KR940000288B1 - Data output method in finding a locus of robot - Google Patents

Abstract

The method includes a microprocessor (10), a timer (20) for interrupting CPU (10), a position control unit (30) for controlling the robot by trajectory path data, a digital/analog converter (40) for converting the digital data of the position control unit into the analog data, a servo control unit (50) for driving the motor by the analog data, and the data output method improves the performance of the robot control by the block data method.

Description

Data Output Method in Robot Trajectory Planning

1 is a block diagram of an apparatus to which the present invention is applied.

2 (a) and (b) are graphs of velocity versus sampling time of point-to-point motion.

3 (a) and 3 (b) are graphs of position versus sampling period of linear motion

* Explanation of symbols for the main parts of the drawings

10: microprocessor 20: timer

30: position control unit 40: digital / analog converter

50: servo control unit 60: motor

According to the present invention, in a robot moving a path by a linear motion or a point-to-point motion, the robot driving efficiency is controlled by transmitting data about a path to be moved by the robot in block units. The present invention relates to a method of outputting data in a robot trajectory plan that can be improved.

In general, the main components of a device for performing a trajectory encoder for a robot's movement path are divided largely into parts (e.g., microprocessors) that plan the overall velocity waveform for the path the robot should travel, and the overall velocity waveform. It is composed of a part (for example, a position control unit) to control the position at regular intervals for fine control.

In the point-to-point movement, the control unit (eg, the position control unit) controlled at a predetermined interval is connected to each control point output by the microprocessor in a straight line to control the movement path of the robot in the microprocessor. The robot driving performance depends on how short the data is output.

That is, in general, the robot position control method using the robot position control device compares the current position and the normal position of the robot every time the command command is output to the control point, and determines whether the position is out of deviation, and the deviation value is out of the tolerance range. Since the surface is corrected to drive along a normal track (movement path), the more frequently this position determination operation is performed, the higher the driving efficiency of the robot is.

On the other hand, during the linear motion, a plurality of control points (existing in the linear space) are determined in three-dimensional space to control the robot to pass these control points so that the robot moves a path almost close to a straight line.

As a result, in the case of the point-to-point motion and the linear motion as described above, the robot performance improves according to how many control points are used. Each control point is calculated by a timer interrupt. The execution time of the service routine for the interrupt time must be less than the period of the timer interrupt.

Otherwise, it will not receive the correct data at the control part at regular intervals and will not be able to move the desired trajectory.

However, since the data for the control point must be output during the interrupt execution time of the interrupt execution routine as described above, the timer interrupt period could not be shortened to any limit.

Accordingly, the present invention has been made in view of such a conventional problem, and an object of the present invention is to transmit data on a robot's moving path in units of blocks and output a large number of control points within a predetermined time so that the robot can be driven accurately. The present invention provides a data output method in a robot trajectory plan to be performed.

In order to achieve the above object, the present invention provides a microprocessor, a timer for interrupting the microprocessor at a predetermined time interval, and a position control unit for receiving a position control by receiving data about a robot movement path planned in the microprocessor. And a digital / analog converter for converting digital data into analog data, which is output from the position control unit, and an analog data for the robot movement path converted by the digital / analog converter, to a servo control unit for driving and controlling the motor. In the configured robot control apparatus, when the timer inputs an interrupt signal to the microprocessor at predetermined time intervals, the robot movement position data (position data) stored in the microprocessor is edited in block units and output to the position control unit. Control After the control data for each control point is made by using the block data, the position control is performed to convert the data into analog data by a digital / analog converter, outputs it to the servo controller, and drives the motor by the servo controller. do.

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

In FIG. 1, the microprocessor 10 collectively controls the data output and robot control operation of the present invention. The microprocessor 10 includes a ROM storing the control program, robot position data, and velocity data. Read data from or write data to RAM.

The timer 20 interrupts the microprocessor 10 so as to accurately determine the driving of the robot at a predetermined time interval, and the position controller 30 is configured to the robot trajectory planned in the microprocessor 10. It is to generate the subdivided data so that the robot's driving state can be finely controlled by receiving the data.

The digital / analog converter 40 receives the detailed digital data about the trajectory output from the position controller 30 and converts the digital data into analog data. The servo controller 50 controls the motor 60 by receiving analog data on the robot trajectory plan converted by the digital / analog converter 40.

The data transmission method using the robot control system according to the present invention configured as described above will be described.

The data output of the robot movement path according to the present invention inputs an interrupt signal to the microprocessor 10 at a predetermined time interval from the timer 20, and reads the signal by the microprocessor 10 to control the microprocessor 10. Is done by.

That is, the microprocessor 10 edits the position data necessary for the robot to move by a predetermined distance among the data about the path (trajectory) to be moved in block units and outputs it to the position controller 30.

Accordingly, the position controller 30 generates the generated position control data for the movement path of the robot using the input block data, and outputs the generated position control data to the digital / analog converter 40.

The position control data for the robot movement path input to the digital / analog converter 40 is converted to an analog signal suitable for controlling the motor 60 and then output to the servo controller 50 from the digital / analog converter 40. Drive control of the motor 60 is carried out.

As described above, since the control data of the robot is output by controlling the position for one period by the block data, the error is reduced, the robot performance is improved, and the same effect as that of reducing the sampling period is obtained.

More specifically, the point-to-point motion when the sampling period shown in FIG. 2 (b) is smaller than the point-to-point motion when the sampling period shown in FIG. To improve the driving efficiency.

In other words, if the sampling period is large, the robot continues to be driven even if it is not corrected even if it moves away from the moving path. As the moving path deviation increases, the robot driving performance is reduced, and the moving path compensation becomes difficult. If the period is small, the robot's driving performance is improved by compensating the deviation from time to time so as to drive the normal path by grasping the current position of the robot every short time.

Even when the robot is driven linearly, similarly to the point-to-point motion, the linear motion when the sampling period shown in FIG. 3 (b) is smaller than the linear motion when the sampling period shown in FIG. This improves the driving performance of the robot.

Even when the robot is driven linearly, similarly to the point-to-point motion, the linear motion when the sampling period shown in FIG. 3 (b) is smaller than the linear motion when the sampling period shown in FIG. This improves the driving performance of the robot.

However, reducing the period of the timer interrupt is not only limited to the minimum period when the execution time of the interrupt service routine is limited, but each control point in the interrupt interval within the interrupt service routine when the period is to be further reduced. To obtain and further combine these control points into one block, the controlling routine can receive the block and control each control point, resulting in the same result as that performed in a small interrupt period, thereby achieving the object of the present invention. can do.

On the other hand, the interrupt control value is obtained by using a time variable t at the part of obtaining each control point in the interrupt service routine at the time of interrupting the timer, and increasing the time variable t from 0 to an integer multiple of? T.

That is, f1 (t) | t = kT

f2 (t) | t = kT + △ T

f3 (t) | t = kT + 2 △ T

:

fn (t) | t = kT + n △ T

The internal points (n = 1, 2… n) in each period obtained as described above are output to the control unit as a struct variable or an array variable in the high-level language, and in the case of an assembly language, a table ( table).

As described above, according to the data output method in the robot trajectory plan of the present invention, robot control by block data can be performed and the robot motion performance is improved.

Claims (1)

The microprocessor 10, the timer 20 for interrupting the microprocessor 10 at a predetermined time interval, and the position control by receiving data about the robot movement path planned in the microprocessor 10. A position controller 30, a digital / analog converter 40 for converting digital data output from the position controller 30 into analog data, and a robot movement path converted by the digital / analog converter 40 In the robot control device composed of a servo control unit 50 which receives analog data and controls driving of the motor 60, when the timer 20 inputs an interrupt signal to the microprocessor 10 at a predetermined time interval, The robot moving position data stored in the processor 10 is edited in block units and output to the position controller 30, and the position controller 30 After the control data for each control point is generated using the block data, the data is controlled in a controlled state, converted into analog data by the digital / analog converter 40, and outputted to the servo controller 50 to the servo controller 50. And a motor (60) to drive the data output method in the robot trajectory plan.

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