KR102630230B1 - Collaborative robot - Google Patents

Abstract

The collaborative robot of this embodiment includes a main body and a control device. The main body includes a moving-working portion that works while moving along a set trajectory. The control device stops the movement of the mobile-working unit when a collision occurs in the main body while the mobile-working unit is moving along a set trajectory. In a situation where the movement of the mobile-working unit is stopped, if the mobile-working unit moves beyond the reference distance along the set trajectory due to an external force, the control device continues the movement of the mobile-working unit.

Description

Collaborative robot {Collaborative robot}

The present invention relates to collaborative robots, and more specifically, to collaborative robots that work together with workers.

Generally, a collaborative robot includes a main body and a control device. The main body includes a moving-working portion that works while moving along a set trajectory. The control device controls the operation of the mobile-working unit.

In the collaborative robot as described above, if a collision occurs in the main body including the mobile-working unit while the mobile-working unit is working while moving along a set trajectory, the movement of the mobile-working unit is stopped. This operation is performed for the safety and convenience of the worker.

Figure 1 shows that the worker's hand 101 collides with the main body 102 of a general collaborative robot. As shown in FIG. 1, the operator can stop the movement of the moving-working unit included in the main body 102 by intentionally colliding with the main body 102.

Conventionally, after the movement of the mobile-work unit is stopped due to such a collision, the operator must press the work-continue button on the teaching pendant in order for the movement of the mobile-work unit to continue.

Figure 2 shows that the worker presses the work-continuation button 201a of the teaching pendant with the hand 101 to continue the movement of the mobile work unit after a collision in a conventional collaborative robot.

According to the conventional collaborative robot as described above, there are the following problems.

First, the operator feels the inconvenience of having to find and press the continue task button on the teaching pendant.

Second, it takes a considerable amount of time for the operator to find and press the continue button on the teaching pendant, so work efficiency is relatively low.

Third, there is the added cost of manufacturing the hardware associated with the separate task-resume button.

The problem with the above background technology is that it is information that the inventor possessed for deriving the present invention or learned in the process of deriving the present invention, and cannot necessarily be said to be known to the general public before filing the application for the present invention.

Republic of Korea Public Patent No. 2010-0096908 (Applicant: Korea Institute of Machinery and Materials, Name: Direct teaching robot capable of collision detection and method for collision detection)

An embodiment of the present invention seeks to provide a collaborative robot that can operate so that the movement of the mobile work unit continues safely even if the worker does not find and press the work-continue button of the teaching pendant.

The collaborative robot of an embodiment of the present invention includes a main body and a control device. The main body includes a moving-working portion that works while moving along a set trajectory. The control device controls the operation of the mobile-working unit.

The control device stops the movement of the mobile-working unit when a collision occurs in the main body while the mobile-working unit is moving along a set trajectory.

In a situation where the movement of the mobile-working unit is stopped, if the mobile-working unit is moved beyond the reference distance along the set trajectory by an external force, the control device continues the movement of the mobile-working unit.

According to the collaborative robot of this embodiment, in a situation where the movement of the mobile-working unit is stopped due to the collision, a worker who is familiar with the set trajectory can easily move the mobile-working unit beyond the reference distance along the set trajectory. You can. Accordingly, there are the following effects.

First, the conventional inconvenience of having to find and press the task-continue button on the teaching pendant can be eliminated.

Second, the time required for the operator to find and press the continue button on the teaching pendant is saved, so work efficiency can be relatively increased.

Third, the manufacturing cost of hardware associated with a separate task-resume button can be reduced.

Fourth, movement of the mobile-working unit can continue only when the stopped mobile-working unit moves beyond the reference distance along the set trajectory. For example, if the mobile-working unit in a stopped state is moved to an orbit different from the set orbit, the movement of the mobile-working unit does not continue. Additionally, if the mobile-working unit in the stopped state is moved less than the reference distance, the movement of the mobile-working unit does not continue. Accordingly, the problem that the movement of the mobile-working unit may continue due to secondary collisions unrelated to the operator's intention can be resolved.

Figure 1 is a diagram showing a worker's hand colliding with the body of a typical collaborative robot.
FIG. 2 is a diagram showing that a worker presses the task-continuation button on a teaching pendant in order to continue the movement of the mobile-work unit after a collision in a conventional collaborative robot.
Figure 3 is a diagram showing the configuration of a collaborative robot according to an embodiment of the present invention.
FIG. 4 is a flowchart showing the initial operation of the control device in FIG. 3.
FIG. 5 is a flowchart showing a process in which the control device in FIG. 3 performs the direct teaching mode (S403) in FIG. 4.
FIG. 6 is a flowchart showing a process in which the control device in FIG. 3 performs the work mode (S404) in FIG. 4.
FIG. 7 is a diagram showing that after the movement of the mobile-working unit is stopped due to the collision of the main body in FIG. 3, the mobile-working unit is moved along a set trajectory beyond a reference distance by the worker's force.
Figure 8a is a diagram showing that the mobile-working unit works while repeatedly moving to three points.
Figure 8b is a diagram showing that the moving-working unit collides while moving from point A to point B.
FIG. 8C is a diagram showing that after a collision, the mobile-working unit receives a force in a direction different from the direction of progress of the set trajectory.
FIG. 8D is a diagram showing that after a collision, the mobile-working unit receives a force in the same direction as the direction of progress of the set trajectory.
FIG. 9 is a diagram for explaining step S607 of FIG. 6.
FIG. 10 is a diagram showing the detailed operation of step S607 of FIG. 6.
FIG. 11 is a diagram showing the software configuration of the control device in FIG. 3.
FIG. 12 is a flowchart showing a process in which the main control unit in FIG. 11 performs the direct teaching mode (S403) in FIG. 4.
FIG. 13 is a flowchart showing a process in which the main control unit in FIG. 11 performs the work mode (S404) in FIG. 4.

The following description and attached drawings are for understanding the operation according to the present invention, and parts that can be easily implemented by a person skilled in the art may be omitted.

Additionally, the specification and drawings are not provided for the purpose of limiting the present invention, and the scope of the present invention should be determined by the claims. The terms used in this specification should be interpreted with meanings and concepts consistent with the technical idea of the present invention so as to most appropriately express the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the attached drawings.

Figure 3 shows the configuration of a collaborative robot according to an embodiment of the present invention.

Referring to FIG. 3, the collaborative robot of this embodiment includes a main body 302, a control device 303, and a teaching pendant (301).

The main body 302 includes a moving-working portion that works while moving along a set trajectory. The control device 303 controls the operation of the mobile-working portion that is part of the main body 302. The teaching pendant 301 generates user input signals and inputs them to the control device 303.

Each of the joints of the moving-working part of the main body 302 transmits force/torque sensors, three-dimensional drive axes, motors for rotating the three-dimensional drive axes, and angle data of the three-dimensional drive axes to the control device. Contains encoders that

The control device 303 stops the movement of the mobile-working unit, which is a part of the main body 302, when a collision occurs in the main body 302 while the mobile-working unit is moving along a set trajectory. In a situation where the movement of the mobile-working part, which is part of the main body 302, is stopped, if the mobile-working part is moved beyond the reference distance along the set trajectory by an external force, the control device 303 continues the movement of the mobile-working part. Let’s proceed. Contents related to this will be described in detail with reference to FIGS. 4 to 13.

Figure 4 shows the initial operation of the control device 303 in Figure 3.

3 and 4, in the initial operation of the control device 303, the control device 303 determines the currently set operation mode (step S401). Depending on the currently set operation mode, the control device 303 performs an indirect teaching mode (step S402), a direct teaching mode (step S403), or a work mode (step S404).

In the indirect teaching mode (step S402), the control device 303 stores the trajectory data generated by the teaching pendant 301 as data of the set trajectory.

In the direct teaching mode (step S403), the control device 303 stores data of the trajectory along which the mobile-working unit moves by an external force as data of the set trajectory.

In the work mode (step S404), the control device 303 controls the moving-working unit in the main body 302 to perform work while moving along the set trajectory.

FIG. 5 shows a process in which the control device 303 in FIG. 3 performs the direct teaching mode (S403) in FIG. 4. This will be explained with reference to FIGS. 3 and 4.

The control device 303 generates data of the movement trajectory according to the force/torque signal and encoder data from the movement-working portion of the main body 302 (step S501).

More specifically, step S501 includes a first detail step and a second detail step.

In a first detailed step, according to signals from force/torque sensors provided at the joints of the mobile-working unit of the main body 302, the control device 303 provides data of the trajectory in which the mobile-working unit will move. Generate movement-orbit data.

In the second detailed step, according to the data from the encoders provided at the joints of the moving-working portion of the main body 302, the control device 303 corrects and outputs the moving-trajectory data.

Additionally, according to the generated movement trajectory data, the control device 303 calculates the target angle of each drive axis (step S502).

Next, according to each target angle of the calculation result, the control device 303 outputs a motor control signal for each drive axis to each motor drive unit in the main body 302 (step S503).

Then, the control device 303 stores the applied movement trajectory data as the set trajectory data (step S504).

The steps S501 to S504 are repeatedly performed until an external termination signal is generated (step S505).

FIG. 6 shows a process in which the control device 303 in FIG. 3 performs the work mode (S404) in FIG. 4.

7 shows that after the movement of the moving-working unit 302m is stopped due to the collision of the main body 302 in FIG. 3, the moving-working unit 302m moves along the set trajectory by the worker's force or more than the reference distance. It shows that it moves to .

FIG. 8A is a diagram showing that the moving-working unit 302m works while repeatedly moving to three points (A, B, and C).

FIG. 8B is a diagram showing that the moving-working unit 302m collides while moving from point A to point B.

FIG. 8C is a diagram showing that after a collision, the moving-working unit 302m receives a force in a direction different from the direction of progress of the set trajectory.

FIG. 8D is a diagram showing that the moving-working unit 302m receives a force in the same direction as the progressing direction of the set trajectory after the collision.

In FIGS. 8A to 8D, reference numerals A, B, and C indicate working points, and X, Y, and Z indicate three-dimensional driving axes.

With reference to FIGS. 6 to 8D, a process in which the control device 303 in FIG. 3 performs the work mode (S404) in FIG. 4 will be described.

The control device 303 calculates the target angle of each drive axis (step S601) according to the data of the set trajectory stored internally (related to step S504 in Fig. 5).

Next, according to each target angle of the calculation result, the control device 303 outputs a motor control signal for each drive axis to each motor drive unit in the main body 302 (step S602). Accordingly, the moving-working portion 302m included in the main body 302 moves in the direction of progress of the set trajectory (see FIG. 8A).

If a collision occurs while the moving-working unit 302m is moving in the direction of progress of the set trajectory (step S603, see Fig. 8b), the control device 303 performs steps S604 to S609.

In step S604, the control device 303 outputs a motor stop signal for each drive shaft to each motor drive unit in the main body 302 (step S604).

Next, the control device 303 generates data of the movement trajectory of the mobile-working unit 302m by the direct teaching mode (S403 in FIG. 5) (step S605). Accordingly, data on the movement trajectory are generated as the moving-working unit 302m moves by an external force, for example, the force of the worker's hand 101.

Next, the control device 303 compares the generated orbit data with the data of the set orbit (steps S606 and S607).

In the case of this embodiment, after the moving-working unit 302m is moved by an external force beyond the standard distance (step S606), if the deviation between the moving trajectory and the set trajectory is less than the standard deviation (step S607), The control device 303 continues the movement of the moving-working unit 302m (performing steps S601 and S602, in the case of Fig. 8D).

In addition, if the moving-working unit 302m does not move beyond the reference distance due to an external force (step S606) or the deviation between the moving trajectory and the set trajectory is not less than the standard deviation (step S607), the control The device 303 controls the moving-working unit 302m to return to the collision point (step S608, in Fig. 8C).

The steps S605 to S608 are repeatedly performed until an external termination signal is generated (step S609).

According to the operation in the work mode (S404), in a situation where the movement of the mobile-working unit is stopped due to a collision, the hand 101 of the worker who is familiar with the set trajectory moves the mobile-working unit 302m along the set trajectory as a reference. It can be easily moved over distance. Accordingly, there are the following effects.

First, the conventional inconvenience of having to find and press the task-continue button on the teaching pendant (301 in FIG. 3) can be eliminated.

Second, the time required for the operator to find and press the continue work button of the teaching pendant 301 is saved, so work efficiency can be relatively increased.

Third, the manufacturing cost of hardware associated with a separate task-resume button can be reduced.

Fourth, movement of the moving-working unit 302m can continue only when the stopped moving-working unit 302m moves beyond the reference distance along the set trajectory. For example, if the moving-working unit 302m in a stopped state is moved to an orbit different from the set orbit, the movement of the moving-working unit 302m does not continue. Additionally, if the moving-working unit 302m in the stopped state is moved less than the reference distance, the movement of the moving-working unit 302m does not continue. Accordingly, the problem that the movement of the mobile-working unit 302m may continue due to secondary collisions unrelated to the operator's intention can be resolved.

FIG. 9 is a diagram for explaining step S607 of FIG. 6. In Figure 9, reference symbols X, Y, Z indicate three-dimensional driving axes, and P _A indicates the collision point.

Figure 10 shows the detailed operation of step S607 in Figure 6.

Step S607 will be described with reference to FIGS. 9 and 10.

The data of the movement trajectory (X _A1 , Y _A1 ,X _A1 ), ..., _{(X A100 ,} Y _A100 , The _data of the _set orbit ₍ X _R1 , _{Y R1} , In this embodiment, the unit interval is 1 millimeter (mm), and the distance to be compared from the collision point P _A is 10 centimeters (cm).

)가 기준 편차보다 적음을 판단하는 단계(S607)는 단계들 S1001 내지 S1005를 포함한다.Deviation between the moving trajectory and the set trajectory (

The step (S607) of determining that ) is less than the reference deviation includes steps S1001 to S1005.

In step S1001, the control device (303 in FIG. 3 ₎ sets three-dimensional coordinate values (X _R1 , Y _R1 , ..., read (X _R100 ,Y _R100 ,X _R100 ).

을 구한다. 상기 차이 값들의 총합

는 아래의 수학식 1에 의하여 구해질 수 있다. Next, the control device 303 calculates the sum of the difference values between the three-dimensional coordinate values of the set points and the three-dimensional coordinate values of the moving points.

Find . The sum of the above difference values

Can be obtained by Equation 1 below.

에 대한 상기 차이값들의 총합

의 비율이 기준 비율(Rp)보다 적은지를 판단한다(단계 S1003). 물론, 상기 설정 지점들의 3차원 좌표 값들의 총합

은 아래의 수학식 2에 의하여 구해질 수 있다.Next, the control device 303 calculates the sum of the three-dimensional coordinate values of the set points.

The sum of the above difference values for

It is determined whether the ratio is less than the reference ratio (Rp) (step S1003). Of course, the sum of the three-dimensional coordinate values of the set points

Can be obtained by Equation 2 below.

The reference ratio (Rp) is preferably set within the range of 10 to 20 percent (%).

에 대한 상기 차이값들의 총합

의 비율이 기준 비율(Rp)보다 적으면, 제어 장치(303)는 이동 궤도와 설정 궤도 사이의 편차가 기준 편차보다 작다고 판단한다(단계 S1004).The sum of the three-dimensional coordinate values of the set points

The sum of the above difference values for

If the ratio is less than the reference ratio Rp, the control device 303 determines that the deviation between the moving trajectory and the set trajectory is smaller than the standard deviation (step S1004).

에 대한 상기 차이값들의 총합

의 비율이 기준 비율(Rp)보다 적지 않으면, 제어 장치(303)는 이동 궤도와 설정 궤도 사이의 편차가 기준 편차보다 작지 않다고 판단한다(단계 S1005).The sum of the three-dimensional coordinate values of the set points

The sum of the above difference values for

If the ratio is not less than the reference ratio Rp, the control device 303 determines that the deviation between the moving trajectory and the set trajectory is not less than the standard deviation (step S1005).

FIG. 11 shows the software configuration of the control device 303 in FIG. 3. That is, all components except the set-orbit data storage unit 1103 in FIG. 11 can be implemented in software. In FIG. 11, the solid arrow indicates the direction of data movement, and the dotted arrow indicates the direction of movement of the control signal.

Referring to FIG. 11, the control device 303 includes a collision detection unit 1101, a movement-trajectory data generation unit 1102, a setting-trajectory data storage unit 1103, a main control unit 1104, and a data selection unit 1105. , an axis-angle calculation unit 1106, and a motor control unit 1107.

The collision detection unit 1101 generates collision related data according to force/torque signals from the force/torque sensors within the mobile-working unit (302m in FIG. 7).

The movement-orbit data generation unit 1102 generates movement-orbit data, which is data of the trajectory in which the movement-work unit 302m will move, according to force/torque signals from the force/torque sensors, and moves the movement-work unit 302m. The movement-orbit data is corrected and output according to data from encoders in unit 302m.

The set-orbit data storage unit 1103 stores data of the set trajectory.

The operation modes of the main control unit 1104 determined by user input signals will be described in detail with reference to FIGS. 12 and 13.

The data selection unit 1105 selects and outputs data from the movement-orbit data generation unit 1102 or the setting-orbit data storage unit 1103 in accordance with a command from the main control unit 1104.

The axis-angle calculation unit 1106 calculates the target angle of each drive axis according to the movement trajectory data or setting trajectory data from the data selection unit 1105.

The motor control unit 1107 generates a motor control signal according to each target angle from the axis-angle calculation unit 1106.

FIG. 12 shows a process in which the main control unit 1104 in FIG. 11 performs the direct teaching mode (S403) in FIG. 4. This will be explained with reference to FIGS. 11 and 12 as follows.

The main control unit 1104 activates the movement-orbit data generation unit 1102 (step S1201).

Additionally, the main control unit 1104 commands the data selection unit 1105 to select movement trajectory data from the movement-orbit data generation unit 1102 (step S1202).

Accordingly, the axis-angle calculation unit 1106 calculates the target angle of each drive axis according to the movement trajectory data from the data selection unit 1105. In addition, the motor control unit 1107 sends a motor control signal for each drive axis to each motor drive unit in the main body (302 in FIG. 3) according to each target angle from the axis-angle calculation unit 1106. Print out.

Next, the main control unit 1104 updates the set orbit data in the set-orbit data storage unit 1103 with movement orbit data (step S1203).

The steps S1201 to S1203 are repeatedly performed until an external termination signal is generated (step S1204).

FIG. 13 shows a process in which the main control unit 1104 in FIG. 11 performs the work mode (S404) in FIG. 4. This is explained with reference to FIGS. 11 and 13 as follows.

The main control unit 1104 deactivates the movement-orbit data generating unit 1102 (step S1301).

Next, the main control unit 1104 commands the data selection unit 1105 to select the set orbit data from the set-orbit data storage unit 1103 (step S1302).

Accordingly, the axis-angle calculation unit 1106 calculates the target angle of each drive axis according to the set trajectory data from the data selection unit 1105. In addition, the motor control unit 1107 sends a motor control signal for each drive axis to each motor drive unit in the main body (302 in FIG. 3) according to each target angle from the axis-angle calculation unit 1106. Print out.

Next, the main control unit 1104 determines whether a collision has occurred according to the collision-related data from the collision detection unit 1101 (step S1303).

If it is determined that a collision has occurred in step S1303, the main control unit 1104 performs steps S1304 to S1310.

In step S1304, the main control unit 1104 commands the data selection unit 1105 to output movement stop data.

Next, the main control unit 1104 activates the movement-orbit data generating unit 1102 (step S1305).

Next, the main control unit 1104 commands the data selection unit 1105 to select the movement trajectory data from the movement-orbit data generation unit 1102 (step S1306).

Next, the main control section 1104 compares the movement orbit data from the movement-orbit data generating section 1102 with the data of the set orbit from the set-orbit data storage section 1103 (steps S1307 and S1308). .

In the case of this embodiment, after the moving-working unit (302 m in FIG. 7) is moved beyond the standard distance by an external force (step S1307), if the deviation between the moving trajectory and the set trajectory is less than the standard deviation ( Step S1308), the main control unit 1104 continues the movement of the moving-working unit 302m (performing steps S1301 and S1302, in the case of Fig. 8D).

In addition, if the moving-working unit 302m does not move beyond the reference distance due to an external force (step S1307), or the deviation between the moving trajectory and the set trajectory is not less than the standard deviation (step S1308), The control unit 1104 commands the data selection unit 1105 to output collision-point return data (step S1309, in the case of FIG. 8C).

The steps S1306 to S1309 are repeatedly performed until an external termination signal is generated (step S1310).

As described above, according to the collaborative robot or collaborative robot of the present embodiment, in a situation where the movement of the mobile-work unit is stopped due to a collision, a worker who is familiar with the set trajectory can easily move the mobile-work unit beyond the reference distance along the set trajectory. It can be moved. Accordingly, there are the following effects.

First, the conventional inconvenience of having to find and press the task-continue button on the teaching pendant can be eliminated.

Second, the time required for the operator to find and press the continue button on the teaching pendant is saved, so work efficiency can be relatively increased.

Third, the manufacturing cost of hardware associated with a separate task-resume button can be reduced.

Fourth, movement of the mobile-working unit can continue only when the stopped mobile-working unit moves beyond the reference distance along the set trajectory. For example, if the moving-working part in the stopped state is moved to an orbit different from the set orbit, the movement of the moving-working part does not continue. Additionally, if the mobile-working unit in the stopped state is moved less than the reference distance, the movement of the mobile-working unit does not continue. Accordingly, the problem that the movement of the mobile-working unit may continue due to secondary collisions unrelated to the operator's intention can be resolved.

So far, the present invention has been examined with a focus on preferred embodiments. A person skilled in the art to which the present invention pertains will understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative rather than a restrictive perspective. The scope of the present invention is indicated in the claims rather than the foregoing description, and the inventions claimed by the claims and inventions equivalent to the claimed inventions should be construed as included in the present invention.

The present invention can be used for various robots other than collaborative robots.

101: worker's hand, 102: body of collaborative robot,
201: teaching pendant, 201a: operation-continue button,
301: Teaching pendant, 302: Body of collaborative robot,
303: control unit, 302m: mobile-work unit,
A,B,C: work points, P _A : collision point,
(X _R1 ,Y _R1 ,X _R1 ), ..., (X _R100 ,Y _R100 ,X _R100 ): Data of set orbit,
(X _A1 ,Y _A1 ,X _A1 ), ..., (X _A100 ,Y _A100 ,X _A100 ): Data of movement trajectory,
1101: collision detection unit, 1102: movement-trajectory data generation unit,
1103: Setting-orbit data generation unit, 1104: Main control unit,
1105: data selection unit, 1106: axis-angle calculation unit,
1107: Motor control unit.

Claims (14)

A main body including a moving-working part that works while moving along a set trajectory; and
In a collaborative robot including a control device for controlling the operation of the mobile-working unit,
The control device is,
If a collision occurs in the main body while the mobile-working unit is moving along a set trajectory, the movement of the mobile-working unit is stopped,
A collaborative robot that continues the movement of the mobile-working unit when the mobile-working unit is moved beyond a reference distance along the set trajectory by an external force in a situation where the movement of the mobile-working unit is stopped. The method according to claim 1, wherein the operating modes of the control device are:
an indirect teaching mode that stores trajectory data generated by a teaching pendant as data of the set trajectory; and
a direct teaching mode that stores data of a trajectory along which the moving-working unit moves by an external force as data of the set trajectory; and
A collaborative robot including; a work mode in which the mobile-working unit performs work while moving along the set trajectory. The method of claim 2, wherein the control device,
A collaborative robot that, when a collision of the main body is detected, generates data on the movement trajectory of the mobile-working unit by the direct teaching mode and compares the generated trajectory data with data on the set trajectory. The method of claim 3, wherein the control device,
When a collision of the main body is detected, the mobile-working unit is moved beyond the reference distance by the external force, and then, when the deviation between the moving trajectory and the set trajectory is less than the standard deviation, the mobile-working unit is moved. A collaborative robot that keeps things moving forward. The method of claim 4, wherein the control device,
A collaborative robot that returns the mobile-working unit to the collision point when the mobile-working unit does not move beyond the reference distance due to the external force or the deviation between the moving trajectory and the set trajectory is not less than the standard deviation. . In claim 4,
The data of the movement trajectory are three-dimensional coordinate values of consecutive movement points at unit intervals on the movement trajectory,
The data of the set trajectory is three-dimensional coordinate values of continuous movement points at unit intervals on the set trajectory, a collaborative robot. The method of claim 6, wherein in determining that the deviation between the moving trajectory and the set trajectory is less than the standard deviation,
The control device is,
Reading three-dimensional coordinate values of successive set points at unit intervals on an orbit corresponding to the movement trajectory among the set orbits,
Calculate the sum of the difference values between the three-dimensional coordinate values of the set points and the three-dimensional coordinate values of the moving points,
If the ratio of the sum of the difference values to the sum of the three-dimensional coordinate values of the set points is less than the standard ratio, the collaborative robot determines that the deviation between the movement trajectory and the set trajectory is less than the standard deviation. The method according to claim 2, wherein each of the joints of the moving-working unit is,
force/torque sensor;
three-dimensional drive axes;
Motors that rotate the three-dimensional drive axes; and
Collaborative robot including; encoders that transmit angle data of the three-dimensional drive axes to the control device. The method of claim 8, wherein the control device,
a collision detection unit that generates collision-related data according to signals from the force/torque sensors;
The movement-work unit generates movement-orbit data, which is data of a movement trajectory, according to signals from the force/torque sensors, and corrects and outputs the movement-orbit data according to data from the encoders. -Orbit data generation unit;
a set-orbit data storage unit that stores data of the set trajectory;
main control unit;
a data selection unit that selects and outputs data from the movement-trajectory data generation unit or the set-trajectory data storage unit according to a command from the main control unit;
an axis-angle calculation unit that calculates a target angle of each drive axis according to movement trajectory data or set trajectory data from the data selection unit; and
Collaborative robot including; a motor control unit that generates a motor control signal according to each target angle from the axis-angle calculation unit. The method of claim 9, wherein when the main control unit operates in the direct teaching mode,
Activating the movement-orbit data generation unit,
Commanding the data selection unit to select movement trajectory data from the movement-orbit data generation unit,
A collaborative robot that updates the setting trajectory data in the setting-orbit data storage unit with movement trajectory data. The method of claim 10, wherein when the main control unit operates in the work mode,
Deactivating the movement-orbit data generation unit,
Commanding the data selection unit to select set orbit data from the set-orbit data storage unit,
A collaborative robot that determines whether a collision has occurred according to collision-related data from the collision detection unit. The method of claim 11, when it is determined that a conflict has occurred while the main control unit is operating in the work mode,
Commanding the data selection unit to output movement stop data,
Activating the movement-orbit data generation unit,
After instructing the data selection unit to select movement trajectory data from the movement-orbit data generation unit,
A collaborative robot that compares movement trajectory data from the movement-orbit data generating unit with setting trajectory data from the setting-orbit data storage unit, and continues movement of the movement-work unit according to the result of this comparison. The method of claim 12, wherein the main control unit continues movement of the moving-working unit according to the comparison result,
A collaborative robot that continues the movement of the mobile-working unit when the deviation between the moving trajectory and the set trajectory is less than the standard deviation after the mobile-working unit is moved by an external force beyond the reference distance. The method of claim 13, wherein the main control unit,
If the moving-working unit does not move beyond the reference distance due to the external force, or if the deviation between the moving trajectory and the set trajectory is not less than the standard deviation, the data selection unit is instructed to output collision-point return data. Commanding, collaborative robot.

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