JPWO2022201362A5

JPWO2022201362A5 -

Info

Publication number: JPWO2022201362A5
Application number: JP2023508261A
Authority: JP
Filing date: 2021-03-24
Publication date: 2023-06-29
Anticipated expiration: 2041-03-24

Description

上述した課題を解決し、目的を達成するために、本開示におけるロボット制御装置は、ロボットのエンドエフェクタを始点から終点まで移動させて、対象物体に対して予め設定されたタスクを実行する。ロボット制御装置は、対象物体が取り得る複数の位置および姿勢の組の各々に対応して、参照軌道および分岐点が記憶される記憶部と、タスクの実行時に、対象物体の位置および姿勢を計測する計測部と、計測された対象物体の位置および姿勢に対応する参照軌道および分岐点を記憶部から取得し、計測された対象物体の位置および姿勢を終点に設定し、取得された参照軌道をそのまま使用して始点から分岐点までのロボットの動作軌道である第１の動作軌道を生成し、取得された分岐点から終点までのロボットの動作軌道である第２の動作軌道を生成する個別軌道生成部と、第１の動作軌道および第２の動作軌道を含む動作指令に従ってロボットを駆動制御するロボット制御部と、を備える。参照軌道は、始点から、対象物体が取り得る複数の位置および姿勢の組のうちの一つである第１点までのロボットの動作軌道であって、障害物との干渉を回避でき、かつ評価値が第一の範囲に入ることを満足する動作軌道である。分岐点は、参照軌道上の一点であって、分岐点から第１点までの動作軌道の評価値が第一の範囲とは異なる第二の範囲に入ることを満足する点である。 In order to solve the above-described problems and achieve the object, a robot control device according to the present disclosure moves an end effector of a robot from a start point to an end point to perform a preset task on a target object. The robot control device includes a storage unit that stores reference trajectories and branch points corresponding to each of a plurality of sets of possible positions and orientations of the target object, and measures the position and orientation of the target object during task execution. and the reference trajectory and branch points corresponding to the measured position and orientation of the target object are acquired from the storage unit, the measured position and orientation of the target object are set as the end point, and the acquired reference trajectory is set to A first motion trajectory, which is the motion trajectory of the robot from the starting point to the branch point, is generated by using the data as it is, and a second motion trajectory, which is the motion trajectory of the robot from the obtained branch point to the end point , is generated . A trajectory generation unit and a robot control unit that drives and controls the robot according to a motion command including the first motion trajectory and the second motion trajectory. A reference trajectory is a motion trajectory of a robot from a starting point to a first point that is one of a plurality of sets of possible positions and postures of a target object, avoids interference with obstacles, and is evaluated. A motion trajectory that satisfies a value falling within a first range. A branch point is a point on the reference trajectory that satisfies the condition that the evaluation value of the motion trajectory from the branch point to the first point falls within a second range different from the first range.

Claims

A robot control device that moves a robot end effector from a start point to an end point to perform a preset task on a target object,
a storage unit that stores reference trajectories and branch points corresponding to each of a plurality of sets of possible positions and orientations of the target object;
a measurement unit that measures the position and orientation of the target object when executing the task;
obtaining the reference trajectory and the branch point corresponding to the measured position and orientation of the target object from the storage unit, setting the measured position and orientation of the target object as the end point, and obtaining the obtained reference trajectory; using the trajectories to generate a first motion trajectory, which is the motion trajectory of the robot from the start point to the branch point; and a second motion trajectory, which is the motion trajectory of the robot from the obtained branch point to the end point. an individual trajectory generator that generates a motion trajectory;
a robot control unit that drives and controls the robot according to a motion command including the first motion trajectory and the second motion trajectory;
with
The reference trajectory is a motion trajectory of the robot from the starting point to a first point that is one of a plurality of possible position and posture sets of the target object, and avoids interference with obstacles. and an operation trajectory that satisfies that the evaluation value falls within the first range,
The branch point is a point on the reference trajectory, and the evaluation value of the motion trajectory from the branch point to the first point falls within a second range different from the first range. A robot control device characterized by being a point .

a target set setting unit that sets, as a target set, a set of sets of a plurality of possible positions and orientations of the target object;
a reference trajectory generation unit that selects at least one set of position and orientation of the target object included in the target set and generates the reference trajectory based on the selected set of position and orientation of the target object;
a plurality of candidate points for the branch point are extracted from the generated reference trajectory, and the evaluation value falls within the second range from among a plurality of motion trajectories from the extracted plurality of candidate points to the first point; selecting a motion trajectory to enter and determining a candidate point corresponding to the selected motion trajectory as a branch point corresponding to the first point; and calculating the branch point for each set of possible positions and orientations of the target object, and storing the calculated branch point and the generated reference trajectory in the storage unit. Department and
The robot control device according to claim 1, characterized by comprising:

3. The robot controller according to claim 2, wherein the reference trajectory generator generates one reference trajectory common to a plurality of sets of possible positions and orientations of the target object.

4. The robot controller according to claim 3, wherein the reference trajectory generator sets the one reference trajectory at the center position of the target set.

4. The robot controller according to claim 3, wherein the reference trajectory generator sets the one reference trajectory at a position with the highest frequency of occurrence during an actual operation of the robot.

3. The robot control apparatus according to claim 2, wherein the reference trajectory generator sets the reference trajectory at different first points according to a set of possible positions and orientations of the target object.

3. The robot control according to claim 2, wherein the reference trajectory generation unit generates a new reference trajectory when there is no branch point that satisfies a condition that the evaluation value falls within the second range. Device.

The storage unit stores a set of trajectories of the reference trajectory, the branch point, and the hand approach to the target object, corresponding to each of a plurality of sets of possible positions and orientations of the target object. The robot controller according to claim 1, wherein:

A robot control device that moves a robot end effector from a start point to an end point to perform a preset task on a target object,
a storage unit that stores one reference trajectory and one branch point that are common to a plurality of sets of possible positions and orientations of the target object;
a measurement unit that measures the position and orientation of the target object when executing the task;
acquire the reference trajectory and the branch point from the storage unit, set the measured position and orientation of the target object as the end point, and use the acquired reference trajectory to move from the start point to the branch point; an individual trajectory generation unit that generates a first motion trajectory that is the motion trajectory of the robot and generates a second motion trajectory that is the motion trajectory of the robot from the obtained branch point to the end point;
a robot control unit that drives and controls the robot according to a motion command including the first motion trajectory and the second motion trajectory;
with
The reference trajectory is a motion trajectory of the robot from the starting point to a first point that is one of a plurality of possible position and posture sets of the target object, and avoids interference with obstacles. and an operation trajectory that satisfies that the evaluation value falls within the first range,
The branch point is a point on the reference trajectory, and the first range is an average of the evaluation values of the plurality of motion trajectories from the branch point to the plurality of sets of possible positions and orientations of the target object. A robot control device characterized in that it is a point that satisfies falling within a second range different from

a target set setting unit that sets a set of a plurality of possible positions and orientations of the target object as a target set;
a reference trajectory generation unit that selects a set of the position and orientation of one of the target objects included in the target set and generates the reference trajectory based on the selected set of the position and orientation of the target object;
A plurality of candidate points for the branch point are extracted from the generated reference trajectory, and a set of positions and orientations that the target object can take from one candidate point of the extracted plurality of candidate points to a set of positions and orientations that the target object can take. performing a second process of calculating the average of the evaluation values of a plurality of motion trajectories for all candidate points, and selecting candidate points among the plurality of candidate points where the average of the evaluation values falls within the second range; a branch point designation unit that determines the branch point and stores the determined branch point and the reference trajectory in the storage unit;
10. The robot control device according to claim 9, comprising:

10. The average of the evaluation values is a weighted average in which the weight of the evaluation values in the center of the target set is higher than the weight of the evaluation values in the outer perimeter of the target set. The robot control device according to .

The branch point designating unit selects a section of the reference trajectory in which interference between the end effector and the robot main body does not occur with respect to a temporary obstacle having a certain margin around the outer circumference of the obstacle. 11. The robot controller according to claim 2 or 10, wherein points are selected.

13. The robot controller according to claim 1, wherein the evaluation value is an operation time of the robot.

A robot control program for moving a robot end effector from a start point to an end point to perform a preset task on a target object,
storing reference trajectories and branch points in a storage unit corresponding to each of a plurality of sets of possible positions and orientations of the target object;
measuring the position and orientation of the target object when performing the task;
obtaining the reference trajectory and the branch point corresponding to the measured position and orientation of the target object from the storage unit, setting the measured position and orientation of the target object as the end point, and obtaining the obtained reference trajectory; using the trajectories to generate a first motion trajectory, which is the motion trajectory of the robot from the start point to the branch point; and a second motion trajectory, which is the motion trajectory of the robot from the obtained branch point to the end point. generating a motion trajectory;
driving and controlling the robot according to a motion command including the first motion trajectory and the second motion trajectory;
on the computer, and
The reference trajectory is a motion trajectory of the robot from the starting point to a first point that is one of a plurality of possible position and posture sets of the target object, and avoids interference with obstacles. and an operation trajectory that satisfies that the evaluation value falls within the first range,
The branch point is a point on the reference trajectory, and the evaluation value of the motion trajectory from the branch point to the first point falls within a second range different from the first range. A robot control program characterized by being a point .

A robot control method for executing a preset task on a target object by moving an end effector of the robot from a start point to an end point, comprising:
storing reference trajectories and branch points in a storage unit corresponding to each of a plurality of sets of possible positions and orientations of the target object;
measuring the position and orientation of the target object when performing the task;
obtaining the reference trajectory and the branch point corresponding to the measured position and orientation of the target object from the storage unit, setting the measured position and orientation of the target object as the end point, and obtaining the obtained reference trajectory; using the trajectories to generate a first motion trajectory, which is the motion trajectory of the robot from the start point to the branch point; and a second motion trajectory, which is the motion trajectory of the robot from the obtained branch point to the end point. generating a motion trajectory;
driving and controlling the robot according to a motion command including the first motion trajectory and the second motion trajectory;
with
The reference trajectory is a motion trajectory of the robot from the starting point to a first point that is one of a plurality of possible position and posture sets of the target object, and avoids interference with obstacles. and an operation trajectory that satisfies that the evaluation value falls within the first range,
The branch point is a point on the reference trajectory, and the evaluation value of the motion trajectory from the branch point to the first point falls within a second range different from the first range. A robot control method characterized by being a point .