reproducibly operating according to the teachings.

For example, the working part B is a pot for cutting,
This refers to the position where the cutting tool is attached, A3, and an equivalent position, that is, the part that you want the 1st phalanx to operate according to the teachings, and the equivalent part.

Digital tie with location source C! In contrast to J'D,
A device that outputs the position of a position source from a digitizer, and may be a digital method, an analog/cog method, or a mixed JY method, and may be a non-contact type such as a method that uses electromagnetic force or a method that uses light. , or a contact type using piezoelectric effect.

The lean-pulling means E is a means for sending a signal to the digitizer If at preset intervals, reading the coordinate signal, recording and storing it, and sending the result to the calculation means F.

The calculation means F determines the position of the position source C as coordinates in the XY coordinate system, or determines the velocity or acceleration based on the time and coordinate signal set by the sampling means [.

The display means G includes an image display device such as a cathode ray tube, as well as an output device such as a printer.

[Operation] According to the present invention, the position of the position transmitting source C attached to the working part B of the robot 1~ is detected as two-dimensional coordinates by the digitizer D, and the trajectory, velocity, and acceleration of the robot 1~ are detected. is. Therefore, by setting a reference pattern corresponding to the teaching operation in advance, it is possible to measure the deviation between this reference pattern and the trajectory, and furthermore, by detecting the trajectory as coordinates at each set time, the velocity or acceleration of the trajectory can be measured.

[Example] In FIG. 2, 1a is a white box 1 to the main body to be subjected to a performance test, and 1b is a teaching operation section, in which the robot main body 1a is operated three-dimensionally by a control device 1C according to instructions from an operator. 2 is a cursor taken at the tip of the robot main body 1a (=J C-J), and is taught to move while maintaining a gap of about 0°5 to 1.0 mm from above the digitizer 3. The digitizer 3 samples the X and Y coordinates of the cursor 2 at a set time (for example, 10 m5ec)ffl, and is generally classified into three types depending on its principle: electromagnetic induction type, magnetic detection type, and magnetostrictive type. Set the X and Y coordinates of cursor 2 to high viscosity (±Q, absolute accuracy in imm)
Any type may be used as long as it can be detected in a constant lean pulling time (approximately 10 mSeC).

Here, an electromagnetic induction digitizer is used. In other words, there are 2 mr vertically and horizontally in the board of digitizer 2.
Detection lines are embedded at intervals of n, and the magnetic field generated by energizing the cursor 2 is measured by measuring the voltage peak position with a resolution of 0.02 mm based on the amplitude of the voltage of the detection line, and the X and Y coordinates of the cursor 2 are determined. It obtains a signal and further converts the X and Y coordinate signals into an ASCII code of 1 byte for each digit.

This signal is sent to the CPIJ 4b via the input/output port 4a of the measurement control device 4. In CPtJ4b, there is a ROM that stores the control J3 of the entire system and the program.
4c and a RAM 4d for temporarily storing position data, the coordinate signal of the digitizer 2 is processed. The above CP
Input/output signals to U4b are communicated with external devices via input/output port 4e.

As external devices, a keyboard 6, a CRT 7. printer 8
．． A plotter 9 and a disk drive 710 are provided.

Next, the operation will be explained.

FIG. 3 shows the overall flow chart of this embodiment,
First, in the II pattern panono (step 11), the control device 1C instructs the teaching operation section 1b to set a white box.
~The main body 1 is moved in two dimensions on the digitizer 3. The electromagnetic force from the cursor 2 of the robot body 1 is converted into X and Y coordinate signals by the digitizer 3 and input to the measurement control device 4 .

To this, J:S, the group corresponding to the teaching point (((X of the pattern
, Y coordinates are read by the CPU U tl, b and displayed on the CRT 7 via the input/output capo-h 4 e @ (step 12). Therefore, each point of each base YIL pattern is linearly interpolated or circularly interpolated by i% (the pattern is
Display it on RT7.

On the other hand, in processing the trajectory data in step 13, the robots 1 to 1 after being taught are operated for regeneration, and the position data from the digitizer 3 is sent to the CPU 4b every predetermined lean-pulling time.
(Step 13) and display the trajectory on the CRT (Step 14).

Then, based on the reference pattern displayed on the CRT 7 and the trajectory of the cursor, the two points of the reference pattern and the trajectory are specified from the keyboard 6, and the deviation between the two is eliminated, thereby improving the trajectory. Measuring the old (Sfutsubu 15)
. Roughly, the velocity d3 and acceleration fluctuation of the cursor 2 are determined based on the trajectory 1-ta and the sampling port (step 16).
The process of subtracting j5 will be explained in detail with reference to FIGS. 4 to 8.

FIG. 4 is a flowchart A7 representing step 11.12 in FIG. It is determined based on the input, and if linear interpolation is to be performed, the process advances to step 42. Here, according to the teaching operation of the robot main body 1a, the two taught points are output from the digitizer 3 and read by the CPU 4b. The X and Y coordinates of the read reference pattern points are stored in the RAM 4d (step 43), and the points of the reference pattern are calculated by linear interpolation and displayed on the CRT 7 (step 44). on the other hand,
If circular interpolation is selected in step 41, the three taught points are read from the digitizer 3 (step 45).
, 3 points are stored in the RAM 4d (step 46), the 3 points are processed by circular interpolation bar and displayed on the CRT 7 (step 47).
). Next, in step 48, it is determined whether or not to return to step 41 to repeat the processing of the data of the reference pattern, and when all the data have been input, the creation of the reference pattern is completed. This reference pattern is shown as A in Figure 9.
, B, C, . . . are indicated by interpolated two-dot chain lines.

Note that in step 42.45 above, the input from the digitizer 3 was used as the input for the reference pattern data, but instead of this, the reference pattern is created by inputting the X and Y coordinates on the keyboard 6. The robot body 1a is moved so as to match the reference pattern, and the CRT 7
The point that coincides with the movement of the cursor 2 above may be designated as the teaching point.

On the other hand, the flow p −l□ of step 13 in FIG.
It is represented in FIG. That is, in step 51,
The number of points to be taken in counter is set to O, and then in step 52, the number of points to be taken in, N, is input from the keyboard 6.

In the next step 53, the CPU 4b issues an instruction to read the X and Y coordinates to the digitizer 3 via the input/output board 4a, and in step 53, the digitizer 3 reads the X and Y coordinates of the cursor 2. After that, in step 55, it is determined whether or not the reading has been completed. If it is determined that the reading has been completed, the read X, Y coordinates are stored in the memory (RA
M4c) (step 56). Next, the number of reading points is added by one (step 57), and it is determined whether the number of reading points I has reached N, that is, whether all reading has been completed or not (step 5B); if not, then , 1Q from reading the external target of the previous point
Wait until msec has elapsed (step 59), and then return to step 53 to read the coordinates of the next point.

Then, the processes from step 53 to step 59 are repeatedly executed, and when the number of reading points reaches N, the coordinate reading from the digitizer ends.

The trajectory data obtained through the above processing is displayed on the CRT through the processing shown in the flowchart shown in FIG.

Among the trajectory data stored in the RAM 4d, an address is set for the first trajectory data (step 61), the coordinate values xi and yi of the set address are read by the CPU 4b (step 62), and the read coordinates are displayed on the CRT 7. The coordinate system is converted and a plotting instruction is given (step 63).

Then, in the next step 64, it is determined whether or not all of the trajectory data processors have been completed, and if they have not been completed, the address of the data of the next trajectory point is set (step 65). , returns to step 62, repeats the processing of the read data, and executes all data processing. An example of how this trajectory data is displayed on CRTY is shown in the 9th section.
It is shown by two solid lines (a, b, c...) in the figure.

The process of step 15 in FIG. 3 is executed according to the flowchart in FIG. In step 71, the reference pattern (double-dashed line) and locus (two solid lines) are enlarged on the CRT 7 as shown in FIG. Then, the trajectory and two points on the reference pattern are designated by inputting from the keyboard 6. Here, for example, eight points are designated as the reference pattern and b is designated as the locus (step 72), and the deviation between these points is measured. That is, in step 72, the two designated points are converted into X and Y coordinate values on the digitizer 1a3, and stored in the RAM 4d.
Then, in step 74, the distance between the two points is calculated and C
Display on RT7. Next, the process proceeds to step 75, and if all the measurements have been completed, the work is finished, and if restart is required, the process returns to step 71.

The speed and acceleration fluctuation calculation processing in step 16 of FIG. 3 is executed according to the flowchart of FIG. 8. In the figure, first, in step 81), the start and end points of the fluctuation measurement area are indicated on the CRT 7 displaying the trajectory.
Next, the address of the RAM 4d is set as the starting point data (step 82), and two data points xi, yi, xi+1 . yi+1 to CPU4b
(step 83). Then, the speed between the two points is calculated and stored in a speed memory. The above velocity is calculated by dividing the distance between two points by the sampling time, as shown in the following equation.Next, in step 85, check whether the previous velocity data vi is stored in the memory. If it is not stored, vi cannot be found because xi and yi are the starting points, and the process proceeds to step 86, where xi, yi () is displayed on the CRT 7. on the other hand,
When it is determined in step 85 that there is data of vi, the process proceeds to step 87, where the speed change (vi±1-vi)
is divided by 1 non-pulling I, 1 interval (10 msec) to obtain acceleration J, Rai+1, and store it in the acceleration memory.

Next, step 88 is executed, and it is determined whether or not the acceleration data of ai is stored in the memory. If not, since xi and yi are the second points from the starting point, ai can be calculated. Proceed to step 89, xi, y,
Display vi on the CRT7. On the other hand, in step 88 a
If there is data for i, the process advances to step 90, and the data for Xi exists.

Display yi, vi, ai on the CRT7. Then, in step 91, if xi→-1, Vi+1 is the end point, the work is avoided, and if it is the end point, in order to continue the work, the next step 92 is to address the next trajectory point data. After setting, the process returns to step 83.

Therefore, according to the above embodiment, compared to the conventional method of drawing a trajectory on graph paper, the position of the cursor on the digitizer is electrically detected with an absolute accuracy of ±0.1 mm, so highly accurate trajectory accuracy evaluation is possible. I can do it.

Moreover, since the digitizer 3 is used, unlike the prior art, the distinction between trajectories does not become unclear, graph paper, etc. are not torn, and reproducibility is excellent.

Furthermore, by measuring the cursor position at a constant sampling interval of 10m5ec, we can
Measurement results of acceleration fluctuations can also be obtained.

[Effects of the Invention] As described above, according to the present invention, one measurement of the robot trajectory can be performed with high accuracy, and repeated measurements can be easily performed. In addition, velocity and acceleration fluctuations of the trajectory can also be easily determined.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing the configuration of the present invention, FIG. 2 is a configuration diagram showing an embodiment of the present invention, and FIGS. 3 to 8 are flowcharts of the embodiment. The figures are necessarily explanatory diagrams for explaining the same embodiment. 1a...To robot 1 Main body 1b...Teaching operation unit 1C...Control device 2...Cursor (position source C) 3...Digitizer (D) 4...Body side control device 7.・・CRT (display means G)

Claims (1)

[Scope of Claims] A position transmitting source attached to a working part of a robot that performs at least two-dimensional movements; A digitizer that detects the position of this position transmitting source and outputs two-dimensional coordinates of the position transmitting source; This digitizer a sampling means for sampling coordinate signals from the source at set time intervals; a calculation means for calculating at least one of a locus, velocity, or acceleration of the position source based on the results sampled by the sampling means; A robot performance measuring device comprising: display means for displaying results.