KR19980067075A - How to express robot control language - Google Patents

Abstract

When several robots operate at the same time, a series of tasks that each robot should perform consists of a pictorial flow chart, and the robot control to easily express the work of several robots by expressing the conditions of front and back relationship between each unit work. The method of expressing a language may include defining a robot control language representing a robot's work performing unit motion, conditions between the unit motions, a unit motion and a connection relationship between conditions, and a method of defining a unit motion according to the robot's work. Defining an operation corresponding to the control language, and the step of showing the front and rear relationship of the work according to the flow of the robot performing the operation by the defined robot control language.

Description

How to express robot control language

The present invention relates to a robot control language, and more particularly, to a method of expressing a robot control language for easily expressing when several robots simultaneously perform a task.

In general, in order for a robot to perform a desired task, it is necessary to express the task to be performed by the robot in some form and inform the robot controller of this. As a way to express the robot's work, various robot control languages have been developed.

The robot control language according to the prior art developed so far defines a robot that expresses operations that the robot can perform and uses these commands to describe the robot's tasks in accordance with the grammar defined in the work order. Write. For example, robot A describes a robot program for performing a task of moving an object in area 1 of the work space to area 2 as follows.

robot A move joint to location 1

robot A grasp hand

robot A move joint to location 2

robot A release hand

The robot program expressed in this way is created by the user using a text editor. The robot program written in this way is executed by two methods. First, there is a compilation method in which a compiler compiles a robot program to generate an executable file and then runs the robot by executing it. Another method is an interpreter method in which an interpreter translates a robot program line by line and executes it directly. It is executed in two ways so that the robot performs the task.

On the other hand, as the types of tasks performed by the robots are diversified and complicated, the tasks that multiple robots have to perform at the same time have arisen. Therefore, robot programming languages have been developed that add simultaneous operation instructions to the robot control language. An example is as follows.

cobegin

robot A move to location 1

robot B move to location 2

coend

Such a command is a command that simultaneously executes a cobegin-coend command. In two robot programs, a robot performs a series of tasks at the same time, and can express the conditions of the contexts that must be made between the operations of each robot. .

The robot control language according to the prior art describes a task to be performed by the robot in sequence according to the order of work, which is useful for programming one robot, but the conventional robot described according to the order of work. Due to the inherent characteristics of the control language, there is a problem that it is not easy to describe a task performed by two, in particular, three or more robots at the same time in a conventional control language expressed in letters.

Accordingly, the present invention has been made to solve the problems of the prior art, the object of the present invention is to construct a series of tasks to be performed by each robot when a plurality of robots operating at the same time by configuring a flow chart represented by each The present invention provides a method of expressing a robot control language that can easily express a robot task by expressing a relationship between the unit tasks.

1 is a view showing a place representing a unit operation to be performed by a robot according to the present invention,

2 is a view showing a transition indicating an operating condition of a robot according to the present invention;

3 is an embodiment showing a simultaneous operation command of a robot according to the present invention;

Figure 4 is an embodiment showing a conditional operation command of the robot according to the present invention,

5 is a view showing an assembly operation using two robots and two parts supply apparatus by the method of expressing the robot control language according to the present invention;

FIG. 6 is a diagram illustrating an operation of a robot represented by each place of FIG. 5.

Explanation of symbols for the main parts of the drawings

10: Place 11: Transition

12: arrow

According to the present invention, there is provided a method of expressing a robot control language by defining a robot control language representing a robot operation language, a condition between unit motions, a condition between unit motions, and a connection between unit motions and conditions. It includes the steps of defining an operation corresponding to the control language of the defined unit motion, and the step of showing the front and rear relationship of the job according to the flow of execution of the robot by the defined robot control language.

Hereinafter, a method of expressing a robot control language according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a view showing a place showing a unit operation to be performed by the robot according to the present invention, Figure 2 is a view showing a transition showing the operating conditions of the robot according to the present invention. 3 is an embodiment showing a simultaneous operation command of the robot according to the present invention, Figure 4 is an embodiment showing a conditional operation command of the robot according to the present invention.

Referring to FIG. 1 and FIG. 2, the work performed by the robot is performed by a picture editor using a place (10), a transition (11), and an arrow (Arc) connecting the place and the transition ( Is represented by 13).

Here, the place 10 is represented by a circle and represents a unit operation to be performed by the robot, that is, a work command in a control language of the prior art. The place 10 is represented by a token (black) represented by a black dot inside the circle. If it does not have a token, it is a false place. In this case, the true place indicates that the robot's work is currently being performed or completed, and when the operation is completed, the token can be passed to the next step. And, a false place is a state waiting for a start command to start an action, and when a token is received, an action is started. Here, each operation of the robot that the place 10 means when performing the operation of the robot is defined in the dialog of the picture editor.

The transition 11 is represented by a thick bar and is connected to the place 10 using the arrow 13. Here, the place connected to the arrow entering the transition 11 is called the input place of the transition, and the place connected to the opposite arrow is called the output place of the transition. At this time, the transition 11 serves to determine the condition in the work to be performed by the robot. In other words, when the state of all the input places of the transition 11 becomes true and the tokens are received from them, the transition 11 has the function of delivering the tokens to all its output places to start the work. Here, the number of inputs and outputs of the transition 11 is not limited and means that the operations corresponding to the output place are started at the same time after all the operations corresponding to the input place are completed.

The transition that has such a function is a fork representing a simultaneous operation command that simultaneously starts B and C operations after A operation is completed as shown in FIG. 3, and A and B operations are performed to perform C operation as shown in FIG. 4. It is represented by a join representing a conditional action instruction indicating that it must be completed first.

In this way, the robot control language is defined as a picture, and when a plurality of robots perform work at the same time, each motion of a place representing the unit motion of the robot among the defined robot control languages is defined using a dialog box of the picture editor. Using the robot control language defined as above, the robot's work performance is represented by drawing considering the relation of each robot's operation.

Referring to the accompanying drawings, an embodiment showing a process of performing the work by two robots at the same time using the robot control language representation method according to the present invention.

FIG. 5 is a view illustrating an assembly operation using two robots and two parts supplying apparatuses by a method of expressing a robot control language according to the present invention, and FIG. 6 is a view showing the operation of a robot represented by each place of FIG. 5. to be.

Referring to FIG. 5, the robot arm1 and arm2 the component supply device, respectively the box and bolt the up, insert the bolt into the box Place the operation to transfer the assembled product to the conveyor the first place to the 11th from the (P ₁ ~P ₁₁₎ and the first transition to the seventh transition (T ₁ ~T ₇₎ as indicated by the arrows connecting them. Here, the conditions required between each place include the condition that the robot should grab the part after each parts device supplies the part, and the condition that arm1 inserts the bolt into the box after moving the box on the workbench by the robot arm2. And a fork that is a simultaneous operation command and a join that is a conditional operation command of FIG. 4. In this case, the operations of the first to eleventh places P _{1 to} P ₁₁ are defined in the dialog of the picture editor as shown in FIG. 6.

The method of expressing a robot control language according to the present invention defines a control language of a robot as a picture, and expresses a series of tasks performed by the robot according to the drawing, whereby a plurality of robots simultaneously perform work of each robot. The relationship between the operations can be easily expressed.

Claims (5)

In the robot program expression method, Defining a robot control language representing a task performing unit operation of the robot, a condition between the unit operations, and a connection relationship between the unit operations and conditions; Defining an operation corresponding to a control language of the defined unit operation according to the operation of the robot; Representing a robot control language, characterized in that it comprises the step of representing the front and rear relationship of the work according to the flow of the execution of the robot by the defined robot control language. The method of claim 1, The figure defined in the step of defining the robot control language is a robot control language, characterized in that it consists of a place representing the unit motion of the robot, a transition representing a condition between the unit operations, and an arrow connecting the place and the transition. How to express. The method of claim 1, The motion corresponding to the unit motion is a robot control language representation method characterized in that defined in the dialog box of the picture editor. The method of claim 1, The work performed by the robot is a robot control language representation method characterized in that the work performed by a plurality of robots at the same time. The method of claim 4, wherein And the transition comprises a fork representing a simultaneous operation command and a join representing a conditional operation command.