KR100321497B1 - Robot Motion Teach Method - Google Patents

Abstract

The present invention is excellent in the safety of the work because the robot and the worker work apart in the motion instruction work of the robot, and complex by moving the robot using the force / moment generated when the operator pushes and pulls the force / moment sensor by hand The present invention relates to a method of easily instructing the movement of a robot without knowledge of a motion instruction button or coordinate system, and based on an internal three-dimensional coordinate system, externally applied forces in the X, Y, and Z directions and X, Y, and Z directions. A sensor unit 1 for detecting the torsional moment of the shaft; A movement unit (2) mounted to the sensor unit and driven by three joints to change a posture of the internal coordinate system of the sensor unit; A control unit (3) for controlling the three joint rotation angles of the moving unit so that the posture of the internal coordinate system of the sensor unit matches any posture command, and outputting information of the force and the torsion moment detected by the sensor unit to the outside; Inputting a posture value of a specific portion of the robot 4 as a posture command of the controller so that the posture of the internal coordinate system of the sensor unit coincides with the posture of the specific portion of the robot, and detected by the sensor unit. The robot movement instruction method, characterized in that for controlling the robot to move the position of the specific part of the robot along the direction of the force, and to rotate the posture of the specific part of the robot along the direction of the moment detected by the sensor unit. As a very useful invention.

Description

Robot Motion Teach Method

Robots play an important role as tools for performing various tasks on behalf of humans. Robots are mainly used for the automation of various types of operations, including logistics, assembly, welding, painting, etc. in manufacturing production lines on behalf of human arms, which not only contributes to productivity but also protects humans from non-human tasks. It is performing various tasks on behalf of human beings in unfavorable environments, such as nuclear polluted areas, poisoned areas, seabeds and space operations.

Currently, almost all robot's motion instruction work is done by using the teaching box attached to each robot controller, and it is recognized that the teaching box or similar method is used to program the robot. As illustrated in FIG. 1, the teaching box of the robot includes buttons corresponding to the coordinate directions of the robot's workspace, that is, the +/- direction of X, Y, Z, (or joint 1, joint 2, ... joint N). Is located, the operator instructs the movement of the robot by pressing the desired direction button. For example, to rotate joint 1 in the + direction, set the teaching mode to joint mode and press the button corresponding to the joint 1+ direction. To move the tool of the robot in the + X direction of the world coordinates, set the teaching mode to the world mode and press the button corresponding to the + X direction.

The method of moving the robot by pressing the direction button of the teaching box is the most primitive motion instruction method that has been used since the beginning of the robot. Since the motion of the robot is generated by the driving device of each joint, the motion is basically generated in the joint space. However, since humans see and think in orthogonal coordinate space, the task of moving the robot in joint space does not coincide with human thought. Therefore, the joint space motion of a robot is usually used for long-distance movement, not precise movement. To direct the robot's precise motion, it is more efficient to perform the motion instruction task in the Cartesian coordinate space defined by the world coordinate system fixed in the robot's workspace or the tool coordinate system attached to the robot's tool.

However, in the Cartesian coordinate space movement using the movement button of the teaching box, the worker has to memorize each direction of the coordinate system, and the tool coordinate system attached to the tool moves together according to the robot's movement, so it is more difficult to determine the coordinate system direction. Becomes difficult. Rotational motion in Cartesian coordinate space is more complex, and it is very difficult to predict the effect when the rotary motion button is pressed. In order to overcome these difficulties, a skilled process is required, and the task of instructing the robot to a desired position is usually completed through several repetitive attempts. It is almost impossible to instruct.

As a method for improving the problems of the robot motion instruction method described above, the EasyTeach method developed by Yaskawa of Japan and the intuitive program method using the ControlBall of KUKA of Germany are used. It is a method of attaching a moment sensor and moving a robot by using force / moment information generated by an operator pushing or pulling a handle attached to a force / moment sensor. This method is very convenient, but it is not practical because the operator has to work with the robot, and it is not practical because of the limited working space size and the safety problems that can be caused by the collision between the robot and the operator. Is a method of generating a motion command using a force / moment sensor attached to the teaching box instead of using many movement buttons of the teaching box. This method is also a convenient way to avoid the use of many buttons in the teaching box, but since the position of the force / moment sensor is fixed, the reference coordinate system of the force / moment sensor and the reference coordinate system of the tool do not coincide with each other. While movement is possible, more convenient tool coordinate system movement is not possible, which is an inconvenient method that requires the skill of the operator.

The present invention has been created to solve the above problems, the operator can work away from the robot, there is no restriction on the size of the workspace, the safety of the operator is excellent, and the operator under the force / moment sensor The purpose of this study is to propose a new robot motion instruction method that can increase the productivity of robot work by reducing the working time required for robot motion instruction by making the robot's tool move along as it is. It is.

1 is a diagram showing the movement instruction method of the industrial robot using the teaching box.

2 is a diagram showing a motion instruction method of the industrial robot using a force / moment sensor

3 is a view showing an embodiment of the robot motion instruction method proposed in the present invention,

4 is a diagram illustrating a form in which a posture of a robot is changed in the embodiment of FIG. 3.

Explanation of symbols for main parts of the drawings

1: sensor

2: athletic

3: control unit

4: robot

5: Work tool

Robot motion instruction method according to the present invention for achieving the above object, based on the three-dimensional coordinate system attached to the inside, the externally applied force in the X, Y, Z direction and the torsional moment of the X, Y, Z axis A sensor unit; A movement unit mounted to the sensor unit and driven by three joints to change a posture of an internal coordinate system of the sensor unit; A control unit for controlling the three joint rotation angles of the moving unit so that the posture of the internal coordinate system of the sensor unit corresponds to an arbitrary posture command, and outputting information of the force and torsion moment detected by the sensor unit to the outside; The posture value of the specific part of the robot is input to the posture command of the control unit so that the posture of the internal coordinate system of the sensor unit coincides with the posture of the specific part of the robot. The position of the specific part of the robot moves along the direction, and the posture of the specific part of the robot is moved along the direction of the moment detected by the sensor unit.

Hereinafter, the configuration and operation of the embodiment of the robot motion instruction method according to the present invention will be described in detail with reference to the accompanying drawings.

3 is a diagram showing an embodiment of a robot motion instruction method according to the present invention. As shown in the figure, the method of the present invention includes a sensor unit for detecting a force applied in the X, Y, and Z directions and a torsional moment in the X, Y, and Z axes based on a three-dimensional coordinate system attached thereto ( One); A movement unit (2) mounted to the sensor unit and driven by three joints to change a posture of the internal coordinate system of the sensor unit; A control unit (3) for controlling the three joint rotation angles of the moving unit so that the posture of the internal coordinate system of the sensor unit matches any posture command, and outputting information of the force and the torsion moment detected by the sensor unit to the outside; Inputting a posture value of the work tool 5 of the robot 4 as a posture command of the controller so that the posture of the internal coordinate system of the sensor unit coincides with the posture of the tool of the robot. The position of the robot working tool is moved along the direction of the force detected by the robot, and the robot is controlled to move the posture of the specific part of the robot along the direction of the moment detected by the sensor unit.

When the worker holds the sensor unit by hand and pushes, pulls or rotates the sensor unit in a direction to move the work tool of the robot, the work tool of the robot moves in a desired direction. 4 shows a state in which the work tool and the moving part of the robot are rotated to change their posture.

Therefore, the posture of the sensor unit is always maintained in the same posture as the tool of the robot. For example, when the operator holds the sensor unit by hand and pushes it in the + X direction, the control unit detects the force in the + X direction detected by the sensor unit. Outputs a signal, and the robot tool moves in the + X direction according to this value, and the changed posture value of the robot tool is input again to the posture command of the controller, and according to this value, each of the rotary joints With this movement, the posture of the sensor unit again coincides with the posture of the robot tool. Since the attitude of the sensor unit always matches the attitude of the tool of the robot, when the operator pushes and pulls the sensor unit in an arbitrary direction, the tool of the robot moves in that direction, and when the operator twists the sensor unit about any axis, The tool of the robot also rotates in that direction, which makes it very easy to instruct the robot to move, and the operator can work away from the robot, so safety from accidents is very high.

The robot motion instruction method according to the present invention configured and operated as described above, instructs the movement of the robot using a simple method, thereby reducing the work time required for the movement instruction of the robot and increasing the safety of the operator to increase productivity of the robot operation. This is a very useful way to increase it.

Claims (1)

A sensor unit detecting a force in the X, Y, and Z directions and a torsional moment in the X, Y, and Z axes applied from the outside based on a three-dimensional coordinate system attached to the inside; A movement unit mounted to the sensor unit and driven by three joints to change a posture of an internal coordinate system of the sensor unit; A control unit for controlling the rotation angles of the three joints of the moving unit so that the posture of the internal coordinate system of the sensor unit matches any posture command, and outputting information of the force and the torsion moment detected by the sensor unit to the outside; Using Inputting a posture value of a specific part of the robot as a posture command of the controller so that the posture of the internal coordinate system of the sensor unit coincides with the posture of the specific part of the robot, A robot motion instruction for controlling the robot to move the position of the specific portion of the robot along the direction of the force detected by the sensor unit and to rotate the posture of the specific portion of the robot along the direction of the moment detected by the sensor unit. Way.