JPS63191593A - Method of calculating external force of three-way force detector - Google Patents
Method of calculating external force of three-way force detectorInfo
- Publication number
- JPS63191593A JPS63191593A JP62019034A JP1903487A JPS63191593A JP S63191593 A JPS63191593 A JP S63191593A JP 62019034 A JP62019034 A JP 62019034A JP 1903487 A JP1903487 A JP 1903487A JP S63191593 A JPS63191593 A JP S63191593A
- Authority
- JP
- Japan
- Prior art keywords
- force
- detector
- tool
- external force
- force detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 4
- 210000000707 wrist Anatomy 0.000 claims description 20
- 238000010586 diagram Methods 0.000 description 7
- 230000036544 posture Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、例えば産業用ロボットの作業端に装着して使
う３方向力検出器の外力算出方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an external force calculation method for a three-directional force detector used by being attached to the working end of an industrial robot, for example.
この種装置の要部の概要を表わす側面図を第４図に示す
。A side view showing the outline of the main parts of this type of device is shown in FIG.
産業用ロボット手首部に３方向力検出器を介してツール
を装着し、ロボットが作業を行なう場合の構成である。This is a configuration in which a tool is attached to the wrist of an industrial robot via a three-directional force detector, and the robot performs work.
すなわち、
ロボットアーム４の先端のロボット手首部１に３方向力
検出器２を取り付けて、その先にツール３を固定してお
り、ツール３は３次元の空間において自在に可動できる
ようにしである。That is, a three-direction force detector 2 is attached to the robot wrist 1 at the tip of the robot arm 4, and a tool 3 is fixed to the tip thereof, so that the tool 3 can freely move in three-dimensional space. .
しかして作業中に、ツール３が受ける外力を３方向力検
出器２で検出する場合に問題となるのは、ツール３自身
の重量Ｗによる外力検出値への影響である。However, when the three-directional force detector 2 detects an external force applied to the tool 3 during work, a problem arises in the influence of the weight W of the tool 3 itself on the detected external force value.
この影響を取り除くため、いずれも本出願人が先に開発
し提案した
特願昭６０−２７４７６４号（従来例）特願昭６１−１
４６７２６号（先行例）がある。−
従来例は特定の２つの姿勢での較正値であり、３方向力
検出器２のクロストーク、熱等による特性を考慮し、こ
れを改良したのが先行例である。In order to eliminate this influence, both Japanese Patent Applications No. 60-274764 (prior example) and Japanese Patent Application No. 61-1 were developed and proposed by the present applicant.
There is No. 46726 (preceding example). - The conventional example is a calibration value for two specific postures, and the prior example is improved by taking into account the characteristics of the three-directional force detector 2 due to crosstalk, heat, etc.
この先行例は、３方向力検出器２の各軸（Ｘ。This prior example is based on each axis (X) of the three-directional force detector 2.
Ｙ、 Ｚ軸）の検出値（Ｘｌ、Ｙｌ、Ｚｌ）の情報から
、各軸の較正値（Ｘｏ、Ｙｏ、Ｚｏ）を補正し、外力Ｆ
を
として算出する３方向力検出器の零点較正方法である。Based on the information on the detected values (Xl, Yl, Zl) of the Y, Z axes, the calibration values of each axis (Xo, Yo, Zo) are corrected, and the external force F
This is a zero point calibration method for a three-directional force detector that calculates the following.
ところが、先行例では３方向力検出器２の合力Ｆｏを
とすると、外力Ｆは
Ｆ−Ｉ ＦローＷ＋
となり、外力、ツールｆｆｉ量、合力の関係図を表わす
ｍ５図に示すように、
合力Ｆ。−ツール重量Ｗ
が
外力Ｆ−０
である〔第５図（ａ）〕。However, in the previous example, if the resultant force Fo of the three-direction force detector 2 is assumed, the external force F becomes F-IF low W+, and as shown in the diagram m5 showing the relationship between the external force, the tool ffi amount, and the resultant force, the resultant force F . - The tool weight W is the external force F-0 [Fig. 5(a)].
このとき、外力Ｆがツール重量Ｗと反対に作用した場合
〔第５図（ｂ）、） 、外力Ｆは■→■→■〔第５図（
ａ）〕の経路をたどり、合力Ｆ。で反転してしまい、正
確な外力Ｆの算出ができない。At this time, if the external force F acts in the opposite direction to the tool weight W [Fig. 5 (b),), the external force F becomes ■ → ■ → ■ [Fig. 5 (
a)], the resultant force F is obtained. The external force F cannot be calculated accurately.
ここにおいて本発明は、この先行例の難点を克服し、例
えば産業用ロボット手首部の姿勢を表わす座標を利用し
て、３方向力検出器より正確な外力を算出する方法を提
供することを、その目的とする。The present invention overcomes the drawbacks of the prior art and provides a method for calculating external force more accurately than a three-directional force detector by using, for example, coordinates representing the posture of an industrial robot's wrist. That purpose.
本発明は、
ツール重量Ｗを測定し、ロボット手首部の座標と３方向
力検出器の座標をパラメータの関係式で結びつけ、３方
向力検出器に加わるツール重量Ｗおよび外力Ｆを３方向
力検出器の座標上で表現し、外力の算出を行なう
３方向力検出器の外力算出方法である。The present invention measures the tool weight W, connects the coordinates of the robot wrist and the coordinates of the 3-directional force detector using a parameter relational expression, and detects the tool weight W and external force F applied to the 3-directional force detector. This is an external force calculation method for a three-directional force detector that expresses the external force on the coordinates of the vessel and calculates the external force.
ロボット手首部の姿勢を表わす座標を利用し、ロボット
手首部と３方向力検出器をパラメータで関係づけている
から、ツール重量Ｗを３方向力検出器の座標上でＺｓｗ
’ Ｘｓｗ’ ”ｓｖと表現され、３方向力検出器の各
軸出力成分ｚ 、ｘ 、ｙ かＳ Ｓ
Ｓ
らツール重量成分をそれぞれ取り除くことができ、外力
Ｆが正確に導出される。Since the coordinates representing the posture of the robot wrist are used and the robot wrist and the three-direction force detector are related by parameters, the tool weight W can be expressed as Zsw on the coordinates of the three-direction force detector.
It is expressed as '
S and tool weight components can be removed, respectively, and the external force F can be accurately derived.
以下、本発明の一実施例について、図面を参照して説明
する。An embodiment of the present invention will be described below with reference to the drawings.
ロボット本体５の固定座標とロボット手首部１の座標関
係図は、第３図に表わすとおりである。A diagram showing the relationship between the fixed coordinates of the robot body 5 and the coordinates of the robot wrist portion 1 is shown in FIG.
第３図のように、６図節を有するロボットの場合に、
各関節Ａ （ｎ−１，２，３，４，５，６）は、
Ａ ｓｍＲｏｔ （Ｚ、θ） ４’ｒａｎｓ （０，０
，九）１ ｎ
となり、ｅＴｒａｎｓ（ａ 、０．０）＊Ｒｏｔ （
Ｘ、ａｎ）ロボット手首部１の先端をＴ、とすれば、Ｔ
ｓ ＝ Ｚ ” ＡＩ Ａ２ Ａｓ Ａｉ、 Ａｉ、
Ａｓである。As shown in Figure 3, in the case of a robot with six nodes, each joint A (n-1, 2, 3, 4, 5, 6) is A smRot (Z, θ) 4'rans (0, 0
, 9) 1 n , and eTrans(a , 0.0)*Rot (
X, an) If the tip of the robot wrist part 1 is T, then T
s = Z ” AI A2 As Ai, Ai,
It is As.
ただし、
であり、ロボット本体５の固定座標の方向余弦だけで表
現すると
となる。However, , and can be expressed only by the direction cosine of the fixed coordinates of the robot body 5.
ロボット手首部１と３方向力検出器２の座標を結び付け
るパラメータを、第２図のロボット手首部１の座標（Ｘ
Ｈ，ＹＨ，ＺＨ）の各軸の回転角度ｓｘ、ｓｙ、ｓｚと
し、３方向力検出器２の方向余弦をあられすマトリック
スをＳとすると、５−Ｔ６−Ｒｏｔ （Ｘ、、５Ｘ）
Ｒｏｔ （ＹＨ，５Ｙ）Ｒｏ ｔ （Ｚｕ 、Ｓ Ｚ
）
と表わすことができる。The parameter that connects the coordinates of the robot wrist 1 and the three-direction force detector 2 is defined as the coordinate (X) of the robot wrist 1 in FIG.
5-T6-Rot (X, 5X)
Rot (YH, 5Y) Rot (Zu, S Z
) can be expressed as
一方、ツール重量Ｗは３方向力検出器２の座標で、第１
図に示すように、
Ｘ Ｙ Ｚ
ｓｖ’ ｓｖ’ ｓｗ
と表わすことができる。On the other hand, the tool weight W is the coordinate of the three-directional force detector 2, and the first
As shown in the figure, it can be expressed as X Y Z sv'sv' sw.
すなわち、第１図（ａ）は３方向力検出器２の各軸の外
力ｘ 、ｙ 、ｚ とツール３の重ｉｗＳ
Ｓ Ｓ
の関係を表わし、第１図（ｂ）はツール重量ＷのＺ 成
分Ｚ とＸ −Ｙ 平面への投影成分Ｗ′ｓ
５ｗ５ｓ
を示し、第１図（ｃ）はＸ −Ｙ 平面上でＷ′Ｓ
からツールＴｆｌＱのＸ、Ｙ 成分Ｘｓｗ’ Ｙｓ
ｖが導Ｓ Ｓ
出されることを現わしている。That is, FIG. 1(a) shows the external forces x, y, z on each axis of the three-directional force detector 2 and the weight iwS of the tool 3.
S
5w5s, and FIG. 1(c) shows the X, Y components of tool TflQ from W'S on the X-Y plane.
This shows that v is derived from S S .
したがってロボット本体５の固定座標上で、ツール重量
Ｗの方向を定義すると、３方向力検出器２の各軸におけ
るツール重量成分を算出することができる。Therefore, by defining the direction of the tool weight W on the fixed coordinates of the robot body 5, the tool weight components in each axis of the three-directional force detector 2 can be calculated.
ロボット本体５を地面に平行に設置した場合、ツール重
量Ｗはロボット本体５の固定座標上で（０，０，−ｗ）
と定義される。When the robot body 5 is installed parallel to the ground, the tool weight W is defined as (0, 0, -w) on the fixed coordinates of the robot body 5.
このときの３方向力検出器の各軸成分は（Ｘ８ｗ、 Ｙ
８ｖ、 ＺＳｖ） −［０，Ｏ，−Ｗ）・Ｓとなり、
Ｘ思■−−ｗ争ｎｚｓ
ｖ
ｙ −−ｗ・０□８
ｖ
Ｚ ■−Ｗ・ａｚｓ
ｖ
となる。At this time, each axis component of the three-directional force detector is (X8w, Y
8v, ZSv) -[0,O,-W)・S, and
あるロボット手首部１の姿勢でツール３が外力Ｆを受け
たときの、３方向力検出器の各軸成分をＸＳＦ・ＹＳＦ
・ＺＳＦ
とすると、
Ｘｌ−Ｘｏ−ＸｓＶ＋Ｘ５Ｆ
Ｙｌ−Ｙｏ−Ｙｓｖ＋ＹｓＦ
Ｚｌ −ＺＯ−Ｚｓｗ＋Ｚｓｗ
ここに、Ｘｏ、Ｙｏ、Ｚｏは３方向力検出器の零点較正
値である、
となり、
Ｘ −（Ｘｌ−Ｘｏ’） −Ｘ８、
Ｆ
Ｙ −（Ｙ、 −Ｙｏ） −Ｙｓ。When the tool 3 receives an external force F in a certain posture of the robot wrist 1, each axis component of the three-directional force detector is expressed as XSF and YSF.
・If ZSF, then ) -X8, F Y -(Y, -Yo) -Ys.
Ｆ Ｚ −（Ｚ −Ｚｏ） −Ｚ８ｗ ＳＰ ｌ となる。F Z -(Z -Zo) -Z8w SP l becomes.
外力Ｆは と、導出することができる。The external force F is and can be derived.
このように、３方向力検出器２の取付は方向に制限がな
く、ツール３の受ける外力Ｆを正確（こ算出される。In this way, the three-direction force detector 2 can be mounted without any restrictions in the direction, and the external force F received by the tool 3 can be accurately calculated.
かくして本発明によれば、ロボット手首部に固定された
３方向力検出器において、ツールの受ける外力を、外力
の方向とは無関係に、どのようなロボット手首姿勢につ
いても、正確に算出することができ、作業の信頼性が向
上し、効率が著しく増大することから、大幅なコストの
低減を図ることができる。Thus, according to the present invention, the three-directional force detector fixed to the robot wrist can accurately calculate the external force applied to the tool for any robot wrist posture, regardless of the direction of the external force. This improves operational reliability and significantly increases efficiency, resulting in significant cost reductions.
第１図は本発明の一実施例における３方向力検出器の座
標上でのツール重量成分を表わす図、第２図はロボット
手首部の座標と３方向力検出器の座標を関係づけるパラ
メータを示す図、第３図は６関節ロボットの固定座標と
ロボット手首部の座標を表わす図、第４図は産業用ロボ
ットの手首部；；３方向力検出器を装着しその先にツー
ルを固定した構成を示す側面図、第５図は外力Ｆの算出
グラフを表わす図である。
１・・・・・・ロボット手首部（３方向力検出器支持部
材）
２・・・・・・３方向力検出器
３・・・・・・ツール
４・・・・・・ロボットアーム
５・・・・・・ロボット本体。
出願人代理人 佐 藤 −雄
第３図FIG. 1 is a diagram showing the tool weight component on the coordinates of a three-directional force detector in an embodiment of the present invention, and FIG. 2 is a diagram showing parameters relating the coordinates of the robot wrist and the coordinates of the three-directional force detector. Figure 3 is a diagram showing the fixed coordinates of a 6-joint robot and the coordinates of the robot's wrist; Figure 4 is a diagram showing the wrist of an industrial robot; a three-directional force detector is attached and a tool is fixed at the tip. FIG. 5, a side view showing the configuration, is a diagram showing a calculation graph of the external force F. 1...Robot wrist part (3-direction force detector support member) 2...3-direction force detector 3...Tool 4...Robot arm 5. ...Robot body. Applicant's agent Mr. Sato Figure 3
Claims (1)
するさいに、ロボット手首部の姿勢を表わす座標を媒介
として、ロボット手首部と３方向力検出器をパラメータ
で関係づけ、 ツール重量を３方向力検出器の座標上で表現し、３方向
力検出器の各軸出力成分からツール重量を取り除く、 ことを特徴とする３方向力検出器の外力算出方法。[Claims] 1 and 3 directional force detectors are fixed to the robot wrist, the tool weight W is measured, the tool is fixed to the 3 directional force detector, and the external force F applied to the tool during work is calculated as the 3 directional force. When detecting with a detector, the robot wrist and the three-direction force detector are related by parameters using the coordinates representing the posture of the robot wrist, and the tool weight is expressed on the coordinates of the three-direction force detector. A method for calculating an external force for a three-directional force detector, comprising: removing tool weight from each axis output component of the three-directional force detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62019034A JPS63191593A (en) | 1987-01-29 | 1987-01-29 | Method of calculating external force of three-way force detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62019034A JPS63191593A (en) | 1987-01-29 | 1987-01-29 | Method of calculating external force of three-way force detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63191593A true JPS63191593A (en) | 1988-08-09 |
Family
ID=11988157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62019034A Pending JPS63191593A (en) | 1987-01-29 | 1987-01-29 | Method of calculating external force of three-way force detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63191593A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08257975A (en) * | 1995-03-23 | 1996-10-08 | Agency Of Ind Science & Technol | Force-control robot compensating force detection |
| JP2012013537A (en) * | 2010-06-30 | 2012-01-19 | Canon Inc | Method of calibrating force sensor |
-
1987
- 1987-01-29 JP JP62019034A patent/JPS63191593A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08257975A (en) * | 1995-03-23 | 1996-10-08 | Agency Of Ind Science & Technol | Force-control robot compensating force detection |
| JP2012013537A (en) * | 2010-06-30 | 2012-01-19 | Canon Inc | Method of calibrating force sensor |
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