KR20120063810A - Robot controlling apparatus and method thereof - Google Patents

Robot controlling apparatus and method thereof Download PDF

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Publication number
KR20120063810A
KR20120063810A KR1020100124957A KR20100124957A KR20120063810A KR 20120063810 A KR20120063810 A KR 20120063810A KR 1020100124957 A KR1020100124957 A KR 1020100124957A KR 20100124957 A KR20100124957 A KR 20100124957A KR 20120063810 A KR20120063810 A KR 20120063810A
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KR
South Korea
Prior art keywords
axis
robot
robot control
sliding
movement amount
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KR1020100124957A
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Korean (ko)
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KR101246073B1 (en
Inventor
송세환
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삼성중공업 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Abstract

A robot control apparatus and method are disclosed.
In the robot attitude control method according to an embodiment of the present invention, a multi-axis inverse kinematic analysis of a sliding axis movement amount and a robot control variable target value of a robot for controlling a robot having a multi-axis including a telescopic axis as a target position coordinate is performed. Sliding axis movement amount and robot control through the step of acquiring, inputting position measurement information and displacement measurement information of the robot as feedback signals, and numerical analysis of multi-axis kinematic model considering the sliding axis movement amount, robot control variable target value and feedback signal And generating and outputting the robot control signal including the variable value.

Description

ROBOT CONTROLLING APPARATUS AND METHOD THEREOF

The present invention relates to a robot manipulator, and more particularly to an apparatus and method for controlling the position and attitude of the robot manipulator.

In general, in the case of building a large ship in a shipyard, etc., the hull is divided into blocks and manufactured separately, and the finished blocks are assembled in order. The hull block is manufactured through various processes such as welding and painting, and these processes have been continuously required for automation as labor-intensive work, and various robot manipulators have been developed and used by such demands.

The robot manipulator may be detachably equipped with an end effector for performing a predetermined task such as welding and painting, and a telescopic arm having an adjustable length may be used to reduce the distance between the end effector and the workpiece. .

As described above, when performing a welding, painting, or the like operation using a robotic manipulator using a telescopic arm, the robot body is moved to a desired work place along a sliding movement path, and thereafter, the robot manipulator corresponds to a sliding movement path. While the sliding shaft is fixed, a desired operation is performed through the rotational drive of the main body, the linear drive of the telescopic arm, the rotational drive of the telescopic arm, and the rotational drive of the end effector.

Here, the work area where the robot manipulator can perform welding, painting, etc. in one place is determined by the maximum rotation angle of the main body, the maximum rotation angle of the telescopic arm, the maximum linear length of the telescopic arm, the maximum rotation angle of the end effector, and the like. Is determined.

1 is a graph showing a coordinate system of a range of a work area according to the related art of a robot manipulator using a telescopic arm.

Z working range (L Z) direction in Fig. 1 is the maximum angle of rotation of the telescopic arm, the maximum linear telescopic arm length, be determined by the maximum angle of rotation of the end effector, the Y-direction operation range (L Y) are on the unit It is determined by the maximum angle of rotation, the maximum straight length of the telescopic arm, the maximum angle of rotation of the end effector and so on.

In addition, when additional work is required in areas other than the unit work area that the robot manipulator can perform in one place, the robot manipulator must be moved to another place, and the number of movements greatly affects the overall work efficiency. In order to increase efficiency, the unit work area should be widened so that the movement of the robot manipulator is generated as little as possible.

Meanwhile, in order to increase the unit work area, a method of increasing the maximum rotation angle of the main body, the maximum rotation angle and the maximum linear length of the telescopic arm, and the maximum rotation angle of the end effector may be sought.

However, increasing the various maximum rotation angles and the maximum straight line length is at the mechanical limit, and in particular, increasing the maximum straight line length of the telescopic arm can lead to an increase in the size of the robot manipulator, making it impossible to perform work in a narrow place. There is a problem that causes such side effects.

Embodiments of the present invention seek to maximize the unit work area in controlling the position and attitude of a multi-axis robot having a telescopic axis.

In addition, it is intended to minimize the increase in the burden of coordinate operations for driving the robot manipulator.

According to an aspect of the present invention, the inverse kinematics analysis unit for obtaining the sliding axis movement amount and the robot control variable target value of the robot for controlling the robot having a multi-axis including the telescopic axis to the target position coordinates through multi-axis inverse kinematics analysis And a feedback unit for receiving the posture measurement information and the displacement measurement information of the robot as a feedback signal, and the sliding shaft movement amount through numerical analysis of a multi-axis kinematic model considering the sliding axis movement amount, the target value of the robot control variable, and the feedback signal. And a control signal generator configured to generate and output a robot control signal including a robot control variable value.

In addition, the inverse kinematics analysis unit receives the target position coordinates, calculates the symmetric position coordinates of the target position coordinates about the sliding axis of the robot, and performs a multi-axis inverse kinematics analysis including the sliding axis except the telescopic axis. Calculate the sliding axis movement amount for the work on the symmetric position coordinates, and derive a robot control variable target value for the work on the target position coordinates through multi-axis inverse kinematic analysis including the telescopic axis except the sliding axis. Can be.

The inverse kinematics analyzer may perform the multi-axis inverse kinematics analysis in a state in which the straight length of the telescopic axis is fixed at the shortest distance.

According to another aspect of the invention, the step of obtaining the sliding axis movement amount and the robot control variable target value of the robot for controlling the robot having a multi-axis including the telescopic axis to the target position coordinates through multi-axis inverse kinematics analysis, Receiving the robot posture measurement information and displacement measurement information as a feedback signal, and the sliding axis movement amount and the robot control variable through the numerical analysis of the multi-axis kinematic model considering the sliding axis movement amount and the target value and the robot control variable target feedback signal A robot control method may be provided that includes generating and outputting a robot control signal including a value.

The acquiring may include receiving the target position coordinates, calculating symmetric position coordinates of the target position coordinates with respect to the sliding axis of the robot, and multi-axis including the sliding axis except the telescopic axis. Obtaining the sliding axis movement amount for the work on the symmetric position coordinates through inverse kinematic analysis; and controlling the robot for the work on the target position coordinates through multi-axis inverse kinematic analysis including the telescopic axis except the sliding axis. Deriving the variable target value.

In addition, the sliding shaft movement amount may be obtained in a state in which the straight length of the telescopic shaft is fixed at the shortest distance.

According to an embodiment of the present invention, in controlling the position and attitude of a multi-axis robot having a telescopic axis, it is possible to minimize an increase in the burden of coordinate operations for driving the robot manipulator while maximizing the unit work area.

1 is a graph showing a coordinate system of a range of a work area according to the related art of a robot manipulator using a telescopic arm.
2 is an exemplary view of a robot manipulator using a telescopic arm to which the robot apparatus and method according to an embodiment of the present invention can be applied.
3 is a configuration diagram of a robot position control system to which a robot control apparatus according to an embodiment of the present invention can be applied.
4 is a flowchart showing an embodiment of a robot control method by a robot control apparatus according to an embodiment of the present invention.
5 illustrates an example of a rectangular coordinate system including target position coordinates of the robot manipulator.
6 is a graph showing the coordinates of the range of the work area according to an embodiment of the present invention of a robotic manipulator using a telescopic arm.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions in the embodiments of the present invention, which may vary depending on the intention of the user, the intention or the custom of the operator. Therefore, the definition should be based on the contents throughout this specification.

Each block of the accompanying block diagrams and combinations of steps of the flowchart may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus so that the instructions, which may be executed by a processor of a computer or other programmable data processing apparatus, And means for performing the functions described in each step are created. These computer program instructions may be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular manner, and thus the computer usable or computer readable memory. It is also possible for the instructions stored in to produce an article of manufacture containing instruction means for performing the functions described in each block or flowchart of each step of the block diagram. Computer program instructions may also be mounted on a computer or other programmable data processing equipment, such that a series of operating steps may be performed on the computer or other programmable data processing equipment to create a computer-implemented process to create a computer or other programmable data. Instructions that perform processing equipment may also provide steps for performing the functions described in each block of the block diagram and in each step of the flowchart.

Also, each block or each step may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative embodiments, the functions mentioned in blocks or steps may occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially concurrently, or the blocks or steps may sometimes be performed in reverse order according to the corresponding function.

2 is an exemplary view of a robot manipulator using a telescopic arm to which the robot apparatus and method according to an embodiment of the present invention can be applied.

The robot manipulator 100 according to the embodiment shown in FIG. 2 includes a main body 110, a telescopic arm 120 and a telescopic arm capable of linear and / or rotational driving with respect to the main body 110, including a linear joint and a rotary joint. The arm driving unit 130 for driving the 120, the guide roller 140 for moving along the guide rail 10 for guiding the sliding movement of the main body 110, the sliding movement and / or rotational drive for the main body 110 The effector driver (not shown) is rotatably mounted to the main body driving unit 150 and the end of the telescopic arm 120 to drive the end effector 160 and the end effector 160 to perform a predetermined operation such as welding or painting. ) May be included.

The guide rail 10 may be installed to support the main body 110 and the main body driving unit 150 from the lower side, and includes a guide protrusion 11 protruding laterally and a rack 13 extending in parallel thereto. can do. The guide roller 140 may be installed to be rotated about a rotation axis formed perpendicularly to the ground, and the guide roller 140 may include a guide rail (ie, a guide rail) to move the main body 110 along the traveling direction of the guide rail 10. 10) can be rotated in close contact.

A pinion 170 that may be interlocked with the rack 13 may be installed below the main body driving unit 150. The pinion 170 is rotated by the main body driving unit 150 to guide the robot manipulator 100. It can be slid along 10).

When performing operations such as welding and painting using the robot manipulator 100 having the structure of the above-described embodiment, the main body driving unit 150 rotates the pinion 170 to interact with the rack 13. By sliding the robot manipulator 100 along the guide rail 10 to the desired work place, and after that the sliding shaft corresponding to the sliding movement path by the guide rail 10 is fixed to the main body 110 Rotational drive, linear drive of the telescopic arm 120, rotational drive of the telescopic arm 120, rotational drive of the end effector 160 and the like to perform the desired operation.

Here, the work area in which the robot manipulator 100 can perform work such as welding and painting in one place includes the maximum rotation angle of the main body 110, the maximum rotation angle of the telescopic arm 120, and the telescopic arm 120. Maximum linear length, the maximum rotation angle of the end effector 160, and the like.

In addition, when additional work is required in an area other than the unit work area that the robot can perform in one place, the robot manipulator 100 must be moved to another place, and the number of movements greatly affects the overall work efficiency. Therefore, in order to increase the work efficiency, the unit work area should be widened so that the movement of the robot manipulator 100 occurs as little as possible.

In an embodiment of the present invention, the unit work area is maximized by including a sliding axis of the robot manipulator in controlling the attitude and position of the multi-axis robot manipulator having a telescopic axis. In addition, while including the sliding axis of the robot manipulator minimizes the increase in the burden of coordinate operations for driving the robot manipulator.

3 is a configuration diagram of a robot position control system to which a robot control apparatus according to an embodiment of the present invention can be applied.

Referring to FIG. 3, the robot position control system according to the embodiment may include a Cartesian coordinate path planner 200, a robot control device 300, a driving device 400, a measuring device 500, and the like. The robot control apparatus 300 may include an inverse kinematic analyzer 310, a feedback unit 320, a control signal generator 330, and the like.

The Cartesian coordinate path planner 200 is a device that provides target position coordinate information on the target path to which the end effector should be moved in order to perform the function of the robot manipulator 100. The end effector path information of the robot manipulator 100 may be designed in advance corresponding to the function to be implemented. The target position coordinate information provided by the Cartesian coordinate path planner 200 may be expressed on a Cartesian coordinate system, and the target position coordinate information may be converted into a control variable of the robot control apparatus 300 through inverse kinematics.

In FIG. 3, the Cartesian coordinate path planner 200 is represented in a separate configuration from the robot control device 300, but in some cases, the Cartesian coordinate path planner 200 is a part of the robot attitude control device 300. Can be merged.

The robot control apparatus 300 is a device that generates a control signal for controlling the position and attitude of the robot manipulator 100. The robot control apparatus 300 may generate a robot control signal based on the information from the Cartesian coordinate path planner 200 and the measurement information (signal) from the measurement apparatus 500. The robot control signal generated by the robot control device 300 is transmitted to the driving device 400 to change the position and / or posture of the robot manipulator 100.

Meanwhile, the robot control apparatus 300 according to the exemplary embodiment of the present invention may include an inverse kinematic analyzer 310, a feedback unit 320, a control signal generator 330, and the like.

The inverse kinematics analysis unit 310 numerically analyzes the inverse kinematics model to derive the sliding axis movement amount and the robot control variable target value of the robot manipulator 100 and provide it to the control signal generator 330. That is, by solving the inverse kinematics of the robot manipulator 100, the robot control variable target value corresponding to the position information can be obtained from the position information of the end effector mounted on the robot manipulator 100. For example, the inverse kinematics analyzer 310 may use a product-of-exponentials (POE) -based inverse kinematics model or a D-H parameter kinematics model.

According to an embodiment of the present invention, the inverse kinematics analyzer 310 calculates the symmetric position coordinates of the target position coordinates based on the sliding axis of the robot manipulator 100 when the target position coordinates are provided from the Cartesian coordinate path planner 200. In addition, the sliding axis movement amount for moving the end effector to the symmetric position coordinates is calculated through multi-axis inverse kinematic analysis including the sliding axis except the telescopic axis of the robot manipulator 100, and the telescopic axis is excluded except the sliding axis of the robot manipulator 100. Through the multi-axis inverse kinematic analysis, the target value of the robot control variable for moving the end effector to the target position coordinate can be derived.

The feedback unit 320 may receive the posture measurement information and the displacement measurement information of the robot manipulator 100 from the measurement device 500 as a feedback signal and provide it to the control signal generator 330.

The control signal generator 330 is a sliding axis movement amount and robot control variable target value derived by the inverse kinematic analysis unit 310 and the attitude measurement information and displacement measurement information of the robot manipulator 100 provided from the feedback unit 320. Through the numerical analysis of the multi-axis kinematic model considering the robot control signal for the attitude and / or position control of the robot manipulator 100 is generated. The robot control signal includes a sliding axis movement amount and a robot control variable target value, and the generated robot control signal may be provided to the driving device 400. For example, the control signal generator 330 may generate a robot control signal to be transmitted to the driving device 400 based on a PID (Proportional Integral Derivative) control technique.

The driving device 400 may change the position and / or posture by substantially driving the robot manipulator 100 based on a robot control signal provided from the robot control device 300. The arm driver (refer to reference numeral 130 of FIG. 2), the main body driver (reference numeral 150 of FIG. 2), the effector driver (not shown in FIG. 2), and the like described with reference to FIG. 2, and the like, include a motor and a cylinder. It can contain elements. Since the implementation of the driving device 400 is obvious to those skilled in the art, more detailed description thereof will be omitted.

According to an exemplary embodiment of the present invention, the driving device 400 drives the main body driving unit (reference numeral 150 in FIG. 2) based on the sliding shaft movement amount included in the robot control signal provided from the robot control device 300 to analyze the inverse kinematics. Based on the robot control variable value included in the robot control signal while moving the robot manipulator 100 along the sliding axis as much as the sliding axis movement amount derived by the unit 310, the arm driving unit (reference numeral 130 of FIG. 2) and the main body driving unit ( Reference numeral 150 of FIG. 2 and an effector driver (not shown in FIG. 2) are driven to move the end effector of the robot manipulator 100 to the target position coordinates provided by the Cartesian coordinate path planner 200.

The measuring device 500 feeds back posture measurement information such as joint rotation angle, link or arm displacement of the robot manipulator 100 to the robot control device 300 using various sensors such as machine vision, variable resistance, and strain gauge. The signal may be provided as a signal, and the displacement measurement information of the robot manipulator 100 may be provided as a feedback signal to the robot control apparatus 300. Like the driving device 400 described above, the implementation of the measuring device 500 is obvious to those skilled in the art, and thus a detailed description thereof will be omitted.

4 is a flowchart showing an embodiment of a robot control method by a robot control apparatus according to an embodiment of the present invention.

As described above, the robot control method according to the embodiment of the present invention performs a multi-axis inverse kinematic analysis of a sliding axis movement amount and a robot control variable target value of a robot for controlling a robot having a multi-axis including a telescopic axis as a target position coordinate. Step S601 to S607, and receiving the robot posture measurement information and displacement measurement information as a feedback signal (S609), multi-axis kinematic model numerical value considering the sliding axis movement amount, the robot control variable target value and the feedback signal. The analysis may include generating and outputting a robot control signal including a sliding shaft movement amount and a robot control variable value (S611).

Hereinafter, the robot control process by the robot control apparatus according to the embodiment of the present invention will be described in time series with reference to FIGS. 2 to 5. Here, FIG. 5 for further reference shows an example of a rectangular coordinate system including target position coordinates of the robot manipulator.

First, the X axis in the coordinate system may be a sliding axis.

The Cartesian coordinate path planner 200 coordinates the target position coordinates x t , y t , z t , α t , β t of the end effector 160 for performing the functions of the robot manipulator 100 to the robot controller 300. , γ t ) may be provided (S601).

The inverse kinematics analysis unit 310 of the robot control apparatus 300 has a symmetry of the target position coordinates (x t , y t , z t , α t , β t , γ t ) about the sliding axis of the robot manipulator 100. The position coordinates (x vt , y vt , z t , 0, β t , 0) are calculated (S603), and the multi-axis inverse kinematic analysis including the sliding axis except for the telescopic axis of the robot manipulator 100 is performed for the sliding axis. The sliding axis movement amount Δx for moving the end effector 160 to the symmetric symmetric position coordinates (x vt , y vt , z t , 0, β t , 0) is calculated (S605), and the robot manipulator 100 Robot controlled variable target for moving the end effector 160 to the target position coordinates (x t , y t , z t , α t , β t , γ t ) through multi-axis inverse kinematic analysis including the telescopic axis except for the sliding axis of A value is derived (S607). Here, the straight length of the telescopic arm 120 may be fixed to the shortest distance by the driving device 400. For example, a multi-axis inverse kinematics analysis may be performed with the straight length of the telescopic axis fixed at the shortest distance to calculate or obtain the sliding axis shift amount Δx. The inverse kinematics analyzer 310 provides the derived sliding axis movement amount and the robot control variable target value to the control signal generator 330.

Meanwhile, the measurement device 500 provides the posture measurement information and the displacement measurement information of the robot manipulator 100 to the robot control device 300 as a feedback signal, and the feedback unit 320 of the robot control device 300 is a measurement device. The posture measurement information and the displacement measurement information of the robot manipulator 100 are received as a feedback signal from the 500 and provided to the control signal generator 330 (S609).

The control signal generator 330 of the robot control apparatus 300 may include a sliding axis movement amount and a robot control variable target value derived by the inverse kinematic analyzer 310 and a robot manipulator 100 provided from the feedback unit 320. Through the numerical analysis of the multi-axis kinematic model in consideration of the posture measurement information and the displacement measurement information, a robot control signal including a sliding axis movement amount Δx and a robot control variable value is generated, and the generated robot control signal is provided to the driving device 400. (S611).

Then, the driving device 400 drives the main body driving unit 150 based on the sliding shaft movement amount Δx included in the robot control signal provided from the robot control apparatus 300 to be derived by the inverse kinematic analysis unit 310. The arm driver 130, the main body driver 150, and the effector driver (not shown) based on the robot control variable values included in the robot control signal while moving the robot manipulator 100 along the sliding axis by the amount of the sliding shaft movement amount Δx. ) To move the end effector 160 of the robot manipulator 100 to the target position coordinates (x t , y t , z t , α t , β t , γ t ) provided by the Cartesian coordinate path planner 200. Let's do it.

According to the embodiment of the present invention as described so far, in controlling the position and attitude of a multi-axis robot having a telescopic axis, the sliding axis of the robot manipulator is included to maximize the unit work area while increasing the burden of coordinate calculation for driving the robot manipulator. Minimize

6 is a graph showing the coordinates of the range of the work area according to an embodiment of the present invention of a robotic manipulator using a telescopic arm.

Compared to 6 also it shows the range of the workspace according to the embodiment of Figure 1 with the present invention showing the extent of the workspace according to the prior art, a working range in the Z direction can be seen that extended to L Z 'in the L Z have.

100: robot manipulator 200: Cartesian coordinate path planner
300: robot control device 310: inverse kinematics analysis unit
320: feedback unit 330: control signal generation unit
400: driving device 500: measuring device

Claims (6)

An inverse kinematics analysis unit for obtaining a sliding axis movement amount and a robot control variable target value of the robot for controlling a robot having a multi-axis including a telescopic axis as target position coordinates through multi-axis inverse kinematics analysis;
A feedback unit for receiving the posture measurement information and the displacement measurement information of the robot as a feedback signal;
And a control signal generator for generating and outputting a robot control signal including the sliding axis movement amount and the robot control variable value through numerical analysis of the multi-axis kinematic model in consideration of the sliding axis movement amount, the robot control variable target value, and the feedback signal.
Robot control unit.
The method of claim 1,
The inverse kinematics analysis unit receives the target position coordinates, calculates the symmetric position coordinates of the target position coordinates with respect to the sliding axis of the robot, and performs the multi-axis inverse kinematics analysis including the sliding axis except the telescopic axis. Computing the sliding axis movement amount for the work on the symmetric position coordinates, and derives the robot control variable target value for the work on the target position coordinates through multi-axis inverse kinematic analysis including the telescopic axis except the sliding axis
Robot control unit.
The method according to claim 1 or 2,
The inverse kinematics analyzer is configured to perform the multi-axis inverse kinematics analysis while fixing the straight length of the telescopic axis at the shortest distance.
Robot control unit.
Obtaining a sliding axis movement amount and a robot control variable target value of the robot for controlling a robot having a multi-axis including a telescopic axis as target position coordinates through multi-axis inverse kinematic analysis;
Receiving posture measurement information and displacement measurement information of the robot as a feedback signal;
Generating and outputting a robot control signal including the sliding axis movement amount and the robot control variable value through numerical analysis of the multi-axis kinematic model considering the sliding axis movement amount, the robot control variable target value and the feedback signal;
Robot control method.
The method of claim 4, wherein
The obtaining may include receiving the target position coordinates;
Calculating symmetric position coordinates of the target position coordinates with respect to the sliding axis of the robot;
Acquiring the sliding axis movement amount for the work on the symmetric position coordinates through multi-axis inverse kinematic analysis including the sliding axis except the telescopic axis;
Deriving a robot control variable target value for the work on the target position coordinate through multi-axis inverse kinematic analysis including the telescopic axis except for the sliding axis.
Robot control method.
The method according to claim 4 or 5,
Obtaining the sliding shaft movement amount while fixing the straight length of the telescopic shaft to the shortest distance;
Robot control method.
KR20100124957A 2010-12-08 2010-12-08 Robot controlling apparatus and method thereof KR101246073B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113894795A (en) * 2021-11-17 2022-01-07 青岛九维华盾科技研究院有限公司 Method for optimizing position of external shaft of industrial robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101086361B1 (en) * 2009-03-03 2011-11-23 삼성중공업 주식회사 robot pose controlling method and apparatus thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113894795A (en) * 2021-11-17 2022-01-07 青岛九维华盾科技研究院有限公司 Method for optimizing position of external shaft of industrial robot
CN113894795B (en) * 2021-11-17 2023-11-28 青岛九维华盾科技研究院有限公司 Industrial robot external shaft position optimization method

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