JPWO2016125204A1 - ロボットのぶれ自動調整装置及びロボットのぶれ自動調整方法 - Google Patents
ロボットのぶれ自動調整装置及びロボットのぶれ自動調整方法 Download PDFInfo
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- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
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- G05B19/291—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/298—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/293 - G05B19/296
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Abstract
Description
a1<b1,a2<b2,a3<b3 ,a1>a2>a3 ,b1>b2>b3・・・(1)
関係式(1)より、段階が上がるごとに瞬間閾値と安定閾値は小さくなるように設定されている。このように閾値を多段階に分けて徐々に閾値を小さくしていくことで、より安定的な解に収束しやすくなる。
2 ぶれ自動調整装置(制御装置)
3 計測治具
4 距離センサ
5 目標軌跡
10 ベース
11 昇降軸
12 第1リンク
13 第2リンク
14 第3リンク
15 エンドエフェクタ(ハンド)
20 サーボモータ
21 演算部
22 サーボ制御部
22 記憶部
23 制御パラメータ設定部
25 ぶれ取得部
26 判定部
27 パラメータ最適化部
31,32 デジタルフィルタ部
33,34 加算器
40 速度パラメータ設定部(A軸)
41 加速度パラメータ設定部(A軸)
42 速度パラメータ設定部(A軸〜B軸)
43 加速度パラメータ設定部(A軸〜B軸)
44 速度パラメータ設定部(A軸)
45 加速度パラメータ設定部(A軸)
50 モータ制御部(A軸)
51 モータ制御部(B軸)
100 ぶれ自動調整システム
a1<b1,a2<b2,a3<b3 ,a1>a2>a3 ,b1>b2>b3・・・(1)
関係式(1)より、段階が上がるごとに瞬間閾値と安定閾値は小さくなるように設定されている。このように閾値を多段階に分けて徐々に閾値を小さくしていくことで、より安定的な解に収束しやすくなる。
2 制御装置
3 計測治具
4 距離センサ
5 目標軌跡
10 ベース
11 昇降軸
12 第1リンク
13 第2リンク
14 第3リンク
15 エンドエフェクタ(ハンド)
20 サーボモータ
21 演算部
22 サーボ制御部
23 記憶部
24 制御パラメータ設定部
25 ぶれ取得部
26 判定部
27 パラメータ最適化部
31,32 デジタルフィルタ部
33,34 加算器
40 速度パラメータ設定部(A軸)
41 加速度パラメータ設定部(A軸)
42 速度パラメータ設定部(A軸〜B軸)
43 加速度パラメータ設定部(A軸〜B軸)
44 速度パラメータ設定部(A軸)
45 加速度パラメータ設定部(A軸)
50 モータ制御部(A軸)
51 モータ制御部(B軸)
100 ぶれ自動調整システム
Claims (8)
- 複数の関節軸を有するアームを備えるロボットの当該アームの先端部の所定部位の直線移動時におけるぶれを自動的に調整する装置であって、
前記所定部位を直線移動させる目標軌跡及び当該目標軌跡に従って前記所定部位が直線移動するよう前記アームの各軸の動作を制御するための複数の制御パラメータを予め記憶する記憶部と、
前記複数の制御パラメータの値をそれぞれ設定する制御パラメータ設定部と、
前記目標軌跡及び前記設定された複数の制御パラメータに基づいて、前記所定部位が直線移動するように前記アームの各軸の動作を制御するロボット制御部と、
前記直線移動における1以上の時刻にそれぞれ対応する前記目標軌跡上の点と前記所定部位の前記直線移動時の軌跡上の点との当該目標軌跡に対する前記所定部位の軌跡の偏倚量をそれぞれ前記ぶれとして取得するぶれ取得部と、
前記ぶれ取得部により取得されたぶれ又は当該ぶれの重み付けされた値であるぶれ評価値が所定の閾値以下であるか否かを判定する判定部と、
前記ぶれ評価値が前記所定の閾値よりも大きい場合は、前記制御パラメータ設定部に前記複数の制御パラメータのいずれか一つを新たに設定させ、前記ぶれ評価値が前記所定の閾値以下になるまで、前記制御パラメータの新たな設定、前記所定部位の直線移動、前記ぶれの取得、及び前記判定を、それぞれ、前記制御パラメータ設定部、前記ロボット制御部、前記ぶれ取得部、及び前記判定部に繰り返し行わせ、前記複数の制御パラメータの組み合わせを最適化するパラメータ最適化部と、
を備える、ロボットのぶれ自動調整装置。 - 前記アームは、前記複数の関節軸の各々を駆動するサーボモータを備え、
前記パラメータ最適化部は、前記各軸のサーボモータの回転子の速度及び角速度に関する制御パラメータを優先的に変更する、請求項1に記載のロボットのぶれ自動調整装置。 - 前記判定部は、前記ぶれ評価値が前記所定の閾値以下になった後、前記ぶれ取得部により取得されたぶれ評価値が前記所定の閾値よりも小さい第2閾値以下であるか否かを判定し、
前記パラメータ最適化部は、前記ぶれ評価値が前記第2閾値よりも大きい場合は、前記制御パラメータ部に前記複数の制御パラメータのいずれか一つを新たに設定させ、前記ぶれ評価値が前記第2閾値以下になるまで、前記制御パラメータの新たな設定、前記所定部位の直線移動、前記ぶれの取得、及び前記判定を、それぞれ、前記制御パラメータ設定部、前記ロボット制御部、前記ぶれ取得部、及び前記判定部に繰り返し行わせ、前記複数の制御パラメータの組み合わせを最適化する、請求項1又は2に記載のロボットのぶれ自動調整装置。 - 前記所定部位の軌跡の偏倚量は、前記所定部位の目標軌跡に平行な面を備えた計測治具と、前記所定部位に配置され、前記計測治具に対する前記所定部位の距離を計測する距離センサとに基づいて取得される、請求項1乃至3のいずれか一項に記載のロボットのぶれ自動調整装置。
- 前記ロボットは、水平多関節型ロボットである、請求項1乃至4のいずれか一項に記載のロボットのぶれ自動調整装置。
- 前記所定部位は、前記ロボットの前記アーム先端に取り付けられたエンドエフェクタであって、
前記ぶれ取得部は、前記エンドエフェクタの前記直線移動における1以上の時刻にそれぞれ対応する前記目標軌跡上の点と前記エンドエフェクタの前記直線移動時の軌跡上の点との当該目標軌跡に対する当該目標軌跡に直交する横方向の前記エンドエフェクタの軌跡の偏倚量をそれぞれ横ぶれとして取得する、請求項1乃至5のいずれか一項に記載のロボットのぶれ自動調整装置。 - 複数の関節軸を有するアームを備えるロボットの当該アームの先端部の所定部位の直線移動時におけるぶれを自動的に調整するぶれ自動調整装置により実行される方法であって、
前記所定部位を直線移動させる目標軌跡及び当該目標軌跡に従って前記所定部位が直線移動するよう前記アームの各軸の動作を制御するための複数の制御パラメータを予め記憶部に記憶しておくステップと、
前記複数の制御パラメータの値をそれぞれ設定するステップと、
前記目標軌跡及び前記設定された複数の制御パラメータに基づいて、前記所定部位が直線移動するように前記アームの各軸の動作を制御するステップと、
前記直線移動における1以上の時刻にそれぞれ対応する前記目標軌跡上の点と前記所定部位の前記直線移動時の軌跡上の点との当該目標軌跡に対する前記所定部位の軌跡の偏倚量をそれぞれ前記ぶれとして取得するステップと、
前記取得されたぶれ又は当該ぶれの重み付けされた値であるぶれ評価値が所定の閾値以下であるか否かを判定するステップと、
前記ぶれ評価値が前記所定の閾値よりも大きい場合は、前記複数の制御パラメータのいずれか一つを新たに設定し、前記ぶれ評価値が前記所定の閾値以下になるまで、前記制御パラメータの新たな設定、前記所定部位の直線移動、前記ぶれの取得、及び前記判定を、それぞれ、繰り返し行い、前記複数の制御パラメータの組み合わせを最適化するステップと、
を含む、ロボットのぶれ自動調整方法。 - 前記所定部位は、前記ロボットの前記アーム先端に取り付けられたエンドエフェクタであって、
前記ぶれを取得するステップでは、前記エンドエフェクタの前記直線移動における1以上の時刻にそれぞれ対応する前記目標軌跡上の点と前記エンドエフェクタの前記直線移動時の軌跡上の点との当該目標軌跡に対する当該目標軌跡に直交する横方向の前記エンドエフェクタの軌跡の偏倚量をそれぞれ横ぶれとして取得する、請求項7に記載のロボットのぶれ自動調整方法。
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US20180015614A1 (en) | 2018-01-18 |
JP6475756B2 (ja) | 2019-02-27 |
WO2016125204A1 (ja) | 2016-08-11 |
CN107206588A (zh) | 2017-09-26 |
TW201628806A (zh) | 2016-08-16 |
CN107206588B (zh) | 2021-04-30 |
TWI572468B (zh) | 2017-03-01 |
KR101963336B1 (ko) | 2019-03-28 |
KR20170117448A (ko) | 2017-10-23 |
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