KR920021265A - 로보트의 수치제어장치 - Google Patents

로보트의 수치제어장치 Download PDF

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Publication number
KR920021265A
KR920021265A KR1019920006894A KR920006894A KR920021265A KR 920021265 A KR920021265 A KR 920021265A KR 1019920006894 A KR1019920006894 A KR 1019920006894A KR 920006894 A KR920006894 A KR 920006894A KR 920021265 A KR920021265 A KR 920021265A
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South Korea
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arm
robot
coordinate
center
unit
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KR1019920006894A
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English (en)
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야스유끼 나가따
Original Assignee
오오가 노리오
소니 가부시끼가이샤
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Publication of KR920021265A publication Critical patent/KR920021265A/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37572—Camera, tv, vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40003—Move end effector so that image center is shifted to desired position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40004—Window function, only a specific region is analyzed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45064—Assembly robot

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

내용 없음.

Description

로보트의 수치제어장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 로보트 아암과 화상중심과의 관계에 대하여 개략적으로 나타낸 평면도이다,
제2도는 제2아암에 설치된 카메라의 촬영중심을 가상적인 제2아암의 작용단과 가정할 수 있는 것에 대하여 설명하기 위한 개략적인 평면도이다,
제3도는 본 발명의 제1실시예에 관련된 로보트 수치제어장치의 구성을 나타낸 기능블록도이다.

Claims (3)

  1. 프로그램에 의해 교시된 동작을 따름과 동시에, 로보트의 아암에 부설한 촬영수단에 의해 얻어지는 화상의 처리결과를 프로그램중에서 이용할 수 있도록 한 로보트의 수치제어장치에 있어서, (가) 지정위치의 좌표치를 기술함으로써 로보트를 동작시키는 이동명령으로서, 로보트의 작용수단을 지정위치에 이동시키는 제1의 명령과, 촬영수단에 의한 촬영화상중심을 지정위치로 이동시키는 제2의 명령을 선택할 수 있도록 한 것, (나) 상기 제2의 명령에 의한 화상중심의 이동에 관해서, 촬상수단이 부설된 로보트 아암의 관절중심과 촬영화상의 중심을 잇는 선분을 기측으로 하는 가상아암의 작용단에 촬영화상중심이 위치하는 것으로 의제하여 로보트 아암의 이동제어를 행할 수 있도록 좌표환산수단을 설치한 것을 특징으로 하는 로보트의 수치제어장치.
  2. 프로그램에 의해 교시된 동작을 따름과 동시에, 로보트의 아암에 부설한 촬영수단에 의해 얻어지는 화상의 처리결과를 프로그램중에서 이용할 수 있도록 한 로보트의 수치제어장치에 있어서, (가) 프로그램 체계중에서 하나의 명령으로서, 촬영화상의 중심좌표치로부터 로보트의 작용단의 좌표치를 산출하는 좌표산출명령을 설치한 것, (나) 좌표산출명령을 받았을 때에, 촬영화상의 중심위치와 로보트의 작용단의 위치와의 사이의 위치관계로부터 현시점의 화상중심에 대응하는 로보트의 작용단의 좌표치를 구하는 좌표산출수단을 설치한 것을 특징으로 하는 로보트의 수치제어장치.
  3. 복수의 아암중에서 하나의 아암에 촬영수단이 부설된 로보트의 동작제어를 행하는 로보트의 수치제어장치에 있어서, 로보트의 동작내용을 기술한 프로그램을 기억하는 프로그램 기억부와, 직교좌표계에서 기술된 이동목적위치의 좌표치를 인접하는 아암에 관한 상대적인 위치관계를 나타내는 축좌표계에서의 좌표표현으로 변환하는 좌표 변환부와, 프로그램 기억부에 기억되어 있는 프로그램을 독출하여 해석함과 동시에 로보트의 작용단 또는 촬영화상중심에 대한 이동목표위치의 좌표정보를 좌표 변환부에 송출하는 프로그램 해석부와, 각 아암의 길이에 관한 정보를 기억하는 아암정보기억부와, 촬열수단이 부설된 아암의 관절중심과 촬영화상 중심을 잇는 선분을 기축으로 하는 가상아암의 길이 및 이 가상아암과 촬영수단이 부설된 아암과의 사이에 이루는 편위각의 값을 기억하는 가상아암정보기억부와, 좌표변환부가 출력하는 축좌표정보에 대하여 가상 아암정보기억부가 기억하는 편위각의 값을 가산 또는 감산하는 가감산부와, 직교좌표계에서 기술된 이동목적위치의 좌표치를 축조표계에서의 좌표표현으로 변환할때에 필요한 아암의 정보로서, 아암정보 기억부의 기억내용 또는 가상아암 정보기억부의 기억내용의 어딘가를 프로그램 해석부의 지시에 따라서 선택하는 선택부를 설치하고, 프로그램 해석부가 촬용중심에 대한 이동명령을 받았을 때에, 선택부에 의해 가상아암 정보기억부의 기억내용을 각 아암에 관련된 정보로서 선택하고, 가상아암의 길이에 관한 정보를 좌표변환부에 전송함과 동시에, 가상아암에 관한 편위각의 정보를 가감산부에 전송하고. 가감산부의 출력에 기인하여 아암의 이동제어를 행함으로써, 가상아암의 작용단에 촬영화상중심이 위치하는 것으로 의제한 화상중심의 이동제어를 가능하게 한 것을 특징으로 하는 로보트의 수치제어장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개되는 것임.
KR1019920006894A 1991-05-21 1992-04-23 로보트의 수치제어장치 KR920021265A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP91-144191 1991-05-21
JP14419191A JP3173042B2 (ja) 1991-05-21 1991-05-21 ロボットの数値制御装置

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KR920021265A true KR920021265A (ko) 1992-12-18

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