KR20170024769A

KR20170024769A - Robot control apparatus

Info

Publication number: KR20170024769A
Application number: KR1020150120196A
Authority: KR
Inventors: 박종훈; 정구희
Original assignee: 주식회사 뉴로메카
Priority date: 2015-08-26
Filing date: 2015-08-26
Publication date: 2017-03-08
Also published as: KR101876845B1

Abstract

The present invention discloses an apparatus for controlling a programmable robot. The apparatus includes menus associated with programming steps to be performed by a user during programming of the robot, and / or computer-generated representations that represent the shape of the robot during actual operation or test execution during programming of the robot wherein the display screen includes a time axis and a degree of movement of at least one of the portions of the robot, the degree of movement, and the degree of movement of the at least one portion of the robot, Value includes a rotation degree value or a position value.

Description

[0001] ROBOT CONTROL APPARATUS [0002]

The present invention relates to a robot control apparatus for controlling a programmable robot, and more particularly, to a teaching pendant for robot programming, simulation, and control.

Industrial programmable robots are generally known. Typical methods of programming such robots include, for example, guiding a specific part of the robot, such as an end effector and a tool, on the robot arm from an initial point in space, and picking up a pick- -up location) through a desired path can be used.

The robot or external control devices store information related to movement from the initial position to the final position. After this learning session, the robot can repeat the above procedures and perform tasks to be performed.

However, in such a robot control, the teaching pendant for controlling the robot has a problem that the on-line programming software functions are poor, the functions are all leveled, and are provided at a high price in the form of a text-based console, .

It is an object of the present invention to solve the above-mentioned problems and to provide a computer system capable of supporting online GUI and offline programming while supporting GUI (Graphical User Interface) based on improved hardware performance, A robot control device in the form of a tablet PC.

It is still another object of the present invention to provide a robot control apparatus that displays a two-dimensional graph composed of a time axis and a motion information axis indicating a degree of motion of at least one of the portions of the robot.

According to an aspect of the present invention, there is provided an apparatus for controlling a programmable robot, the apparatus comprising: a plurality of menus related to programming steps to be performed by a user during programming of the robot, A display screen showing a computer-generated representation of the shape of the robot during actual operation or test execution, and an instruction input for inputting an instruction to the control system for the robot, And a motion information axis indicating a motion degree value of at least one of the axis and parts of the robot, and a motion degree value including a rotation degree value or a position value.

The graph may simultaneously display degrees of movement of a plurality of portions of the robot in parallel.

The graph may be configured to simultaneously display motion information values of a plurality of portions of the robot over time based on a waypoint set by the user.

The motion information value of the target robot part is changed by selecting the target robot part for changing the specific waypoint and the motion degree value in the graph and adjusting the position of the motion information value of the target robot part corresponding to the selected waypoint on the graph .

A waypoint may be added on the graph to input a new motion information value for at least one of the portions of the robot at an added waypoint.

When the robot or the robot control apparatus changes the motion control information for at least one of the plurality of parts of the robot in actual operation or test execution, the changed detailed motion control information may be reflected in real time on the graph.

According to the robot control apparatus of the present invention, it is possible to maximize the degree of operation of each part of the robot efficiently and to easily implement various control algorithms therefor.

In addition, according to the robot control apparatus of the present invention, it is possible to effectively implement control information change for each part of the robot through a visualized graph easily to the user.

1 is a schematic view of a robot control system according to an embodiment of the present invention,
2 is a view showing a main screen of a robot control device (teaching pendant) according to an embodiment of the present invention,
3 is a view for explaining the operation of a programmable robot controlled by a robot control apparatus according to an embodiment of the present invention;
FIG. 4 is a view for schematically explaining various menus of a robot control apparatus according to an embodiment of the present invention; FIG.
5 is a view for explaining a general operation of a joint motion function of a robot control apparatus according to an embodiment of the present invention;
FIG. 6 is a diagram for explaining a detailed motion level adjusting operation of the joint motion function of the robot control apparatus according to an embodiment of the present invention; FIG.
7 is a diagram for explaining a frame motion control function of a robot control apparatus according to an embodiment of the present invention;
8A is a two-dimensional graph illustrating a waypoint of a robot control apparatus according to an embodiment of the present invention,
FIG. 8B is a diagram for explaining a function of adding a waypoint on the graph of FIG. 8A,
9 is a view for explaining a direct teaching function of the robot control apparatus according to an embodiment of the present invention;
10A and 10B are diagrams for explaining a program storing and loading function of the robot control apparatus according to an embodiment of the present invention;
11 is a diagram for explaining visual programming of a robot control apparatus according to an embodiment of the present invention;
12 is a block diagram schematically showing a configuration of a robot control apparatus according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

For robot control, three methods can be used. These three methods may include offline programming, online programming, and direct teaching.

Off-line programming is a programming method that operates on a simulator basis. It is mainly used for performing path generation and verification, and is a programming method that is executed through the EtherCAT master controller.

On-line programming is a method using a teaching pendant (TP) (to be described in detail below), which is mainly used for robot motion command, path generation / repetition, and is performed by wire connection of a teaching pendant and a robot.

Direct teaching may require the support of a control algorithm as a way for the user (or operator) to learn the path by directly manipulating the robot. This is a system that enables the user to intuitively determine the target trajectory of the robot. The user grasps the end portion of the robot and directly applies the force and moment to the robot to operate the robot according to his / her intention. Thus, the user can simply generate the target trajectory information of the robot, and the robot is controlled by following this path during automatic operation after storing the path.

The robot control apparatus according to an embodiment of the present invention may include a teaching pendant (TP) as a user interface device for controlling a robot. The teaching pendant is used in industrial equipment or robots. It is used in industrial fields where no monitor and mouse can be used, and in automation equipment which does not require any special operation. For the convenience of the user, touch pads (or key buttons) LCD, and LED screen), and can be connected to a robot by wire or wireless.

Robot control system

1 is a schematic view of a robot control system according to an embodiment of the present invention. 1, the robot control system according to an embodiment of the present invention can be programmed on the basis of (a) offline programming and (b) online programming. The robot control system based on offline programming may include a robot control device 110 (which may be a teaching pendant, for example), an ethercat master controller 120 and a robot 100, (110) and a robot (100).

1, the robot control device 110 and the etheric master controller 120 control signals or program data in the off-line programming control according to an embodiment of the present invention, To the control system (not shown) of the robot 100 to drive the robot 100. The control system of the robot 100 may control the operation corresponding to the programming to be performed by applying a voltage to the driving means for driving the portion of each robot.

The robot controller 110 according to an exemplary embodiment of the present invention may be a touch-based teaching pendant. That is, the offline programming function can be provided by mounting a simulator on the function of the teaching pendant used for on-line programming. The robot controller 110 may be implemented with an open source kinematic engine (ODE) -based robot / sensor / environment modeling mobile robot and a humanoid ROS (software). The software can run on a variety of operating systems, including Windows or Linux. The robot controller 110 can verify the collision avoidance algorithm and the optimal path calculation algorithm through the simulator.

The robot control device 110 may be used to control the functions and movements of the parts of the robot 100, including the end effector of the robot 100. [ To this end, the robot controller 110 includes a storage unit for storing pre-stored robot-related motions and functions, as well as related information about objects to be handled by the robot 100 and the surrounding environment in which the robot 100 operates . The robot control apparatus 110 can communicate with the robot 100 during the programming of the robot 100 and can control the robot 100. [ In addition, a pattern of motions of the robot 100 and pre-programmed scenarios may be searched. Thus, such scenario or robot-related information can be used to perform different tasks within the settings necessary to re-program the robot for the new task.

The EtherCAT master controller 120 may be a field bus for real-time controlling a plurality of sensors and drivers dispersed using an Internet Gateway of Things (IGOT) immediately after the Internet service (IoT) service through Ethernet communication . Here, IGoT is able to utilize RS485 and CAN-based sensors, which are field buses for industrial objects Internet, and utilize EtherCAT for new time dispersion control, as soon as possible gateways for Internet services. That is, the EtherCAT master controller 120 may be a Linux-based real-time controller supporting EtherCAT. It is possible to secure the stability and high performance of the industrial controller through the EtherCAT master controller 120 and utilize real-time operating system and EtherCAT master software to reduce the cost of ownership and maintenance of the product. The EtherCAT master controller 120 is connected to the robot control device 110 through a USB, and receives the programming data or control signal from the robot control device 110 to drive the robot. The EtherCAT master controller 120 may include STEP (Science and Technology Embedded Platform).

Referring to FIG. 1 (b), in the on-line programming control, the robot control apparatus 110 can control the robot 100 on-line using the Ethernet. That is, according to an embodiment of the present invention, the robot control apparatus 110 integrated with the real-time robot controller can be implemented to integrate online programming and offline programming.

Robot control device (teaching pendant)

2 is a view showing a main screen of a robot control apparatus (teaching pendant) according to an embodiment of the present invention.

Referring to FIG. 2, the robot control apparatus according to an embodiment of the present invention includes a menu for entering a step for supporting offline programming with a "STEP connect" 210, and a "Local connect" There is a menu to go to the step to support. When the first robot control apparatus is executed, the main screen is displayed, and the user can select a menu for a desired function in the main screen.

Robot motion

3 is a view for explaining the operation of a programmable robot controlled by a robot control apparatus according to an embodiment of the present invention.

The robot may include a plurality of individual arm sections, and adjacent arm sections are interconnected by respective joints. At least a portion of the joints may include driveable drive means. Further, the robot may include a control system for controlling such a driving circuit. The joint may include a safety brake and may include an annular member that is rotatable relative to the motor axis of rotation.

The robot may include a decoder for decoding the directive received from the robot control device, and may include a sensor (e.g., a F / T sensor) for sensing information relating to the position and movement of each part of the robot, A position sensor, a vision sensor). These sensors may also sense the robot surroundings. In addition, it may include an encoder for encoding the motion-related information.

The robot can perform at least the following operations: pick-and-place operation, filing operation, peg-in-hole operation, assembly And can perform assembly operation, palletizing operation, direct teaching, deburring operation, spraying, spraying, welding operation, and human interaction. This can be done by basic functions: the specification of position, tracking, movement patterns, triggers, and events / actions.

3, the settings for performing a pick-and-place operation may be described, wherein coordinates (e.g., coordinates) for specifying the positions and orientations of various parts of the robot Definitions may be included. Definitions of the coordinates associated with the base and joints of the robot, and definitions of the position and orientation of the tool, can be given as in Fig.

In Figure 3, a robot according to one embodiment of the present invention may include a base 302, 302 'that may be attached to a surrounding structure. The robot basically includes two arm sections 304, 305 and 307, 308 connected to the bases 302, 302 'and a list section 309, 309', 310, 310 ', 311, 311 ': wrist sections. Here, it is apparent that the tool 312 may be composed of a gripper (312) and may be replaced by another shape of the end effector.

Between the base 302 and the first arm section 305 are provided first interconnection means comprising sections 303 and 303 '. The first interconnection means can be mounted to rotate about the z-axis via the bases 302, 302 '. This rotation can be effected through the joint 302 '. Similarly, the first arm sections 304, 305 can also be mounted to rotate about the axis 316 via interconnecting means 303, 303 ', as indicated by angle [beta]. The first arm sections 304 and 305 are configured such that the second arm sections 307 and 308 are connected to the second interconnection means or joints 306 , 306 'to the second arm sections (307, 308). Sections 307 and 308 are attached to the list sections 309, 309 ', 310, 310', 311 and 311 'carrying the tool 12, at the opposite end to the second arm. This section may include axes 318, 319 and 320 through corresponding interconnecting means 309, 310 and 311. [ With such interconnection means (or joints), the tool can be sent to any location in space within the maximum range of motion of the robot, and the tool can be moved in any direction in the space required for the actual operation task of the tool .

Although a six-joint embodiment is shown in the figure, it can be modified in any number of ways. With the six-joint embodiment, the orientation of each joint can be specified by the angle of rotation for a corresponding rotation axis, such as angles (?,?,?,?,?,?). In addition, the position of the tool and the orientation of the tool can be defined by coordinates by roll, pitch, yaw (roll, pitch, yaw).

3 shows the setting of the robot for use in a pick-and-place operation, where the object 314 may be placed on a conveyor for pick-up and a box 315 ). During this process, the robot's tool starts moving at the initial pick-up position or waypoint WP1 and then to the waypoint WP4 which is the final destination via the selected waypoints WP2, WP3. According to one embodiment of the present invention, the location and number of such waypoints in space may be set during a programming session of the robot. Such programming is described below.

FIG. 4 is a view for schematically explaining various menus of a robot control apparatus according to an embodiment of the present invention.

4, the robot control apparatus according to an embodiment of the present invention includes a joint way point teaching 410, a frame way point teaching 420, a way point editing 430, a direct teaching 440, A programming (450) menu may be provided. The user can select one of the above menus and enter the interface related to the corresponding function.

The joint waypoint teaching 410 may be a menu for teaching a waypoint of a joint by specifying one joint of the robot. The user can specify the joint in which the waypoint is set by using the touching means (e.g., a touch pen or a human hand) and set the degree of movement (e.g., rotation angle, etc.) for the specified joint.

The frame waypoint teaching 420 may be a menu for teaching the movement of the entire frame at a specific waypoint. This can be accomplished by setting the end effector portion of the robot to three coordinate systems x, y, and z and then finely adjusting the direction or rotation angle of the coordinate system.

The waypoint editing (430) menu implements a graph based on the degree of movement that a portion of the robot (e.g., a joint, etc.) has over time, and adds a new waypoint in the graph, And may be a menu for performing a motion level adjustment of a specific part.

As described above, the direct teaching (440) menu may be a menu for performing the teaching through the actual robot control of the user in cooperation with the robot control device and the actual robot.

The visual programming (450) menu can provide functions for setting and modifying program directives and variables in conjunction with the simulation of a computer-generated representation of the robot in performing programming.

These menus will be described in more detail below with reference to FIGS. 5 to 11.

Joint motion menu

5 is a diagram for explaining a general operation of a joint motion function of a robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 5, in a joint motion menu of a robot control apparatus according to an embodiment of the present invention, a move (510: move) is an icon for simulating movement of a robot according to programmed contents. The program 520 (program) is an icon used to create a new program in the robot. The command list 530 (command list) is an icon for fetching the currently stored program, and the cancel button 540 (Cancel) is an icon used for canceling the current operation.

The robot control apparatus according to an embodiment of the present invention may include a display screen for displaying a simulation of the robot through a computer generated representation and a section for displaying various icons. Computer generated representations can include 3D images of robots, CAD images, solidworks images (SLDASM), and so on.

At this time, each part of the robot is stored with the identification number, and the motion data values (e.g., position value, rotation angle value, etc.) of each part can change in real time. That is, the robot control device can display the position information of each part of the robot to be simulated or programmed in real time, as can be seen from the right-bottom side in the x, y, z coordinate value entry field.

FIG. 6 is a view for explaining a detailed motion level adjusting operation of the joint motion function of the robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 6, the robot controller may select a program icon in the joint motion menu, select a specific portion of the robot for joint motion, and perform programming to adjust the degree of motion. At this time, the display screen may display a time axis 610 at the bottom. The user can set a desired time using the touch means 640 (for example, a touch pen or a user's finger) on the time axis, and can adjust the degree of motion by selecting the motion control target portion 620. At this time, if the motion control target portion 620 is selected, the square box 630 for adjusting the motion level can be displayed. At this time, the degree of the movement can be adjusted by moving the bar 632 in the square box 630 to the left and right have. According to an embodiment of the present invention, the degree of motion may be a rotation angle setting value of the corresponding joint. The degree value in the square box 630 can be displayed in the area 634, which can be represented by the data value of the identification number of the corresponding part in the upper right of the simulation section. If you program the degree of movement of a specific part and click save move, the corresponding programming information is saved, and when you click the move icon, the joint part selected at that time can move as much as the programmed movement. Through such an interface, joint motion can be easily programmed.

Frame motion menu

7 is a diagram for explaining a frame motion control function of the robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 7, in one embodiment of the present invention, the robot control device is set to move from waypoints 0 to 2, and the coordinate system part attached to the end effector (which may also be expressed as a "tool" And may include three coordinate axes 710, 720, 730. Here, since the time axis is set at the lower end of the display screen, the movement according to time can be confirmed through simulation, and the movement of a specific robot part can be programmed at a desired time. Three coordinate systems are displayed through coordinate areas 715-1, 725-1 and 735-1, respectively, and three coordinate systems at "way point 1" are coordinate areas 715-2 and 725 -2, and 735-2, and the three coordinate systems at "way point 2" are displayed through the coordinate areas 715-3, 725-3, and 735-3, respectively. At this time, if the user sets the time axis from the time axis at the bottom of the screen to the time point of waypoint 2, the corresponding regions 715-3, 725-3, and 735-3 in the coordinate system of the corresponding way point are displayed. At this time, the user clicks one of the coordinate areas (e.g., area 735-3) corresponding to the position of the center point of the waypoint 2 and the coordinate system using the touching means 740, You can change the position of the center point by moving it, and change the orientation of the coordinate system by moving it up and down. As shown in the lower part of the menu display section on the right side of Fig. 7, such center point change and orientation change of the coordinate system are calculated and reflected as the distance value and the rotation value, and the user sets and stores the distance value and the rotation value, So that it can be programmed as it is changed.

Waypoint editing menu

8A is a diagram illustrating a two-dimensional graph according to a way point of a robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 8A, a robot control apparatus according to an exemplary embodiment of the present invention generates a two-dimensional graph based on a time axis based on a degree of motion (e.g., position or rotation angle) of each part according to a waypoint of a specific program can do. This can be generated based on the motion degree value (position coordinate value or rotation angle value) with time in the simulation unit (not shown). The graph can be composed of x and y axes, where one axis can be the time axis and the other axis can be the degree of motion. At this time, a plurality of lines may be simultaneously displayed in parallel in the graph, each of which has one line of motion degree values of a plurality of robot portions, and each line may be displayed with a unique identification number of the robot portion. The axis of the lower end may be displayed as a tap for each way point (for example, P0, P1, P2, etc.). The simulation unit can generate the graph as shown in FIG. 8A in real time through the waypoint editing menu even when the programming is changed through another menu. This can be accomplished by integrating and implementing an embedded controller that supports EtherCAT, and implementing real-time Linux and EtherCAT master, which is a high-speed real-time synchronization field bus, on the controller board.

Then, the position of each waypoint and the actual simulation motion picture of the robot can be displayed on the simulation screen. Using the graph-related information at the bottom of the graph, you can set the total programming time, the specific time you want to change, the velocity value of the joint, the joint angle value, and the joint acceleration value.

In the embodiment of FIG. 8A, a point 2 (820) is created by adding a waypoint by clicking the "+" icon at waypoint 1 (P1). The state of motion value of waypoint 2 (820) is the same as the value of waypoint 1 (P1).

FIG. 8B is a diagram for explaining a function of adding a waypoint on the graph of FIG. 8A.

8B, the position of waypoint 2 (P2) is changed on the time axis in the graph so that waypoint 2 (P2) added at a desired time is located, and one of the plurality of robot parts is moved to touch means 840 To change the degree of motion of the corresponding part. In this embodiment, the robot 6 is selected and its motion degree value is raised to 360 (deg) so as to have a high value, which can be freely adjusted up and down. At this time, when the robot 6 is clicked, a bar 850 is generated in a parallel direction, which is used to adjust the slope of the line corresponding to the corresponding portion of the added waypoint. That is, by tilting the angle of the bar, the slope of the line when the line of the sixth part passes the corresponding point of the way point can be determined. By performing such an operation, it is possible to set the time point and the angle of the waypoint, and other detailed settings, for example, the joint speed value and / or the acceleration value, can be changed in the setting column at the bottom. By the above operation, in the simulation section, the waypoint 1 820 remains unchanged, the waypoint 2 830 can be positioned at the changed position, and the robot can be programmed to move along the changed waypoint.

Direct teaching menu

9 is a diagram for explaining a direct teaching function of the robot control apparatus according to an embodiment of the present invention.

9 is an interface screen in a menu for direct teaching. A 3D representation 930 of a robot that receives motion information of an actual robot and moves in real time in the same manner as an actual robot can be generated and displayed on a simulation screen. At this time, the teaching (910: teaching) icon on the left side of the robot controller is an icon for performing teaching directly from the point of click, and "+" is an "add waypoint" icon. Each time you press "+", a waypoint can be added.

When the user moves the robot by directly applying the force and moment to the actual robot, the movement is reflected in the 3D representation of the robot on the simulation screen, and the coordinates and values related to the frame position and the joint position of the robot are displayed And the program according to the direct teaching can be automatically generated through the path control algorithm. Thereafter, if the execution icon on the teaching icon 910 is clicked, the actual robot can be moved along the programmed path according to the direct teaching.

Visual programming menu

10A and 10B are diagrams for explaining a program storing and loading function of the robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 10A, when the instruction list icon of the robot control device is clicked, a list of programs currently held by the user is listed. Referring to FIG. 10B, if one of the listed lists is selected, the corresponding program file can be loaded. The loaded program can be displayed as shown in FIG.

11 is a diagram for explaining visual programming of a robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 11, the robot control apparatus can display a selected program visually through an instruction load. The displayed program can be displayed in order of various operators or directives included in the program such as variable values, assignment operation, joint movements, wait, loop, stop, etc., as shown on the left. When the user clicks an arbitrary directive (e.g., MOVE), the position coordinate value (including the coordinate value of each robot portion from the initial position to the final position) and the rotation angle value (initial value and final value Value) is displayed. And, if the play icon is clicked on the displayed program, the program can be executed. While the program is being executed, currently executed directives can be displayed, and the set values and commands included therein can be displayed.

12, icons of the commands are displayed. When a specific command is selected, variable values of the command can be set through the up / down icons. In addition, Deletion, copying and pasting, setting and saving, and the like. Also, the value of a specific command can be set to a string, a number, or a boolean value, and the naming of such a command is also possible. Therefore, a commercial user can easily perform programming based on a visual icon without directly writing a programming coding language through a robot control apparatus according to an embodiment of the present invention.

Configuration of Robot Control Device

12 is a block diagram schematically showing a configuration of a robot control apparatus according to an embodiment of the present invention. 12, a robot control apparatus 1200 according to an embodiment of the present invention includes a display screen 1210, an instruction input unit 1220, a programming / control unit 1230, a storage unit 1240, (1250) and a simulation unit (1260).

Display screen 1210 may display a computer-generated representation that represents the shape of the robot during actual operation or test run, during programming of the robot and / or menus associated with programming steps to be performed by the user during programming of the robot have. The display screen 1210 may display a graph comprising a time axis and a motion information axis representing the degree of motion of at least one of the portions of the robot.

The directive input unit 1220 can input an instruction programmed into the control system for the robot. The directive input unit 1220 can receive an instruction from a user, which may include a touch screen. The touch screen can receive user input through a touch pen or a user's hand. The touch screen allows the 3D representation of the robot to be displayed with various icons for positioning and orienting a specific part of the robot in any position and receiving clicks on the icons.

The programming / control unit 1230 is a processor for programming and controlling the robot. It can be configured as a hardware processor. The programming / control unit 1230 may generate a programming code to be inputted to the robot according to the directive inputted from the directive input unit 1220. [ Or a control signal capable of controlling the robot. The programming / control unit 1230 can analyze the flow according to time based on the movement of each part of the robot or the coordinate value, and generate a graph composed of the time axis and the motion accuracy value. Also, by using the graph, the time, the target robot part, and the way point can be specified, and the position of the way point can be changed or the new way point can be added by changing the movement degree value of the corresponding part. The programming / control unit 1230 can calculate the optimal path of the robot by grasping the surrounding environment of the robot, for example, obstacles and prohibited areas. In addition, detailed coordinates of the position or spatial region of the robot can be obtained by moving one or more joints or tools of the robot through the sequences of waypoints or through a path in space.

To this end, the programming / control unit 1230 basically includes an inverse dynamics control algorithm, an impedance control algorithm, a compliance control algorithm, a collision detection and avoidance algorithm based on the arm operation, an object impedance control algorithm and an internal force impedance control algorithm for each arm And verification of such an algorithm can be performed through the simulation of the simulation unit 1260. [

In addition, the programming / control unit 1230 can control the display screen 1210 so that the previous and next menus and icons are displayed according to the click of each menu and icon. The programming / control unit 1230 may have access to preprogrammed templates that describe, during at least the programming of the robot, the preferred movements, actions, and other characteristics associated with the robot, in relation to particular operations. At this time, the tablet may define different actions of the robot to optimize and facilitate subsequent programming of the robot. The template may be stored in the storage unit 1240.

The storage unit 1240 may store information related to robot programming and operations, and may also store information about obstacles to be avoided during movement of the robot and / or information about the robot surroundings such as prohibited areas in space. This may include non-volatile memory such as flash memory and / or hard memory such as RAM, ROM, and the like. The storage unit 1240 stores information indicating the initial position of the tool, activation / triggering parameters of the tool at the initial position, final position of the tool, activation / triggering parameters at the final position, Information related to the route can be stored.

The information receiving unit 1250 can receive robot-related information such as motion information or position information of the robot from a sensor or the like attached to the actual robot. This can be implemented as a communication processor.

The simulation unit 1260 may generate a computer generated representation (for example, a 3D CAD image) of an actual robot based on information received from an actual robot or information from an external sensor of the robot control apparatus so as to perform simulation . In addition, apart from the actual robot, a computer-generated representation of the robot may be generated according to the programming generated by the programming / control unit 1230 to simulate the motion of the robot. Such a simulation computer generated representation may be transmitted to display screen 1210 and displayed.

Although not shown in the drawings, the robot control device 1200 may include software applications that include one or more wizards that can be selected by the user during programming of the robot.

The robot control apparatus 1200 according to an embodiment of the present invention utilizes open source and can be configured to be able to run in real-time operating systems based on Windows and Linux. In addition, EtherCAT master is implemented, and CAN and RS485 can be integrated as needed.

According to another embodiment of the present invention, it can be operated in combination with a suit for a teaching pendant including a physical button.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions as defined by the following claims It will be understood that various modifications and changes may be made thereto without departing from the spirit and scope of the invention.

Claims

An apparatus for controlling a programmable robot,
Menus associated with programming steps to be performed by the user during programming of the robot, and / or computer-generated representations representing the shape of the robot during actual operation or test execution during programming of the robot Display screen; And
And an instruction input unit for inputting an instruction to the control system for the robot,
Wherein the display screen displays a graph comprising a time axis and a motion information axis indicating a degree of motion of at least one of the portions of the robot and a motion accuracy value including a rotation degree value or a position value To the robot controller.

The method according to claim 1,
Wherein the graph simultaneously displays the degree of motion of the plurality of portions of the robot in parallel.

3. The method of claim 2,
Wherein the graph is configured to simultaneously display motion information values of a plurality of portions of the robot over time based on a waypoint set by the user.

The method according to claim 1,
Selecting a target robot part for changing a specific waypoint and a motion degree value in the graph and adjusting a position of a motion information value of the target robot part corresponding to the selected waypoint on the graph to change the motion information value of the target robot part The robot control apparatus comprising:

The method according to claim 1,
Adding a waypoint on the graph and inputting a new motion information value for at least one of the parts of the robot at the added waypoint.

The method according to claim 1,
The detailed motion control information to be changed is reflected on the graph in real time when the robot or the robot control device changes the motion control information for at least one of the plurality of parts of the robot in actual operation or test execution .