KR101459174B1 - Apparatus and method for controlling industrial multi-joint robot - Google Patents
Apparatus and method for controlling industrial multi-joint robot Download PDFInfo
- Publication number
- KR101459174B1 KR101459174B1 KR1020100101629A KR20100101629A KR101459174B1 KR 101459174 B1 KR101459174 B1 KR 101459174B1 KR 1020100101629 A KR1020100101629 A KR 1020100101629A KR 20100101629 A KR20100101629 A KR 20100101629A KR 101459174 B1 KR101459174 B1 KR 101459174B1
- Authority
- KR
- South Korea
- Prior art keywords
- speed
- command
- feedback amount
- speed command
- output terminal
- Prior art date
Links
Images
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
An apparatus and method for controlling an industrial articulated robot are disclosed.
The control device sets the position proportional gain Kp and multiplies the difference between the reference value of the input position command and the position feedback amount by the position proportional gain Kp to convert the speed command into a speed command, And carries out the correction amount calculation and position control of the speed command using the car.
According to such a configuration, in applying the state feedback control to an industrial articulated robot, it is possible to improve the tool trajectory performance of the robot by a strong position control.
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a control technique of a robot, and more particularly, to an apparatus and method for controlling an industrial articulated robot.
Industrial articulated robots are equipped with articulated arms that can move at various angles so that they can work on objects located at arbitrary positions. Recently, a trajectory of a tool tip has been required more precisely according to the use of the robot.
In industrial machines, PID (Proportional + Integral + Derivative) control method or state feedback control method which model motor or mechanism by state equation is used. The position control method using state feedback and observer has proved to be more advantageous than the PID controller in position control accuracy and tuning method. However, when the state feedback controller is applied to an industrial articulated robot, the position control performance is deteriorated due to the coupling between the actuators, resulting in a problem that the locus of the tool end of the robot is distorted.
SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the conventional art as described above, and its object is to solve the problem of the tool trajectory of the robot in applying the state feedback controller to the industrial articulated robot, And an object of the present invention is to provide an apparatus and method for controlling an industrial articulated robot.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.
The controller of the industrial articulated robot according to the present invention sets the position proportional gain Kp and multiplies the difference between the reference value of the inputted position command and the position feedback amount fed back from the output terminal by the position proportional gain Kp, To a position proportional control unit Calculating a correction amount of the speed command using the difference between the speed command outputted from the position proportional control unit and the speed feedback amount fed back from the output terminal, and outputting the output value of the position command through the integrated control of the corrected speed command, And a speed state feedback control section for feeding back a position feedback amount and a speed feedback amount at an output end to an input end.
In the control apparatus for an industrial articulated robot according to the present invention, the position proportion controller may include a calculator for calculating a deviation between a reference value of the position command and a position feedback amount fed back at an output terminal; And a gain adjuster for applying the position proportional gain Kp to the output of the calculator.
A control method of an industrial articulated robot according to the present invention is a control method for controlling an actuator that drives each articulated shaft of an industrial articulated robot, the method comprising: receiving a reference value of a position command at an input terminal; Multiplying a position proportional gain (Kp) set in a difference between a reference value of the position command and a position feedback amount fed back from the output terminal to convert the speed command into a speed command; Calculating the correction amount of the speed command using the difference between the converted speed command and the speed feedback amount fed back at the output terminal, and outputting the output value of the position command through the integrated control of the corrected speed command; And feeding back the position feedback amount and the speed feedback amount at the output end of the control device to the input end.
According to the apparatus and method for controlling an industrial articulated robot of the present invention, when applying the additional state feedback controller to an industrial articulated robot, it is possible to solve the problem of the deviation of the tool trajectory, and to improve the position accuracy and accuracy.
1 is a conceptual diagram for explaining an operation of a control apparatus for an industrial articulated robot according to an embodiment of the present invention.
2 is a diagram illustrating a circuit configuration of a control apparatus of the industrial articulated robot shown in FIG.
3 is a flowchart illustrating a method of controlling an industrial articulated robot according to an embodiment of the present invention.
Hereinafter, an apparatus and method for controlling an industrial articulated robot according to a preferred embodiment of the present invention will be described in detail with reference to FIGS. 1 to 3 attached hereto.
FIG. 1 is a conceptual diagram for explaining an operation of a control device for an industrial articulated robot according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a circuit configuration of a control device for an industrial articulated robot shown in FIG.
Referring to FIGS. 1 and 2, a controller of an embodiment controls an actuator for driving a robot, and includes a velocity state feedback controller for performing precision position control using position and velocity feedback amounts, state feedback controller (200). In addition, the control apparatus further includes a position-
The position
The speed state
With this configuration, it is possible to precisely control by compensating for the steady state error related to the position and speed of each joint shaft provided in the robot. The control parameters such as Ke, B, C, and A can be adjusted to appropriate values based on the transfer function of the actuator, the database, the experiential value, the experimental value, the environment, and the model representing the characteristics of the system.
The
The position-
The
The
In addition, the response speed of the robot can be improved by applying a velocity feedforward gain for predicting defects to the
In this manner, the speed state
By separately configuring the position control loop and the speed control loop, a velocity feedforward gain can be added to the speed control loop, which can further improve the response speed of the robot. In addition, a band-stop filter (notch filter) for vibration suppression can be added to the position control loop to improve the performance in terms of vibration.
3 is a flowchart illustrating a method of controlling an industrial articulated robot according to an embodiment of the present invention.
The position-
The speed
In addition, the speed
In this way, the ultra-precise position control is implemented in the control device of the actuator for driving the articulated joints of the industrial articulated robot, and the position control loop and the speed control loop are separately configured to have a strong position control capability.
While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand.
Therefore, it should be understood that the above-described embodiments are provided so that those skilled in the art can fully understand the scope of the present invention. Therefore, it should be understood that the embodiments are to be considered in all respects as illustrative and not restrictive, The invention is only defined by the scope of the claims.
100: Position proportional control section
110, 210: Operator
120:
200: Speed status feedback control section
300: observation part
Claims (5)
A position proportional controller for setting the position proportional gain Kp and for multiplying the difference between the reference value of the input position command and the position feedback amount fed back from the output terminal by the position proportional gain Kp to convert it into a speed command; And
Calculating a correction amount of the speed command using the difference between the speed command outputted from the position proportional control unit and the speed feedback amount fed back from the output terminal, outputting the output value of the position command through the integrated control of the corrected speed command, And a speed state feedback control unit for feeding back a position feedback amount and a speed feedback amount to an input terminal,
The position-
An arithmetic unit for calculating a deviation between a reference value of the position command and a position feedback amount fed back at an output terminal; And
And a gain adjuster for applying the position proportional gain (Kp) to an output of the computing unit.
And an observation unit for measuring a velocity measurement value of the joint axis in cooperation with the velocity state feedback control unit and providing the velocity measurement value to the velocity state feedback control unit so as to reflect the velocity measurement value in the correction amount calculation of the velocity command. Device.
And an input terminal for receiving a speed command outputted from the gain adjusting unit and a speed feedback amount fed back at an output terminal and calculating a difference between the speed command and the speed feedback amount, and further adding a speed feed forward gain to the operator Thereby improving the response speed of the robot.
Receiving a reference value of a position command at an input terminal of the control device;
Multiplying a difference between a reference value of the position command and a position feedback amount fed back from the output terminal by a predetermined position proportional gain Kp to convert the difference into a speed command;
Calculating the correction amount of the speed command using the difference between the converted speed command and the speed feedback amount fed back at the output terminal, and outputting the output value of the position command through the integrated control of the corrected speed command; And
And the control device feedbacks the position feedback amount and the speed feedback amount at the output terminal to the input stage.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020100101629A KR101459174B1 (en) | 2010-10-19 | 2010-10-19 | Apparatus and method for controlling industrial multi-joint robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020100101629A KR101459174B1 (en) | 2010-10-19 | 2010-10-19 | Apparatus and method for controlling industrial multi-joint robot |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20120040297A KR20120040297A (en) | 2012-04-27 |
KR101459174B1 true KR101459174B1 (en) | 2014-11-10 |
Family
ID=46140209
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020100101629A KR101459174B1 (en) | 2010-10-19 | 2010-10-19 | Apparatus and method for controlling industrial multi-joint robot |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR101459174B1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109159151B (en) * | 2018-10-23 | 2021-12-10 | 北京无线电测量研究所 | Mechanical arm space trajectory tracking dynamic compensation method and system |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11231940A (en) * | 1998-02-09 | 1999-08-27 | Yaskawa Electric Corp | Controller for robot |
KR100629469B1 (en) * | 1999-11-29 | 2006-09-27 | 가부시키가이샤 야스카와덴키 | Robot controller |
JP2007144621A (en) * | 1997-07-08 | 2007-06-14 | Yaskawa Electric Corp | Robot controller |
JP4389980B2 (en) * | 2007-07-30 | 2009-12-24 | パナソニック株式会社 | Control method for articulated robot |
-
2010
- 2010-10-19 KR KR1020100101629A patent/KR101459174B1/en not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007144621A (en) * | 1997-07-08 | 2007-06-14 | Yaskawa Electric Corp | Robot controller |
JPH11231940A (en) * | 1998-02-09 | 1999-08-27 | Yaskawa Electric Corp | Controller for robot |
KR100629469B1 (en) * | 1999-11-29 | 2006-09-27 | 가부시키가이샤 야스카와덴키 | Robot controller |
JP4389980B2 (en) * | 2007-07-30 | 2009-12-24 | パナソニック株式会社 | Control method for articulated robot |
Also Published As
Publication number | Publication date |
---|---|
KR20120040297A (en) | 2012-04-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR101612218B1 (en) | Elastic-deformation-compensation control device for articulated robot, and control method | |
JP6097174B2 (en) | Robot controller | |
JP4813912B2 (en) | Method for dividing motion of relative motion between a workpiece and a tool of a machine tool, and a machine tool for performing motion division | |
TWI558089B (en) | Synchronous control system for multi-axis motors and method thereof | |
JP6316323B2 (en) | Motor control device | |
EP3023208B1 (en) | Control device for motor drive device, control device for multi-axial motor, and control method for motor drive device | |
JP2009512042A (en) | Method and apparatus for moving guidance of movable machine elements of a machine | |
WO2010003289A1 (en) | Apparatus and method for robots tracking appointed path with high precision | |
US20180015614A1 (en) | Robot shakes automatically adjusting device and method of automatically adjusting shakes of robot | |
US8970156B2 (en) | Path display apparatus considering correction data | |
WO2014061681A1 (en) | Weaving control device of multi-joint robot | |
KR101967926B1 (en) | Motor Controlling Device | |
JP2014136260A (en) | Control device | |
JP5919346B2 (en) | Motor controller for correcting inter-axis interference | |
WO2018212305A1 (en) | Motor control system, method for controlling motor control system, and robot system | |
JP2016134975A (en) | Motor controller for suppressing vibrations | |
JP6281751B2 (en) | Position control system | |
JP2013041478A (en) | Robot with learning control function | |
JP2006227793A (en) | Control parameter sensitivity analysis device for electric motor controlling device and control parameter setting method for electric motor controlling device | |
Luo et al. | Predictive seam tracking with iteratively learned feedforward compensation for high-precision robotic laser welding | |
KR20130064695A (en) | Motor control device | |
KR101485003B1 (en) | Device and method for controlling position and posture of walking robot | |
KR101459174B1 (en) | Apparatus and method for controlling industrial multi-joint robot | |
JP7068133B2 (en) | Control systems, control methods, and control programs | |
JP5441944B2 (en) | Motor control device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A201 | Request for examination | ||
E902 | Notification of reason for refusal | ||
E701 | Decision to grant or registration of patent right | ||
LAPS | Lapse due to unpaid annual fee |