WO1988001764A1 - Dispositif de commande de robot - Google Patents

Dispositif de commande de robot Download PDF

Info

Publication number
WO1988001764A1
WO1988001764A1 PCT/JP1987/000560 JP8700560W WO8801764A1 WO 1988001764 A1 WO1988001764 A1 WO 1988001764A1 JP 8700560 W JP8700560 W JP 8700560W WO 8801764 A1 WO8801764 A1 WO 8801764A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
control device
camera
positional relationship
image processing
Prior art date
Application number
PCT/JP1987/000560
Other languages
English (en)
Japanese (ja)
Inventor
Atsushi Watanabe
Original Assignee
Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Publication of WO1988001764A1 publication Critical patent/WO1988001764A1/fr

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Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a robot control device that controls a robot by using CAD NO C'AM.
  • a robot control device that controls a robot using CADCAM uses a robot, for example, a manipulator such as an arm. After positioning the object to be worked on and giving various teachings on the operation of the manipulator at that position, It outputs an operation command for a predetermined operation to the robot.
  • the positioning of the robot and / or the device, or the positioning of the object must be done using an off-line program using CAD / CAM.
  • the virtual system is calculated by assuming a state in which the robot arm does not bend, etc., and the object is not displaced. It is.
  • the present invention has been made to solve such a problem, and recognizes the position shift S of the robot itself and the position shift of the object, and detects the position of the mouth of the object with respect to the object.
  • An object of the present invention is to provide a robot control device capable of accurately and accurately correcting a control command of a robot.
  • an object in a robot controller that controls a robot under the control of an offline programming system, an object can be controlled.
  • An image input means for recognizing a reference point, and an image for determining a three-dimensional relative positional relationship between the robot and the object based on a pre-E reference point recognized by analyzing image information of the image input means. Determined by processing means and this image processing means
  • Correction means for correcting a virtual program position based on the relative positional relationship obtained, and a control command for forming a control command for the robot at the corrected position.
  • a robot control device characterized by having a robot control unit can be provided.
  • the robot control device of the present invention corrects a virtual program position based on the relative positional relationship between the object and the robot determined by the image processing means.
  • robot control commands for the object to be worked on are accurately and accurately output, and robot-based work using CADZCAM can be realized. It is.
  • Fig. 1 is a system configuration diagram of the robot control device according to the present invention
  • Fig. 2 is a three-dimensional view of an object to be worked on and its counterpart object.
  • Fig. 3 shows the positional relationship with the robot.
  • Fig. 3 shows how a single point on the object is recognized from multiple poses in the camera coordinate system.
  • FIG. 4 and FIG. 4 are flowcharts showing the flow of the positioning process of the robot controller.
  • the robot body 1 has a joint 2 and an arm 3a rotatably and foldably mounted on the joint 2 and the arm 3a.
  • the arm 3b which is attached to the arm 3a so as to be freely rotatable and bent, and the tip of the arm 3b
  • the end effector 4 is provided so as to be freely rotatable and freely bendable.
  • the movement of the arms 3a, 3b and the end effector 4 of the robot body 1 is controlled by the robot control unit 5.
  • the robot control unit 5 controls the CAD / CAM under the control of an off-line programming system using a micro-port opening sensor.
  • the robot main body 1 is operated, and the arms 3a and 3b are positioned and the end effector 4 is positioned.
  • a camera 6 is installed near the end effector 4 and the camera 6 is operated by the robot.
  • An image of the object 8 is captured toward the object 8 to be transmitted and sent to the vision system 7.
  • the vision system 7 analyzes the image captured by the camera 6 and recognizes the relative positional relationship between the end effector 4 of the mouth body 1 and the object 8. If a position shift or the like has occurred, the recognition result is sent to the robot control unit 5, and the off-line programming in the robot control unit 5 is performed. It is designed to compensate for the control amount by the system.
  • FIG. 4 is a flowchart showing the flow of the services of the robot control unit 5 and the vision system 7. .
  • an object 8 to be worked on at step ST 1 for example, a spot-nor by a robot
  • the vehicle body to be welded is moved on a transport line (not shown) to set a predetermined position virtually set in advance with respect to the robot * body 1.
  • the reference point of the object 8 is recognized by the camera 6 (step ST2).
  • three or more points are required.For example, in FIG. 2, points P1, P2, and P3 correspond to these points. .
  • one point, for example, the point P1 is used for this point P1. As shown in Fig.
  • step ST 3 the virtual program position obtained by CAD / CAM is corrected based on the positional relationship determined in this manner.
  • a robot can be attached to the arm of the robot with a spot gun as an end effector, for example: / Corrects the deflection of the arm of the robot or the deviation from the program position caused by the displacement of the object carried by the transport line.
  • a spot gun as an end effector
  • the relationship between the robot control unit 5 and the vision system 7 is, for example, a CAD / CAM offline programming system of the robot control unit 5. If the processor that realizes this is a main processor and the processor used for the vision system 7 is a processor dedicated to image processing, this image processing The dedicated processor becomes the coprocessor of the main processor and can execute its own image processing under the control of the main processor. It has become so .
  • the robot controller of the present invention accurately and accurately positions a robot with respect to an object to be worked, for example, in a spot Z arc welding operation. It is suitable for use in tasks that require sufficient accuracy.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

Dispositif de commande de robot grâce auquel un objet (8) destiné à être usiné par un robot (1) est déplacé vers une position prédéterminée sur une chaîne d'assemblage, et trois ou plusieurs points servant de références de l'objet sont reconnus par une caméra (6) de sorte que l'objet (8) est reconnu de manière tridimensionnelle. Les données vidéo produites par la caméra sont envoyées à un système de vision (7) et une relation de position relative est déterminée entre la caméra et chacun des points reconnus de l'objet. Le système de vision (7) envoie les données de relation de position au dispositif de commande de robot (5), qui corrige, sur la base de la relation de position relative déterminée par le système de vision, une position virtuelle calculée par un programme faisant appel à des techniques de conception et fabrication assistées par ordinateur (CFAO).
PCT/JP1987/000560 1986-08-29 1987-07-29 Dispositif de commande de robot WO1988001764A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP61202914A JP2767417B2 (ja) 1986-08-29 1986-08-29 ロボツト制御装置
JP61/202914 1986-08-29

Publications (1)

Publication Number Publication Date
WO1988001764A1 true WO1988001764A1 (fr) 1988-03-10

Family

ID=16465258

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1987/000560 WO1988001764A1 (fr) 1986-08-29 1987-07-29 Dispositif de commande de robot

Country Status (2)

Country Link
JP (1) JP2767417B2 (fr)
WO (1) WO1988001764A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2248571A (en) * 1990-10-09 1992-04-15 Steel Castings Res Computer controlled work treating robot
GB2363861A (en) * 2000-06-19 2002-01-09 Robotic Technology Systems Plc Processing an object, eg a workpiece, by a tool
CN106054814A (zh) * 2016-05-28 2016-10-26 济宁中科先进技术研究院有限公司 基于图像灰度的计算机辅助加工方法

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0714276B2 (ja) * 1988-06-20 1995-02-15 株式会社日立製作所 アクチュエータ
JPH0224076A (ja) * 1988-07-07 1990-01-26 Hitachi Ltd 位置決めの補償装置
JPH0288187A (ja) * 1988-09-26 1990-03-28 Honda Motor Co Ltd ロボットの制御方法
US5761390A (en) * 1991-12-12 1998-06-02 Hitachi, Ltd. Robot for removing unnecessary portion on workpiece
JP4171488B2 (ja) 2005-12-16 2008-10-22 ファナック株式会社 オフラインプログラミング装置
JP5204575B2 (ja) * 2008-07-29 2013-06-05 川崎重工業株式会社 位置測定方法及び位置測定装置
JP5428639B2 (ja) * 2009-08-19 2014-02-26 株式会社デンソーウェーブ ロボットの制御装置及びロボットのティーチング方法
JP5324397B2 (ja) * 2009-11-02 2013-10-23 本田技研工業株式会社 情報処理方法及び装置並びにプログラム
JP2014056496A (ja) * 2012-09-13 2014-03-27 Mitsubishi Heavy Ind Ltd 仮想カメラ画像生成装置、仮想カメラ画像生成システム、仮想カメラ画像生成方法、およびプログラム
CN106737683A (zh) * 2017-01-11 2017-05-31 吉林省凯迪科技有限公司 校正工业机器人离线编程在现场中的误差的方法
JP6743723B2 (ja) * 2017-02-16 2020-08-19 トヨタ自動車株式会社 ロボットの教示データ補正方法
JP6914067B2 (ja) * 2017-03-21 2021-08-04 株式会社神戸製鋼所 動作プログラム補正方法および溶接ロボットシステム
JP6669713B2 (ja) 2017-11-28 2020-03-18 ファナック株式会社 ロボットおよびロボットシステム
WO2023199620A1 (fr) * 2022-04-13 2023-10-19 パナソニックＩｐマネジメント株式会社 Dispositif de commande de robot et système d'enseignement hors ligne

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5615992A (en) * 1979-07-17 1981-02-16 Kobe Steel Ltd Method and device for preparing working locus data in industrial robot
JPS59216210A (ja) * 1983-05-25 1984-12-06 Hitachi Ltd ロボツト動作教示法
JPS60134908A (ja) * 1983-12-23 1985-07-18 Nissan Motor Co Ltd ロボツトのテイ−チデ−タ補正方法
JPS60151711A (ja) * 1984-01-19 1985-08-09 Hitachi Ltd ロボツト手先視覚座標系較正方式

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58169987U (ja) * 1982-05-06 1983-11-12 オムロン株式会社 工業用ロボツト
JPS60229109A (ja) * 1984-04-27 1985-11-14 Hitachi Ltd 視覚カメラによる位置補正システム
JPS60258613A (ja) * 1984-06-06 1985-12-20 Daifuku Co Ltd 作業車の運転制御設備
JPH0750407B2 (ja) * 1984-10-26 1995-05-31 株式会社サンエス商工 数値制御システム
JPS61173878A (ja) * 1985-01-30 1986-08-05 株式会社日立製作所 ロボツトの個体差対応テイ−チデ−タ修正方式

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5615992A (en) * 1979-07-17 1981-02-16 Kobe Steel Ltd Method and device for preparing working locus data in industrial robot
JPS59216210A (ja) * 1983-05-25 1984-12-06 Hitachi Ltd ロボツト動作教示法
JPS60134908A (ja) * 1983-12-23 1985-07-18 Nissan Motor Co Ltd ロボツトのテイ−チデ−タ補正方法
JPS60151711A (ja) * 1984-01-19 1985-08-09 Hitachi Ltd ロボツト手先視覚座標系較正方式

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2248571A (en) * 1990-10-09 1992-04-15 Steel Castings Res Computer controlled work treating robot
GB2363861A (en) * 2000-06-19 2002-01-09 Robotic Technology Systems Plc Processing an object, eg a workpiece, by a tool
CN106054814A (zh) * 2016-05-28 2016-10-26 济宁中科先进技术研究院有限公司 基于图像灰度的计算机辅助加工方法

Also Published As

Publication number Publication date
JPS6358505A (ja) 1988-03-14
JP2767417B2 (ja) 1998-06-18

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