KR101459174B1 - Apparatus and method for controlling industrial multi-joint robot - Google Patents

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

TECHNICAL FIELD [0001] The present invention relates to an apparatus and a method for controlling an industrial articulated robot,

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-proportional control unit 100 for setting a position-proportional gain Kp.

The position proportional control unit 100 sets a position proportional gain Kp for adjusting the position response characteristic of each joint of the robot. The position proportional control unit 100 receives a reference input of a position command at an input terminal and calculates a position proportional to a difference between a reference input of the position reference and a position feedback fed back at the output terminal (Kp) to convert it into a speed command, and then outputs it to the speed status feedback control unit 200. [ The position feedback amount and the velocity feedback amount are fed back from the output terminal of the speed state feedback control unit 200.

The speed state feedback control unit 200 applies the state feedback control method to increase the precision / accuracy of the locus by generating an output value (Output) of the position command that reduces the steady state error. Specifically, the speed status feedback control unit 200 calculates a correction amount of the speed command using the difference between the speed command outputted from the position proportional control unit 100 and the speed feedback amount fed back from the output terminal, Outputs position command output through integral control of speed command and feeds position feedback and velocity feedback at input terminal to input terminal.

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 observer 300 measures the velocity measurement value of each joint axis of the robot in cooperation with the velocity state feedback control unit 200. The velocity state feedback control unit 200 measures the velocity measurement value measured by the observation unit 300 So that accurate control can be performed.

The position-proportional control unit 100 may include a computing unit 110 and a gain adjustment unit 120, as shown in FIG.

The arithmetic unit 110 calculates a deviation between a reference input of a position command inputted at an input terminal and a position feedback amount transmitted from an output terminal of the speed state feedback controller 200, And the gain adjuster 120 applies a predetermined positional proportional gain Kp to the output of the calculator 110. [ The speed command output from the gain adjustment unit 120 is transmitted to the speed status feedback control unit 200.

The arithmetic unit 210 located at the input terminal of the speed state feedback control unit 200 receives the speed command outputted from the position proportional control unit 100 and the speed feedback amount fed back from the output terminal and outputs the speed command and the speed feedback amount Velocity Feedback).

In addition, the response speed of the robot can be improved by applying a velocity feedforward gain for predicting defects to the arithmetic unit 210 at the input of the velocity state feedback controller 200 and controlling the feedback process. In addition, the position-proportional control unit 100 may further include a band-stop filter for suppressing the vibration of the robot.

In this manner, the speed state feedback control unit 200 and the observing unit 300 (see FIG. 1) are constituted separately from the total two control loops, that is, the position proportional control unit 100 as the position control loop and the speed state feedback control unit 200 as the speed control loop. The positional proportional control unit 100 is provided in the disturbance constituted by the position proportional gain Kp.

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-proportional control unit 100 of the control apparatus receives a reference input of a position command at an input terminal (S110), and calculates a position feedback amount (Reference Input) and a position feedback amount Position Feedback) is multiplied by a position proportional gain Kp to generate a speed command (S120).

The speed state feedback controller 200 of the control apparatus calculates the correction amount of the speed command using the difference between the speed command transmitted from the position proportional control unit 100 and the speed feedback amount fed back from the output terminal, The output value Output of the position command is outputted through the integral control of the speed command (S130). At this time, the observation unit 300 measures the speed measurement values of the joint axes of the robot in cooperation with the speed status feedback control unit 200, and allows the measurement results to be reflected in the correction amount calculation of the speed command.

In addition, the speed state feedback controller 200 of the control device feeds back the position feedback amount and the velocity feedback amount at the output terminal to the input terminal and transmits it to the position proportional control unit 100 at step S140.

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 control device for controlling an actuator for driving each articulated shaft of an industrial articulated robot,
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.
The method according to claim 1,
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.
delete 2. The apparatus of claim 1,
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.
A control method for controlling an actuator for driving each articulated shaft of an industrial articulated 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.

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