KR101205363B1 - Method and apparatus for controlling 4-degree of freedom robot using 6-degree of freedom controller - Google Patents

Abstract

Disclosed are a 4 DOF robot controller and a control method using a 6 DOF controller.
In the four degree of freedom robot control method using the six degree of freedom controller according to the present embodiment, the step of kinematically analyzing the robot mechanism of the robot, the tool position coordinates and the tool free end for the tool coupled to the free end of the robot Inputting a pitch rotation angle of the step; generating predetermined rotation angle information for generating the roll rotation angle and yaw rotation angle of the free end of the tool using the tool position coordinates; and the generated rotation angle. Generating a target attitude angle using information, replacing a roll value among components of the target attitude angle with a target rotation angle for pitch rotation angle of a tool free end, and outputting a result value according to the robot control. Can be performed.

Description

4 Freedom robot control method and control device using 6 degree of freedom controller {METHOD AND APPARATUS FOR CONTROLLING 4-DEGREE OF FREEDOM ROBOT USING 6-DEGREE OF FREEDOM CONTROLLER}

The present invention relates to a four degree of freedom robot control method and control apparatus using a six degree of freedom controller, more specifically, a four degree of freedom robot control method and control apparatus using a six degree of freedom controller applicable to the painting process, welding process, etc. It is about.

In general, the six degree of freedom controller of an industrial robot having six degrees of freedom is designed and used for a robot that can basically follow the position and orientation of six degrees of freedom.

Herein, six degrees of freedom for determining the position and attitude of an arbitrary object in a three-dimensional space may mean three independent positions, three for poses, and six independent variables in total.

In the case of special working robots, for example, horizontal articulated robots or polar type robots may have less than six degrees of freedom as needed.

For example, a polaroid robot with less than six degrees of freedom cannot reach any position in three-dimensional space in any posture, and thus is a robot capable of performing only a limited range of tasks. That is, a polar type robot that can be understood as a typical polar coordinate robot can have three degrees of freedom consisting of one linear axis and two rotation axes, or four degrees of freedom consisting of one linear axis and three rotation axes. Excellent vertical motion with respect to the vertical plane, the work area is wide and can be performed in the inclined position.

In addition, a typical horizontal articulated robot can be used only for a type of work that can be completed by using only motion in a horizontal plane with four degrees of freedom.

These horizontal articulated robots or polar type robots can be utilized only for the corresponding task by having a dedicated robot controller for the corresponding degree of freedom.

If a 4 DOF robot is manufactured as a common robot to be used in a plurality of different robot tasks, a tool or an end effector is replaced at its end mounting area, and the degree of freedom for each robot task is changed. A plurality of robot controllers can be used, respectively, correspondingly to make the control system very complicated.

On the other hand, when the general-purpose six degree of freedom controller is used for four degree of freedom robot, the four degree of freedom robot may not follow the six degree of freedom locus in terms of kinematics and tool coordinates, or the tool position may be displayed incorrectly when the tool coordinate is applied. .

That is, the four degree of freedom robot includes a zero joint, a first joint, and a second joint to indicate coordinates of x, y, and z, and a third joint corresponding to the remaining wrist rotation axis to indicate a desired posture angle. Can be made.

At this time, when the user inputs the angle of the wrist rotation axis separate from x, y, z as an input, the angle of the wrist rotation axis is always maintained as the user input angle assuming a certain straight path.

Problems can arise when the robot's posture angle must be maintained at 90 degrees or some specific angle with the reference plane, which is the painted surface, when applied to a painting robot.

That is, when the third joint is fixed to the user input in a situation where the first joint changes only to indicate the target position values x, y, and z, it is impossible to spray the paint while maintaining a constant angle on the reference surface, which is the painted surface. do.

In addition, in the conventional six degree of freedom robot, since the current position is represented by six independent variables, if the transformation matrix from the base to the end effector is known, the tool coordinate system, which is a transformation matrix from the end effector to the tool, is a known value. By multiplying, the deformation matrix from the base to the tool as the final positional information can be obtained.

However, when six degrees of freedom tool coordinates are applied to the robot with four degrees of freedom, the two degrees of freedom in terms of the six degrees of freedom controller can be expressed as four independent variables (x, y, z, first rotation angle).

In other words, the deformation matrix from the base to the tool or end effector lacks information on the second and third rotation angles, so that tool coordinates cannot be applied as it is, or an operation error occurs in the four degree of freedom robot. There are disadvantages.

The embodiment of the present invention uses the six degrees of freedom controller that can maximize the utilization of the six degrees of freedom controller because the tool coordinate and six degrees of freedom position and rotation angle generation algorithm used in six degrees of freedom can be used in the four degrees of freedom robot. 4 degree of freedom robot control device can be provided.

In addition, the embodiment of the present invention after the kinematic analysis of the robot mechanism of the four-degree-of-freedom robot, generating the undetermined rotation angle information, the generation of the target attitude angle using the generated rotation angle information, of the generated target attitude angle components According to a series of processes for following a roll value, a 4 degree of freedom robot control method using a 6 degree of freedom controller capable of controlling a 4 degree of freedom robot, which is a common robot for a plurality of robot tasks, may be provided using a 6 degree of freedom controller.

According to an aspect of the present invention, a robot control method having a six degree of freedom controller connected to a four degree of freedom robot, comprising: kinematically analyzing the robot mechanism of the robot, and a tool coupled to a free end of the robot Receiving a tool position coordinate and a pitch rotation angle of a tool free end, and generating undefined rotation angle information for generating a roll rotation angle and yaw rotation angle of the tool free end using the tool position coordinates from a base; And generating a target attitude angle using the generated rotation angle information, replacing a roll value among components of the target attitude angle with a target rotation angle for a pitch rotation angle of a tool free end, and controlling the robot according to the robot control. A four degree of freedom robot control method using a six degree of freedom controller including outputting a result value may be provided.

According to another aspect of the invention, a six degree of freedom controller is connected to the robot, a robot mechanism analysis unit connected to the six degree of freedom controller to kinematically analyze the robot mechanism of the robot, and the tentative determination of the robot And a track generation follower for controlling the robot to follow the replaced roll value by replacing the roll value generated according to the robot's trajectory generation after the rotation angle information with the target rotation angle for the pitch rotation angle of the tool free end. A 4 DOF robot controller using a 6 DOF controller may be provided.

The four degree of freedom robot control method and control device using the six degree of freedom controller of the present invention has the advantage that can use the existing six degree of freedom controller without the need of a separate four degree of freedom controller.

In addition, the four degree of freedom robot control method and control device using the six degree of freedom controller of the present invention can control a four degree of freedom robot, a common robot with a six degree of freedom controller, a plurality of dedicated robot controller for each robot job There is no need to provide a plurality, there is an advantage that can simplify the control system.

In addition, the four degree of freedom robot control method and control device using the six degree of freedom controller of the present invention by setting the pitch rotation angle of the free end of the tool formed by the reference surface and the tool or the end effector, the user There is an advantage that can easily and accurately perform the posture adjustment of the tool according to the work.

1 is a block diagram illustrating a four degree of freedom robot control apparatus using a six degree of freedom controller according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a four degree of freedom robot control method by the control device shown in FIG. 1.
FIG. 3A is a view for explaining a robot initial position with a tool removed for kinematic analysis of the robot mechanism for the four degree of freedom robot illustrated in FIG. 1.
3B is a view for explaining the posture after the joint rotation of the 4 DOF robot illustrated in FIG. 3A.
3C is a view for explaining a state in which a tool is mounted on the four degree of freedom robot illustrated in FIG. 3A.

Hereinafter, a four degree of freedom robot control method and a control device using a six degree of freedom controller according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 3C.

The following specific embodiments are merely illustrative of the four degree of freedom robot control method and control apparatus using the six degree of freedom controller according to the present invention, it is not intended to limit the scope of the present invention.

As shown in FIG. 1, the control device 100 according to an embodiment of the present invention may be a control device 100 having a six degree of freedom controller 110 and controlling a four degree of freedom robot 200. .

The robot 200 may be connected to the control device 100 and the six degree of freedom controller 110 through a predetermined communication and power supply network.

The robot 200 may have a robot mechanism connecting the base 201 and the first to fourth frames 202 to 205 with four joints 210, 220, 230, and 204.

The robot 200 may be configured to fasten the end effector 250 for painting to the free end 205a of the fourth frame 205 and to provide a tool 260 to the end effector 250 to perform painting. Can be.

The robot 200 configured for the painting operation rotates (eg, rolls) the first frame 202 at the zero joint 210 of the base 201, and the first frame 202 of the first frame 202. The second frame 203 is tilted and rotated at the joint 220, and the third frame 204 is pre-determined by using a telescopic mechanism at the second joint 230 of the second frame 203. The forward or backward movement by a joint value corresponding to the stroke distance, and the operation of rotating the fourth frame 205 in the third joint 240 of the third frame 204, thereby eventually painting surface The painting operation may be performed while maintaining the posture angle of the tool 260 or the end effector 250 with respect to the phosphorus reference surface 20, or the posture angle that may be set by the user.

The control device 100 for controlling the six degree of freedom controller for the four degree of freedom robot 200 is a posture angle formed by the reference surface 20 and the end effector 250, such as a painting surface, as defined in the present embodiment. In addition, the pitch rotation angle of the tool free end can be arbitrarily set to realize a function for following the position and attitude of six degrees of freedom.

The control device 100 may include an input unit 120, a robot mechanism analysis unit 130, a trajectory generation follower 140, and an output unit 150.

The six degree of freedom controller 110 implements a forward kinematics and inverse kinematics calculation function using a known deformation matrix, and a target attitude angle generation function using a conventional six degree of freedom rotation angle generation algorithm. Can be configured.

The input unit 120 may be used in connection with a master teaching pendant, and configured to receive user command information, input value information for kinematic analysis of a robotic mechanism, tool mounting coordinates, joint value information, and the like. Can be.

Here, the input value information for the kinematic analysis of the robot mechanism refers to the free end 205a of the fourth frame 205 after the joint rotation of the robot 200 in a state in which the tool 260 is separated from the robot 200. Three frame position coordinates (eg, x, y, z) of the base coordinate system reference may be included.

)와, 베이스 좌표계(30)의 X방향과 일치하는 프레임 수평거리(

)와, 제4 프레임(205)의 길이(

)를 포함할 수 있다.In addition, the input value information for kinematic analysis of the robot mechanism, as shown in Figure 3a, the frame vertical distance (consistent with the Z direction of the base coordinate system 30 (

) And the frame horizontal distance coinciding with the X direction of the base coordinate system 30

) And the length of the fourth frame 205 (

) May be included.

In addition, the tool mounting coordinates include three tool position coordinates for the free end of the tool 260 in a state in which the tool 260 is coupled to the robot 200, and the tool 260 or the end effector 250 has a painted surface 20. It may include one tool posture coordinates for ie, the pitch rotation angle of the free end of the tool 260.

The pitch rotation angle of the free end of the tool 260 may be one of the attitude values of the base coordinate system reference to be reached when the tool 260 is mounted on the robot 200.

In addition, the joint value information may be understood as an output value derived through kinematic analysis of the robot mechanism.

The robot mechanism analysis unit 130 may be coupled to the six degree of freedom controller 110 to perform a kinematic analysis of the robot mechanism of the robot 200.

For example, the robot mechanism analysis unit 130 defines input value information for a four-axis or four degree of freedom robot 200 having four joints 210, 220, 230, and 204, and the input value information defined as described above. It may be configured to derive a joint value that is an output value by substituting the equations derived from the geometrical shape of the four degree of freedom robot 200.

The trajectory generation follower 140 has a function of generating undetermined rotation angle information using coordinates from the base 201 to the tool 260 when the tool 260 is installed or attached to the robot 200, and a known trajectory generation ( A trajectory generation function that generates an angle of a path point when a target value is determined by a user using a trajectory generation algorithm, and 3 generated by a 6 degree of freedom position and rotation angle generation algorithm of the 6 degree of freedom controller 110. Roll value is replaced by controlling the roll value from the current posture angle to the target posture angle while overcoming the limitations of the robot operating range by replacing the roll value with the target rotation angle of the user input pitch rotation angle. It may be configured to implement a function.

The output unit 150 may be configured to display or output user command information, input value information for kinematic analysis of the robot mechanism, tool mounting coordinate information, joint value information, output value information, etc. through an LCD window or an output port. Can be.

In addition, when there is a difference between the input value information and the output value information, the output unit 150 may be configured to display or output the difference value through an LCD window or an output port through a numerical or error information format.

As shown in Figure 2, according to the control method according to another aspect of the present invention, the kinematic analysis step (S110) of the robot mechanism may be included.

After the kinematic analysis step (S110) of the robot mechanism, the input posture of the pitch rotation angle and tool position coordinates of the tool free end (S120), the generation step of the undecided rotation angle information (S130), the target posture using the generated rotation angle information The generating of the angle (S140), replacing the roll value of the target attitude angle component with the target rotation angle of the user input pitch rotation angle (S150), and outputting the result value (S160) may be performed.

First, the kinematic analysis step (S110) of the robot mechanism may be performed in a state in which a tool is not attached to the robot 200, as shown in FIGS. 3A and 3B.

Referring to FIG. 3A, the robot 200 includes four joints 210, 220, 230, and 240, that is, the zero joints 210 to the third joint 240.

In the initial position, the tool is not attached to the free end 205a of the fourth frame 205, which is the last member of the robot mechanism. Here, the fourth frame 205 may be disposed in a state inclined from the third joint 240.

The robot 200 may use the base coordinate system 30.

)와, 베이스 좌표계(30)의 X방향과 일치하는 프레임 수평거리(

)와, 제4 프레임(205)의 길이(

)가 정의될 수 있다.In the fourth frame 205 of the robot 200, the Z-direction of the base coordinate system 30 is determined by the geometric shape and the arrangement structure of the free end 205a of the fourth frame 205 from the third joint 240. Frame vertical distance to match (

) And the frame horizontal distance coinciding with the X direction of the base coordinate system 30

) And the length of the fourth frame 205 (

) Can be defined.

,

,

,

)이 정의될 수 있다.Referring to FIG. 3B, in the robot 200 in the posture after the joint rotation in the initial posture, the joint values of each of the zeroth joint 210 to the third joint 240 (

,

,

,

) Can be defined.

Further, the state after the rotation of the free end 205a of the fourth frame 205 is three frame position coordinates (x, y, z) and the fourth frame 205 free end 205a which is one frame posture coordinate. It can be defined as the pitch rotation (pitch) of.

Here, the frame position coordinates (x, y, z) and the pitch rotation angle (pitch) may mean values that can be input to the robot control apparatus by using a separate position or posture measurement and input means by the user.

In addition, the frame position coordinates (x, y, z) and the pitch rotation angle (pitch) may be an analysis reference value of the base coordinate system 30 to be reached in the absence of the tool.

)과 같이 제0 조인트(210)에서 해당 조인트값(

)만큼 회전이 이루어진 후 제3 조인트(240)에서 해당 조인트값(

)만큼 회전이 이루어진 최종 상태로서, 제4 프레임(205)이 도장면과 같은 베이스 좌표계(30)의 기준면 또는 Y-Z평면과 이루는 회전각 정보일 수 있다.In particular, the pitch rotation is its angle value (

The joint value (

After the rotation is performed by the corresponding joint value (3) in the third joint 240

As a final state in which the rotation is performed, the fourth frame 205 may be rotation angle information of the fourth frame 205 and the YZ plane or the reference plane of the base coordinate system 30 such as the painted surface.

Equations that can be derived from the geometric shape of the robot 200 defined as described above may be understood by Equation 1 below.

는 제0 조인트의 조인트값, x,y,z는 프레임위치 좌표,

는 산술용 회전각 인자,

는 프레임 자유단의 피치회전각,

는 프레임 수직거리,

는 프레임 수평거리,

는 제4 프레임 길이,

는 제1 조인트의 조인트값,

는 제2 조인트의 조인트값,

는 제3 조인트의 조인트값을 의미할 수 있다.In [Equation 1],

Is joint value of joint 0, x, y, z is frame position coordinate,

Is the arithmetic rotation angle factor,

Is the pitch rotation angle at the free end of the frame,

Frame vertical distance,

Frame horizontal distance,

Is the fourth frame length,

Is the joint value of the first joint,

Is the joint value of the second joint,

May mean a joint value of the third joint.

,

,

,

)은 로봇 제어장치의 출력값으로서 하기의 [수학식 2]와 같이 산출될 수 있다.In the case of utilizing [Equation 1], each joint value (

,

,

,

) May be calculated as Equation 2 below as an output value of the robot controller.

는 제0 조인트의 조인트값, x,y,z는 프레임위치 좌표,

는 산술용 회전각 인자,

는 프레임 자유단의 피치회전각,

는 프레임 수직거리,

는 프레임 수평거리,

는 제4 프레임 길이,

는 제1 조인트의 조인트값,

는 제2 조인트의 조인트값,

는 제3 조인트의 조인트값을 의미할 수 있다.In [Equation 2],

Is joint value of joint 0, x, y, z is frame position coordinate,

Is the arithmetic rotation angle factor,

Is the pitch rotation angle at the free end of the frame,

Frame vertical distance,

Frame horizontal distance,

Is the fourth frame length,

Is the joint value of the first joint,

Is the joint value of the second joint,

May mean a joint value of the third joint.

When the kinematic analysis step (S110) of the robot mechanism is completed as described above, the operator may attach the tool 260 to the end effector 250 of the robot 200, as shown in FIG. 3C.

In addition, the input unit of the robot controller may perform the input step (S120) of the pitch rotation angle and the tool position coordinates of the tool free end.

In this input step S120, three tool position coordinates (x_t, y_t, z_t) corresponding to the free end of the tool 260 and one tool posture coordinate, that is, the pitch rotation angle pitch_t of the free end of the tool 260 are determined. It can be input by the user to the input unit of the robot controller.

In the case of a typical six degree of freedom robot, the coordinates of the end effector of the six degree of freedom robot can be calculated by multiplying the tool position coordinates of the tool free end of the six degree of freedom robot by the tool position coordinate. In the case of the four degree of freedom robot of the embodiment, only the pitch rotation angle (pitch_t) of the tool free end is present among the tool posture coordinates, and the six degrees of freedom are generated by generating the roll rotation angle and the roll yaw angle of the tool free end, the remaining two undetermined rotation angle information. There is a need to restore the environment.

That is, at six degrees of freedom, the first homogeneous transformation matrix from the base 201 to the tool 260 is the second homogeneous transformation matrix from the base 201 to the end effector 250 and the end effector 250. To the tool 260 by multiplying the third homogeneous transformation matrix, wherein the second homogeneous deformation matrix may include all three position information and three posture information (eg, rotation angle information).

Accordingly, an equation of the inverse product of the first homogeneous deformation matrix and the third homogeneous deformation matrix may be established in the second homogeneous deformation matrix having six degrees of freedom.

On the other hand, in 4 degrees of freedom, since the first homogeneous transformation matrix entering the user input includes only 3 position information (for example, 3 tool position coordinates) and 1 attitude information (for example, pitch rotation angle of the tool free end), 6 degrees of freedom Incomplete in terms of FIG.

Accordingly, the second homogeneous transformation matrix with 4 degrees of freedom does not have an equation of the inverse product of the first homogeneous transformation matrix and the third homogeneous transformation matrix, and consequently, the third homogeneous transformation matrix which is the input of the tool coordinates of the user and the incomplete first matrix. The operation of the homogeneous transformation matrix results in an incorrect second homogeneous transformation matrix.

In addition, joint values of inverse kinematic equations calculated with a second homogeneous deformation matrix may have incorrect results.

Therefore, in the present embodiment, the trajectory generation follower of the robot controller has the remaining tools except for the tool position coordinates (x_t, y_t, z_t) of the tool free end and the pitch rotation angle (pitch_t) of the tool free end, which is one tool posture coordinate. It is possible to generate the roll rotation angle (Rz_roll) and yaw rotation angle of the free end. That is, the robot controller may generate a roll rotation angle and yaw rotation angle of the free end of the tool as the generation step S130 of the undetermined rotation angle information is performed through the trajectory generation follower.

In the step of generating undetermined rotation angle information (S130), the pitch rotation angle pitch_t (see FIG. 3C) of the free end of the tool may be set by a user input, and then the angle of the path point is created when the trajectory is generated. Can lose.

In addition, the roll rotation angle Rz_roll of the tool free end may be generated differently according to the shape or shape of the tool.

For example, when the shape of the tool is expressed in tool coordinates having only components in the x and z directions, that is, when components in the y direction are not included in the tool coordinates, the roll rotation angle Rz_roll at the free end of the tool is measured from the base to the tool. It can be generated using the coordinates (y, x) up to. The roll rotation angle Rz_roll may be calculated and generated by Equation 3 below.

In Equation 3, Rz_roll may mean a roll rotation angle of the tool free end, and y and x may refer to coordinates from the base to the tool.

If the shape of the tool is formed of tool coordinates having components in the x, y, and z directions, the roll rotation angle Rz_roll may be calculated and generated by Equation 4 below.

는 사용자 입력의 툴좌표의 y성분 좌표를 의미할 수 있다. 또한, 상기 [수학식 4]에서

가 양수일 경우, 사인값(SGN)은 -1이고,

가 음수일 경우 사인값(SGN)은 1일 수 있다.In Equation 4, Rz_roll is the roll rotation angle of the tool free end, y, x is the coordinate from the base to the tool,

May refer to the y component coordinate of the tool coordinate of the user input. In addition, in [Equation 4]

If is positive, the sine value (SGN) is -1,

If is negative, the sine value SGN may be one.

Lastly, since the yaw rotation angle of the tool free end is always 0 due to the mechanical structure of the robot 200, the yaw rotation angle of the tool free end may be always generated with a value of 0 by a masking method.

Referring to FIG. 2, when the generation of the undetermined rotation angle information (S130) is completed as described above, the robot controller of the present embodiment having the six degree of freedom controller connected to the four degree of freedom robot is provided in the controller. By using the well-known six degrees of freedom tool coordinate system, the six degrees of freedom rotation angle generation algorithm, and the trajectory generation algorithm, it is possible to perform the equation and operation of the complete homogeneous deformation matrix.

Accordingly, the track generation follower of the robot controller may perform the step S140 of generating the target posture angle using the generated rotation angle information.

Here, using the generated rotation angle information means four user input values (e.g., three tool position coordinates and one pitch rotation angle of one tool free end) and two tool position coordinates (e.g., tool freedom) generated earlier. The roll rotation angle and yaw rotation angle of the stage can be completely included in the first homogeneous transformation matrix from the base 201 to the tool 260, so that the locus generation tracking part of the robot controller is 6 degrees of freedom. It means that the target attitude angle can be completely generated in the same manner as the diagram method.

Thereafter, the trajectory generation follower of the robot controller may perform step S150 of replacing the roll value among the target posture angle components with the target rotation angle for the pitch rotation angle of the tool free end.

That is, the trajectory generation follower of the robot controller may generate a target attitude angle by using Equation 5 below, which is known as a rotation matrix of Euler zyx.

는 목표 자세각 성분 중 롤값을 의미하고,

는 목표 자세각 성분 중 피치값을 의미하고,

는 목표 자세각 성분 중 요우값을 의미할 수 있다.In [Equation 5],

Means the roll value among the target attitude angle components,

Is the pitch value among the target attitude angle components,

May mean a yaw value among the target attitude angle components.

,

,

는 상기 [수학식 5]의 회전 행렬로부터 삼각함수를 이용한 하기의 [수학식 6]에 의해 구할 수 있다.These target attitude angle components

,

,

Can be obtained by Equation 6 below using a trigonometric function from the rotation matrix of Equation 5.

,

,

는 목표 자세각 성분 중 롤값, 피치값과, 요우값을 의미할 수 있고,

가 먼저 연산된 후 나머지

와

가 연산될 수 있다.In Equation 6 above

,

,

May mean a roll value, a pitch value, and a yaw value among the target attitude angle components.

Is computed first and then the rest

Wow

Can be calculated.

However, the pitch value thus calculated is limited to -90 degrees to 90 degrees to avoid double solution.

However, as in the painting work, there are cases where the angle between the reference surface, such as the painting surface, and the end effector should be 90 degrees or more.

를 4자유도 로봇의 목표 자세각으로 그대로 사용할 경우, 사용자가 원하는 자세로 로봇을 제어 또는 구동할 수가 없다.Pitch value calculated in the above formula

If is used as the target attitude angle of the four degree of freedom robot, the user can not control or drive the robot in the desired posture.

Therefore, a method capable of generating a target rotation angle of 90 or more while using the existing trajectory generation method is required in this embodiment.

)은 그 범위가 -180도에서 180도이다.The roll value obtained from Equation 6 above (

) Ranges from -180 to 180 degrees.

)은 로봇 제어장치의 6자유도 제어기에서 6자유도 회전각 생성알고리즘에 의해 발생되는 수치값에 불가하고, 필요에 따라 선택하여 사용할 수 있는 값에 해당한다.Where roll value (

) Is not a numerical value generated by the six degrees of freedom rotation angle generation algorithm in the six degrees of freedom controller of the robot controller, and corresponds to a value that can be selected and used as needed.

The trajectory generation follower of the robot controller is used to control the robot by replacing the roll value among the six positional and target attitude angle components generated by the six degrees of freedom rotation angle generation algorithm during the trajectory generation with the target rotation angle for the pitch rotation angle of the tool free end. As a result, it is possible to control the robot to follow the roll value from the current posture angle to the target posture angle while overcoming the limitation of the robot operating range.

In this case, the 4 degree of freedom can be calculated completely and accurately by multiplying the tool position coordinates and tool posture coordinates of the free end of the tool with the known tool coordinate system in the same way as the 6 degree of freedom control method. The robot can be controlled by the six degree of freedom controller of the robot controller.

Thereafter, the output unit of the robot control apparatus may proceed to a result value output step S160 of outputting a result value according to the robot control.

In the result value output step (S160), the output unit displays user command information, input value information for kinematic analysis of the robotic mechanism, coordinates for mounting the tool, joint value information, error information, etc. through an LCD window or an output port, or the like. According to the output, it is possible to allow the user to grasp the robot operation status in real time.

Such a technical configuration of the present invention will be understood by those skilled in the art that the present invention can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. Therefore, the scope of the present invention is represented by the following claims rather than the foregoing description, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts are included in the scope of the present invention. Should be interpreted.

100: robot controller 110: 6 degree of freedom controller
20: input unit 130: robot mechanism analysis unit
140: path generation following unit 150: output unit
200: robot 201: base
210, 220, 230, 240: Joint 250: End effector
260 tool

Claims (9)

In the robot control method having a six degree of freedom controller connected to a four degree of freedom robot,
Kinematically analyzing the robot mechanism of the robot;
Receiving a tool position coordinate and a pitch rotation angle of a tool free end for a tool coupled to the free end of the robot;
Generating undefined rotation angle information for generating the roll rotation angle and yaw rotation angle of the tool free end from the base using the tool position coordinates;
Generating a target attitude angle using the generated rotation angle information;
Replacing a roll value among components of the target attitude angle with a target rotation angle for pitch rotation angle of a tool free end;
Outputting a result value according to the robot control;
In the kinematic analysis of the robot mechanism of the robot,
A joint value as an output value is calculated by using Equation (2) below.
4 DOF robot control method using 6 DOF controller.
(2)

In equation (2)

Is joint value of joint 0, x, y, z is frame position coordinate,

Is the arithmetic rotation angle factor,

Is the pitch rotation angle at the free end of the frame,

Frame vertical distance,

Frame horizontal distance,

Is the fourth frame length,

Is the joint value of the first joint,

Is the joint value of the second joint,

Is the joint value of the third joint.
delete In the robot control method having a six degree of freedom controller connected to a four degree of freedom robot,
Kinematically analyzing the robot mechanism of the robot;
Receiving a tool position coordinate and a pitch rotation angle of a tool free end for a tool coupled to the free end of the robot;
Generating undefined rotation angle information for generating the roll rotation angle and yaw rotation angle of the tool free end from the base using the tool position coordinates;
Generating a target attitude angle using the generated rotation angle information;
Replacing a roll value among components of the target attitude angle with a target rotation angle for pitch rotation angle of a tool free end;
Outputting a result value according to the robot control;
Roll generation angle of the free end of the tool in the step of generating the tentative rotation angle information,
When the shape of the tool is expressed in tool coordinates having only components in the x and z directions, it is calculated using the following equation (3).
4 DOF robot control method using 6 DOF controller.
(3)

In equation (3), Rz_roll is the roll rotation angle at the free end of the tool, and y and x are the coordinates from the base to the tool.
In the robot control method having a six degree of freedom controller connected to a four degree of freedom robot,
Kinematically analyzing the robot mechanism of the robot;
Receiving a tool position coordinate and a pitch rotation angle of a tool free end for a tool coupled to the free end of the robot;
Generating undefined rotation angle information for generating the roll rotation angle and yaw rotation angle of the tool free end from the base using the tool position coordinates;
Generating a target attitude angle using the generated rotation angle information;
Replacing a roll value among components of the target attitude angle with a target rotation angle for pitch rotation angle of a tool free end;
Outputting a result value according to the robot control;
Roll generation angle of the free end of the tool in the step of generating the tentative rotation angle information,
When the shape of the tool is expressed in tool coordinates having components in the x, y, and z directions, it is calculated using Equation (4) below.
4 DOF robot control method using 6 DOF controller.
(4)

In equation (4), Rz_roll is the roll rotation angle of the free end of the tool, y, x is the coordinate from the base to the tool,

Is the y component coordinate of the tool coordinate of the user input.
The robot controller which controls 4 degree of freedom robot,
A six degree of freedom controller connected to the robot,
A robot mechanism analyzing unit connected to the six degrees of freedom controller to mechanically analyze the robot mechanism of the robot;
Controlling the robot to follow the replaced roll value by replacing the roll value generated according to the robot's trajectory generation after generating the predetermined rotation angle information of the robot with the target rotation angle for the pitch rotation angle of the tool free end. Including a trajectory generating follower to
The robot mechanism analysis unit,
And defining input value information for kinematic analysis of the robot mechanism for the robot, and deriving a joint value as an output value by using Equation (5) below.
4 degree of freedom robot control device using 6 degree of freedom controller.
(5)

In equation (5)

Is joint value of joint 0, x, y, z is frame position coordinate,

Is the arithmetic rotation angle factor,

Is the pitch rotation angle at the free end of the frame,

Frame vertical distance,

Frame horizontal distance,

Is the fourth frame length,

Is the joint value of the first joint,

Is the joint value of the second joint,

Is the joint value of the third joint.
delete The method of claim 5,
Input value information for the kinematic analysis,
Three frame position coordinates of the base coordinate system reference to the free end of the fourth frame after the joint rotation of the robot in the state of separating the tool from the robot,
One frame posture coordinated by the tool or end effector with respect to the painted surface,
A frame vertical distance coinciding with the Z direction of the base coordinate system;
A frame horizontal distance coinciding with the X direction of the base coordinate system;
The length of the fourth frame provided in the robot
4 degree of freedom robot control device using 6 degree of freedom controller.
The robot controller which controls 4 degree of freedom robot,
A six degree of freedom controller connected to the robot,
A robot mechanism analyzing unit connected to the six degrees of freedom controller to mechanically analyze the robot mechanism of the robot;
Controlling the robot to follow the replaced roll value by replacing the roll value generated according to the robot's trajectory generation after generating the predetermined rotation angle information of the robot with the target rotation angle for the pitch rotation angle of the tool free end. Including a trajectory generating follower to
The trajectory generation extraction unit,
When the shape of the tool is expressed as a tool coordinate having only components in the x and z directions, the roll rotation angle of the free end of the tool is calculated using Equation (6) below.
4 degree of freedom robot control device using 6 degree of freedom controller.
(6)

In equation (6), Rz_roll is the roll rotation angle of the free end of the tool, y, x is the coordinate from the base to the tool.
The robot controller which controls 4 degree of freedom robot,
A six degree of freedom controller connected to the robot,
A robot mechanism analyzing unit connected to the six degrees of freedom controller to mechanically analyze the robot mechanism of the robot;
Controlling the robot to follow the replaced roll value by replacing the roll value generated according to the robot's trajectory generation after generating the predetermined rotation angle information of the robot with the target rotation angle for the pitch rotation angle of the tool free end. Including a trajectory generating follower to
The trajectory generation extracting unit
When the shape of the tool is expressed as a tool coordinate having components in the x, y, and z directions, the roll rotation angle of the free end of the tool is calculated using Equation (7) below.
4 degree of freedom robot control device using 6 degree of freedom controller.
(Equation 7)

In equation (7), Rz_roll is the roll rotation angle of the free end of the tool, y, x is the coordinate from the base to the tool,

Is the y component coordinate of the tool coordinate of the user input.

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