KR102269985B1 - Controlling method and system for multi-joint robot - Google Patents

Abstract

The present invention relates to a method and system for controlling an articulated robot, and according to an embodiment of the present invention, by driving an articulated link unit driving unit and an end effector driving unit respectively to control the end effector with m degrees of freedom and k degrees of freedom, respectively. , it is possible to control the end-effector while maintaining the control center (C) set at any one point of the end-effector, thereby having the effect of more efficiently assisting operations such as surgery or surgery in which precise and delicate work is performed.

Description

Multi-joint robot control method and system {CONTROLLING METHOD AND SYSTEM FOR MULTI-JOINT ROBOT}

The present invention relates to a method and system for controlling an articulated robot.

In general, a multi-joint robot refers to a robot that replaces or assists a human task by controlling more than three degrees of freedom by combining a plurality of links through a plurality of joints.

A representative example of such an articulated robot is a manipulator, which can move freely compared to the volume occupied by a large number of links, so it is mainly used for assembly, painting, and welding in the production line of a factory.

Meanwhile, with the development of software and advanced technologies such as artificial intelligence in recent years, not only manufacturing robots such as multi-joint robots, but also personal service robots such as humanoids, and professional service robots have been developed and released.

As such, manufacturing robots, personal service robots, and professional service robots replace or assist in tasks performed by humans. Typically, these robots substitute for tasks that are too risky for humans to perform, or are performed by humans. It takes the place of precise and delicate work that is difficult to do.

Meanwhile, among various technical fields, the medical field is one of the technical fields in which not only precise and delicate work is required, but also minor mistakes can lead to human casualties.

Therefore, in this medical field, a medical assistant cooperative robot that can prevent unexpected accidents in advance by increasing the success rate of surgery and procedures by assisting operators and operators, and preventing unintentional mistakes in advance, a method for controlling the same, and A system is needed.

Korean Patent Registration No. 10-1151738 (Registration Date: 2012.05.24)

Accordingly, the present invention has been devised in the background described above, and an object of the present invention is to control the end-effector with m degrees of freedom and k degrees of freedom by respectively driving the multi-joint link unit driving unit and the end-effector driving unit, thereby controlling the center of control (C ) to control the end-effector, thereby providing a method and system for controlling a multi-joint robot that can more efficiently assist with operations such as surgery or surgery where precise and delicate work is performed.

The object of the present invention is not limited thereto, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve this problem, an embodiment of the present invention provides a multi-joint link unit having a plurality of links, and n (n is provided at an end of the multi-joint link unit) while maintaining the control center set at any one point. A control method of an end-effector controllable with 2 or more) degrees of freedom, comprising the steps of: (a) a mapping unit receiving n degrees of freedom activation information (i1) from an input unit to activate an n degrees of freedom mapping algorithm; (b) generating, by the mapping unit, the operation input information (i2a, i2b) applied from the force torque sensor or the interface unit to the target coordinates of the end effector to generate n degree of freedom mapping information (i4); and (c) the control unit generates the robot control signal s1 through the n-DOF mapping information i4, and then drives the articulated link unit driving unit to drive the end-effector m (m is a natural number greater than or equal to 1 and less than n). ) controlling the number of degrees of freedom, and driving the end-effector driving unit to control the end-effector with k (k=nm) degrees of freedom.

In addition, an embodiment of the present invention in order to solve this problem, a multi-joint link unit provided with a plurality of links; an end effector provided at an end of the articulated link unit and controlled with n degrees of freedom (n is a natural number greater than or equal to 2) based on a control center set at a certain point; The n-DOF activation information (i1) is received from the input unit to activate the n-DOF mapping algorithm, and the force torque sensor for sensing the teaching force by direct teaching or the operation input information (i2a, i2b) applied from the interface unit a mapping unit for generating n-DOF mapping information i4 by mapping to the target coordinates of the end-effector; And after generating the robot control signal (s1) through the n-degree of freedom mapping information (i4), the articulated link unit driving unit is driven to control the end-effector with m (m is a natural number greater than or equal to 1 and less than n) degrees of freedom. and a control unit for driving the end-effector driving unit to control the end-effector with k (k=nm) degrees of freedom.

According to an embodiment of the present invention, the end-effector can be controlled while maintaining the control center (C) by driving the articulated link unit driving unit and the end-effector driving unit to respectively control the end-effector with m degrees of freedom and k degrees of freedom. In this way, there is an effect that can more efficiently assist the operation, such as a procedure or surgery, in which a precise and delicate operation is performed.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a flowchart of a method for controlling an articulated robot according to an embodiment of the present invention.
2 is a flowchart illustrating the step (b) of FIG. 1 in more detail.
3 is a flowchart showing step (f) of a method for controlling an articulated robot according to an embodiment of the present invention.
4 is a block diagram showing an articulated robot control system according to an embodiment of the present invention.
5 is a perspective view of an articulated robot according to an embodiment of the present invention.
6 is a perspective view of a multi-joint link unit and an end effector according to an embodiment of the present invention.
7 is a view showing an example in which the angle of the end-effector of FIG. 5 is adjusted by a direction control signal.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. When a component is described as being “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but another component is between each component. It should be understood that elements may be "connected," "coupled," or "connected."

1 is a flowchart of a method for controlling an articulated robot according to an embodiment of the present invention. 2 is a flowchart illustrating the step (b) of FIG. 1 in more detail. 3 is a flowchart showing step (f) of a method for controlling an articulated robot according to an embodiment of the present invention. 4 is a block diagram showing an articulated robot control system according to an embodiment of the present invention. 5 is a perspective view of an articulated robot according to an embodiment of the present invention. 6 is a perspective view of a multi-joint link unit and an end effector according to an embodiment of the present invention. 7 is a view showing an example in which the angle of the end effector of FIG. 5 is adjusted by a direction control signal.

As shown in these drawings, the articulated robot control method 10 according to an embodiment of the present invention includes an articulated link unit 501 having a plurality of links, and an end of the articulated link unit 501 . As a control method of the end effector 503 provided in the control panel and capable of controlling n (n is a natural number of 2 or more) degrees of freedom while maintaining the control center C set at a certain point, (a) the mapping unit 401 includes the input unit ( 403) receiving n-DOF activation information i1 and activating the n-DOF mapping algorithm; (b) the mapping unit 401 maps the operation input information i2a, i2b applied from the force torque sensor 405 or the interface unit 407 to the target coordinates of the end effector 503 to map the n degree of freedom mapping information ( creating i4); and (c) the control unit 409 generates the robot control signal s1 through the n-DOF mapping information i4, and then drives the articulated link unit driving unit 411 to drive the end-effector 503 to m(m) is 1 or more and less than n) of degrees of freedom, and driving the end-effector driving unit 413 to control the end-effector 503 with k (k=nm) degrees of freedom.

Here, the articulated robot refers to a robot equipped with an end-effector that assists a user's operation, is coupled to rotate a plurality of links, and performs a specific operation at the distal end.

As an example, the multi-joint robot including the multi-joint link unit 501 and the end effector 503 according to an embodiment of the present invention may be provided as a medical auxiliary robot that assists the operator's medical actions during surgery, In this case, the end effector 503 may be provided with a camera device (eg, an endoscope) for photographing a surgical site, or forceps for pinching or pressing a tissue or organ of the human body.

On the other hand, the articulated robot control method 10 according to an embodiment of the present invention controls the end effector 503 with n degrees of freedom while maintaining the control center C set at any one point (n is a natural number greater than or equal to 2). As a method to do this, the control center (C) means a virtual center point in space that must always pass while controlling any one point (ex: surgical tool, etc.) of the end-effector.

Hereinafter, each step will be described in order, for example, in which the articulated robot according to an embodiment of the present invention is provided as a medical assistant robot.

First, referring to FIG. 1 , step (a) is a step in which the mapping unit 401 receives n-DOF activation information i1 from the input unit 403 and activates the n-DOF mapping algorithm.

Here, the input unit 403 may be provided at an end of the end effector 503 , and includes a first input unit 415 and a second input unit 417 .

In addition, the n degree of freedom activation information i1 is information input so that the mapping unit 401 maps the operation input information i2a and i2b input to the force torque sensor 405 or the interface unit 407 to n degrees of freedom. However, the n degree of freedom activation information i1 may be input by pressing or touching the second input unit 417 , for example.

Subsequently, in step (b), the mapping unit 401 maps the actuation input information i2a and i2b applied from the force torque sensor 405 or the interface unit 407 to the target coordinates of the end effector 503 to n This is a step of generating the degree of freedom mapping information i4.

If the step (b) is described in more detail, step (b) is, (b-1) the target position and orientation mapping unit 419 of the mapping unit 401 is the force torque sensor 405 or the interface unit ( receiving the operation input information (i2a, i2b) from 407 and converting it into target position information (i3) of the end effector (503); and (b-2) the degree of freedom mapping unit 421 of the mapping unit 401 receives the target position information i3 from the target position and orientation mapping unit 419 and generates n degree of freedom mapping information i4. step; includes.

Step (b-1) is a step in which the target position and orientation mapping unit 419 receives the operation input information i2a and i2b from the force torque sensor 405 or the interface unit 407 .

Here, the operation input information i2a and i2b is information input by the user through the force-torque sensor 405 or the interface unit 407 in order to move the end-effector 503 to a target position (ex: surgical site). .

Among the operation input information i2a and i2b, the operation input information i2a applied from the force torque sensor 405 is a state in which the user holds the articulated link unit 501 or the end effector 503 for direct teaching. It is the teaching power that is applied as

That is, the force torque sensor 405 measures the teaching force applied for direct teaching, and then divides it into a force component and a direction component to generate the operation input information i2a.

Contrary to this, the operation input information i2b applied from the interface unit 407 is used by the user to move the end effector 503 to the target position by using the control unit 423 (ex: joystick or remote control, etc.) or the user's voice. It is information input through the recognizable voice input unit 425 .

That is, the operation input information i2b may be input through a button operation or a joystick operation of the control unit 423 , or may be input through a voice-based command.

Subsequently, step (b-2) is a step in which the degree of freedom mapping unit 421 receives the target position information i3 from the target position and orientation mapping unit 419 and generates n degree of freedom mapping information i4. .

That is, in step (b-2), the end-effector 503 is controlled with n degrees of freedom through the target position information i3 so that the end-effector 503 is translated or rotated with n degrees of freedom to move to the target coordinates. This is a step of generating n degree of freedom mapping information i4 for

Subsequently, step (c) is a step in which the controller 409 generates the robot control signal s1 through the n degree of freedom mapping information i4 and then controls the end effector 503 with n degrees of freedom.

More specifically, in step (c), the control unit 409 drives the articulated link unit driving unit 411 through the robot control signal s1 to drive the end-effector 503 to m(m). is a step of controlling 1 or more and less than n) degrees of freedom, and driving the end-effector driving unit 413 to control the end-effector 503 with k (k=nm) degrees of freedom.

Here, the n degrees of freedom are the movement direction D1 along the longitudinal direction of the end-effector 503, the rotation direction D2 of the virtual axis formed along the longitudinal direction of the end-effector 503, and the control center C. It is formed and includes two or more of the respective rotation directions (D3, D4) of two virtual axes orthogonal to each other.

More specifically, among the n degrees of freedom, m degrees of freedom are formed in the control center C and include one or more of the respective rotation directions (D3, D4) of two imaginary axes orthogonal to each other, and k degrees of freedom are the end effector. It includes at least one of a movement direction D1 along the longitudinal direction of 503 and a rotation direction D2 of an imaginary axis formed along the longitudinal direction of the end effector 503 .

Here, the n degrees of freedom according to an embodiment of the present invention may be 4 degrees of freedom, of which m degrees of freedom are formed in the control center C and include respective rotation directions D3 and D4 of two virtual axes orthogonal to each other. It consists of two degrees of freedom, and the k degrees of freedom are two degrees of freedom including a movement direction D1 along the longitudinal direction of the end-effector 503 and a rotation direction D2 of a virtual axis formed along the longitudinal direction of the end-effector 503 . can be done

That is, in step (c), the control unit 409 drives the multi-joint link unit driving unit 411 to control the end-effector 503 in respective rotation directions D3 and D4 of two virtual axes, and the end-effector driving unit ( 413) to control the movement direction D1 along the longitudinal direction of the end-effector 503 and the rotation direction D2 of the virtual axis formed along the longitudinal direction of the end-effector 503.

That is, in step (c), the control unit 409 controls the multi-joint link unit driving unit 411 and the end-effector driving unit 413, respectively, so that any one point of the end-effector 503 maintains the control center (C). The end-effector 503 is controlled according to a specific degree of freedom.

At this time, when the end-effector 503 is controlled along the respective rotation directions D3 and D4 of the two virtual axes, the controller 409 multi-joints so that any one point of the end-effector 503 maintains the control center C. The link unit 501 is controlled in three degrees of freedom along the X, Y, and Z axes.

That is, in step (c), the control unit 409 controls the articulated link unit 501 through three degrees of freedom along the X, Y, and Z axes through the robot control signal s1, thereby controlling the end effector 503. Any one point of the end effector 503 maintains the control center (C).

Here, any one point of the end effector 503 at which the control center C is set may be the procedure guide part 603 of the end effector 503 .

On the other hand, referring to FIGS. 1 and 7 , in the articulated robot control method 10 according to an embodiment of the present invention, (d) the end effector 503 is controlled to n degrees of freedom, and then the controller 409 is generating error information i5 by comparing the rotation angle with respect to the longitudinal virtual axis of the end effector 503 and a preset value; (e) the control unit 409 receives the error information i5, outputs the orientation control signal s2, and then rotates the end-effector 503 based on the virtual axis to correct the rotation angle. .

In step (d), after the end-effector 503 is controlled with n degrees of freedom, it is detected whether the rotation angle with respect to the virtual axis in the longitudinal direction of the end-effector 503 deviates from a preset value, and the end-effector 503 is performed. This is a step of generating error information i5 when the rotation angle of is out of a preset setting value.

For example, when a camera device such as an endoscope is provided at the end of the treatment unit 601 of the end-effector 503 , the angle of the treatment unit 601 is virtual while the end-effector 503 is controlled with n degrees of freedom. Since it is changed based on the axis, the angle of the output image 703 and the angle of the bezel 705 of the image output device 701 may not match.

Accordingly, in step (e), the controller 409 outputs the orientation control signal s2 through the error information i5, and the outermost line of the output image 703 output through the camera device is the bezel 705. It is a step of rotating the end-effector 503 based on the virtual axis so as to coincide with .

At this time, when the control unit 409 outputs the orientation control signal s2 to rotate the end-effector 503 based on the virtual axis, the operation unit 601 of the end-effector 503 rotates based on the virtual axis in the longitudinal direction. Accordingly, the output image 703 may be corrected.

In this way, after the end-effector 503 is controlled with n degrees of freedom, the end-effector 503 is rotated based on the virtual axis to match the rotation angle based on the longitudinal direction of the end-effector 503 with the preset setting value. By including the step, it is possible to perform a more precise operation by correcting the control angle of the tool (not shown) provided in the operation unit 601 .

On the other hand, referring to Figure 3, the articulated robot control method 10 according to an embodiment of the present invention before step (a), (f) any one point of the end effector 503 control center (C) It further includes the step of setting to

To describe step (f) in more detail, step (f) is performed in step (f-1) in which the mapping unit 401 receives the control center activation information i6 from the input unit 403 and activates the control center activation algorithm. step; (f-2) The target position and orientation mapping unit 419 of the mapping unit 401 receives the operation input information i2a by the teaching force from the force torque sensor 405 and converts it into the control center position information i7 to do; (f-3) generating, by the degree of freedom mapping unit 421 of the mapping unit 401, receiving the control center location information i7 and generating the control center mapping information i8; and (f-4) after the control unit 409 drives the multi-joint link unit driving unit 411 so that any one point of the end effector 503 is located at the control center C through the control center mapping information i8, and applying the control center information i9 in which any one point of the end effector 503 is located to the mapping unit 401 .

In step (f-1), the mapping unit 401 receives the control center activation information i6 for moving the end effector 503 to the control center C from the input unit 403 and activates the control center activation algorithm. is a step

Here, the control center activation information i6 of step (f-1) derives the control center position information i7 based on the operation input information i2a input by the mapping unit 401 to the force torque sensor 405 This information is input so that the control center activation information i6 can be input while pressing or touching the first input unit 415 , for example.

That is, the control center activation information i6 is, for example, a teaching force applied to the force torque sensor 405 in a state in which the first input unit 415 is pressed or touched, and the external force applied to the first input unit 415 is released. In this case, it may no longer be input to the force torque sensor 405 .

In step (f-2), the target position and orientation mapping unit 419 of the mapping unit 401 separates the teaching force into a force component and a direction component, and converts the operation input information i2a into the control center position information i7. and step (f-3) is a step in which the degree of freedom mapping unit 421 generates the control center mapping information i8 through the control center location information i7.

Next, in step (f-4), the control unit 409 drives the articulated link unit driving unit 411 so that any one point of the end effector 503 is located at the control center C through the control center mapping information i8. It is a step to

Here, any one point of the end effector 503 located at the control center C may be a procedure guide unit 603 for rotatably and movably guiding the treatment unit 601 .

That is, in step (f-4), after the operation guide part 603 of the end effector 503 is moved to a target position (ex: surgical site) by the user's teaching power, the operation guide part 603 is located The point is set as the control center (C), and the control center information (i9) where the procedure guide unit 603 is located is applied to the mapping unit 401 .

At this time, the mapping unit 401 applies the n-DOF activation information i1 from the input unit 403 to activate the n-DOF mapping algorithm, based on the control center information i9 applied from the control unit 409 . The operation input information (i2a, i2b) is converted into the target position information (i3).

As such, an embodiment of the present invention controls the end-effector 503 with m degrees of freedom and k degrees of freedom by respectively driving the articulated link unit driving unit 411 and the end-effector driving unit 413, thereby controlling the center of control (C). ) while maintaining the end-effector 503, it is possible to control the end-effector 503, thereby having the effect of more efficiently assisting the operation, such as a procedure or surgery in which a precise and delicate operation is made.

On the other hand, 4 to 7, the articulated robot control system 20 according to an embodiment of the present invention includes a multi-joint link unit 501 having a plurality of links 605; an end effector 503 provided at the end of the articulated link unit 501 and controlled with n degrees of freedom (n is a natural number greater than or equal to 2) based on the control center C set at any one point; Activating the n-DOF mapping algorithm by receiving the n-DOF activation information i1 from the input unit 403, the force-torque sensor 405 that detects the teaching force by direct teaching or the operation applied from the interface unit 407 a mapping unit 401 that maps the input information i2a, i2b to the target coordinates of the end effector 503 to generate n degree of freedom mapping information i4; And after generating the robot control signal (s1) through the n degree of freedom mapping information (i4), by driving the articulated link unit driving unit 411 to drive the end effector 503 m (m is a natural number greater than or equal to 1 and less than n) and a control unit 409 for controlling the number of degrees of freedom and driving the end-effector driving unit 413 to control the end-effector 503 with k (k=nm) degrees of freedom.

The multi-joint link unit 501 includes a plurality of links 605 and a plurality of joints 607 to which each link 605 is rotatably coupled. A force torque sensor 405 to which visual acuity is input, and a plurality of links 605 are provided with a multi-joint link unit driving unit 411 driven to be controlled in six degrees of freedom based on X, Y and Z axes.

The multi-joint link unit 501 may be provided on the upper portion of the transport vehicle 505 provided with movable wheels to be movable.

The end effector 503 is provided at the end of the articulated link unit 501 and is controlled with n degrees of freedom (n is a natural number greater than or equal to 2) based on the control center C by the robot control signal s1.

When describing the structure of the end-effector 503 in more detail, the end-effector 503 includes a transfer panel unit 609 , an end-effector driving unit 413 , and a treatment unit 601 .

The transfer panel unit 609 is coupled to any one of the links 605 of the articulated link unit 501, and includes a plurality of panels coupled to each other movably.

Such a plurality of panels is, for example, a first panel 611 coupled to any one link 605 of the articulated link unit 501, and a second panel 613 coupled to the first panel 611 movably. ) and a third panel 617 movably coupled to the second panel 613 and provided with a first driving unit 615 of the end-effector driving unit 411 .

Here, the treatment unit 601 is interpolated in the first panel 611 , and a treatment guide unit 603 is provided for guiding the treatment unit 601 to be moved in the longitudinal direction or rotated based on a longitudinal virtual axis.

Next, the end-effector driving unit 413 moves the first driving unit 619 for rotating the end-effector 503 in the rotation direction D2 of the virtual axis formed along the longitudinal direction and the end-effector 503 in the longitudinal direction D1 . It includes a second driving unit (not shown).

The first driving unit 619 and the second driving unit rotate the operation unit 601 of the end effector 503 in the rotation direction D2 of the virtual axis or move it in the longitudinal direction D1, where the first The driving unit 619 is provided with a holder 621 to which the treatment unit 601 is detachably coupled.

Accordingly, in one embodiment of the present invention, various work tools such as the operation unit 601 can be replaced and used.

In addition, when the direction control signal s2 is applied from the driving control unit 427 of the control unit 409, the first driving unit 619 rotates the operating unit 601 of the end effector 503 in the rotation direction ( D2) to correct the rotation angle.

Subsequently, the treatment unit 601 is inserted into the treatment guide unit 603 while being coupled to the first driving unit 619 through the holder 621 to perform various preset operations.

The operation unit 601 may be provided with, for example, a camera device or forceps at an end thereof.

Subsequently, the mapping unit 401 receives the n-DOF activation information i1 from the input unit 403 to activate the n-DOF mapping algorithm, or receives the control-centered activation information i6 to activate the control-oriented activation algorithm. Activate it.

The mapping unit 401 receives the motion input information i2a, i2b from the force torque sensor 405 or the interface unit 407 and converts it into the target position information i3 of the end effector 503; and When the orientation mapping unit 419 and the n-DOF mapping algorithm are activated, the target location information (i3) is received and converted into the n-DOF mapping information (i4), and when the control center activation algorithm is activated, the control center location information (i7) is applied and a degree of freedom mapping unit 421 that receives and converts the control center mapping information (i8).

Subsequently, the control unit 409 controls the articulated link unit 501 and the end-effector 503 by generating the robot control signal s1 through the n-DOF mapping information i4 and the control center mapping information i8. .

To describe the structure of the control unit 409 in more detail, the control unit 409 controls the end-effector 503 to be controlled with n degrees of freedom, and then, after the end-effector 503 is controlled with n degrees of freedom, the rotation angle and the angle of rotation based on the virtual axis in the longitudinal direction of the end-effector 503 a correction control unit 429 for generating error information i5 by comparing set values; and a driving control unit 427 that outputs the orientation control signal s2 through the error information i5 and then corrects the rotation angle by rotating the end-effector 503 based on the virtual axis.

Here, as described above, the driving control unit 427 rotates the operation unit 601 of the end effector 503 based on the longitudinal virtual axis through the orientation control signal s2 to improve the convenience and efficiency of the operation. .

In addition, the control unit 409 further includes an inverse kinematics calculation unit 431 , which includes the n-DOF mapping information i4 and the control-centered mapping information i8 applied from the degree-of-freedom mapping unit 421 . ) is calculated through closed-loop inverse kinematics (CLK) to generate the robot control signal s1.

Meanwhile, since the n degrees of freedom, the m degrees of freedom, and the k degrees of freedom have been described above, a description thereof will be omitted.

In addition, the omitted structure of the articulated robot control system 20 according to an embodiment of the present invention can be sufficiently derived from the articulated robot control method 10 according to an embodiment of the present invention.

As described above, according to an embodiment of the present invention, by respectively driving the articulated link unit driving unit 411 and the end-effector driving unit 413 to control the end-effector 503 with m degrees of freedom and k degrees of freedom, respectively. , it is possible to control the end-effector 503 while maintaining the control center (C), thereby having the effect of more efficiently assisting operations such as a procedure or surgery in which a precise and delicate operation is made.

In the above, even though all the components constituting the embodiment of the present invention are described as being combined or operating in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more.

In addition, terms such as "include", "comprise" or "have" described above mean that the corresponding component may be embedded unless otherwise stated, so excluding other components is not recommended. It should be construed as being able to further include other components. All terms including technical and scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms commonly used, such as those defined in the dictionary, should be interpreted as being consistent with the meaning of the context of the related art, and are not interpreted in an ideal or excessively formal meaning unless explicitly defined in the present invention.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these implementations. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: Multi-joint robot control method
20: multi-joint robot control system
401: mapping unit
403: input
405: force torque sensor
407: interface unit
409: control unit
411: multi-joint link unit driving unit
413: end effector driving unit
415: first input unit
417: second input unit
419: target position and orientation mapping unit
421: degree of freedom mapping unit
423: control unit
425: voice input unit
427: drive control unit
429: correction control unit
431: inverse kinematics calculation unit
501: articulated link unit
503: end effector
505: carriage
601: operation unit
603: operation guide unit
605 : Link
607: joint
609: transfer panel part
611: first panel
613: second panel
615: first driving unit
617: third panel
619: first driving unit
621: holder
701: video output device
703: output image
705 : Bezel

Claims (9)

In the articulated robot control method comprising a multi-joint link unit provided with a plurality of links, and an end effector provided at an end of the multi-joint link unit,
setting any one point of the end-effector as a control center; and controlling the end-effector in n degrees of freedom,
The step of setting any one point of the end-effector as the control center includes:
activating the control center activation algorithm by the mapping unit receiving the control center activation information i6 from the input unit;
converting the target position and orientation mapping unit of the mapping unit into control center position information (i7) by receiving the operation input information (i2a) by the teaching force from the force torque sensor;
generating the control center mapping information (i8) by receiving the control center location information (i7) by the degree of freedom mapping unit of the mapping unit; and
After the control unit drives the multi-joint link unit driving unit so that any one point of the end-effector is located at the control center through the control center mapping information (i8), the control center information (i9) in which any one point of the end-effector is located is transferred to the mapping unit It consists of the steps of authorization,
The step of controlling the end-effector in n degrees of freedom includes:
(a) activating the n-DOF mapping algorithm by the mapping unit receiving the n-DOF activation information i1 from the input unit;
(b) generating, by the mapping unit, the operation input information (i2a, i2b) applied from the force torque sensor or the interface unit to the target coordinates of the end effector to generate n degree of freedom mapping information (i4); and
(c) After the control unit generates the robot control signal s1 through the n-DOF mapping information i4, drives the articulated link unit driving unit to drive the end-effector to m (m is a natural number greater than or equal to 1 and less than n) controlling the end-effector with k degrees of freedom and driving an end-effector driving unit to control the end-effector with k (k=nm) degrees of freedom;
Articulated robot control method comprising a.
According to claim 1,
The n degrees of freedom are
Including two or more of a movement direction along the longitudinal direction of the end-effector, a rotation direction of a virtual axis formed along the longitudinal direction of the end-effector, and each rotation direction of two virtual axes formed at the control center and perpendicular to each other A method for controlling a multi-joint robot.
3. The method of claim 2,
The m degrees of freedom are
It is formed in the control center and includes at least one of the respective rotation directions of two virtual axes orthogonal to each other,
The k degrees of freedom are
An articulated robot control method comprising at least one of a movement direction along the longitudinal direction of the end-effector and a rotation direction of a virtual axis formed along the longitudinal direction of the end-effector.
According to claim 1,
(d) generating error information (i5) by comparing, by the controller, a rotation angle with respect to the virtual axis in the longitudinal direction of the end-effector with a preset setting value after the end-effector is controlled with the n degrees of freedom;
(e) correcting the rotation angle by the control unit receiving the error information i5 and outputting an orientation control signal s2, then rotating the end effector based on the virtual axis;
Articulated robot control method, characterized in that it further comprises.
According to claim 1,
Step (b) is,
(b-1) converting the target position and orientation mapping unit of the mapping unit into target position information (i3) of the end-effector by receiving the operation input information (i2a, i2b) from the force torque sensor or the interface unit; and
(b-2) generating the n-DOF mapping information (i4) by receiving the target position information (i3) from the target position and orientation mapping unit by the degree of freedom mapping unit of the mapping unit;
Articulated robot control method comprising a.
a multi-joint link unit provided with a plurality of links;
an end effector provided at an end of the articulated link unit and controlled with n degrees of freedom (n is a natural number greater than or equal to 2) based on a control center set at any one point;
The control center activation algorithm is activated by receiving the control center activation information (i6) from the input unit, and the n degree of freedom mapping algorithm is activated by receiving the n degree of freedom activation information (i1),
It receives operation input information (i2a, i2b) from the force torque sensor or interface unit and converts it into target position information (i3) of the end-effector, and receives operation input information (i2a) by teaching force from the force torque sensor and receives the control center a target position and orientation mapping unit that converts the position information into i7; and
The target position information (i3) applied from the target position and orientation mapping unit is mapped to the target coordinates of the end-effector to generate n degree of freedom mapping information (i4), and the control center position information (i7) is applied and controlled a degree of freedom mapping unit generating center mapping information i8;
a mapping unit comprising; and
After driving the multi-joint link unit driving unit so that any one point of the end-effector is located at the control center (C) through the control center mapping information (i8), the control center information (i9) where any one point of the end-effector is located is mapped After the robot control signal (s1) is generated through the n-DOF mapping information (i4), the multi-joint link unit driving unit is driven to activate the end-effector by m (m is a natural number greater than or equal to 1 and less than n). a control unit for controlling the degree of freedom and driving the end-effector driving unit to control the end-effector with k (k=nm) degrees of freedom;
Articulated robot control system comprising a.
7. The method of claim 6,
The n degrees of freedom are
Including two or more of a movement direction along the longitudinal direction of the end-effector, a rotation direction of a virtual axis formed along the longitudinal direction of the end-effector, and each rotation direction of two virtual axes formed at the control center and perpendicular to each other A multi-joint robot control system.
8. The method of claim 7,
The m degrees of freedom are
It is formed in the control center and includes at least one of the respective rotation directions of two virtual axes orthogonal to each other,
The k degrees of freedom are
Articulated robot control system, characterized in that it comprises at least one of a movement direction along the longitudinal direction of the end-effector and a rotation direction of a virtual axis formed along the longitudinal direction of the end-effector.
7. The method of claim 6,
The control unit is
a correction controller configured to generate error information i5 by comparing a rotation angle with respect to a longitudinal virtual axis of the end-effector with a preset value after the end-effector is controlled with the n degrees of freedom; and
a driving control unit for outputting an orientation control signal (s2) through the error information (i5) and then rotating the end-effector based on the virtual axis to correct the rotation angle;
Articulated robot control system comprising a.

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