WO1991010181A1 - Method of detecting collision using observer - Google Patents
Method of detecting collision using observer Download PDFInfo
- Publication number
- WO1991010181A1 WO1991010181A1 PCT/JP1990/001692 JP9001692W WO9110181A1 WO 1991010181 A1 WO1991010181 A1 WO 1991010181A1 JP 9001692 W JP9001692 W JP 9001692W WO 9110181 A1 WO9110181 A1 WO 9110181A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- observer
- collision
- torque
- servomotor
- speed
- Prior art date
Links
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
- G05B19/406—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 monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
Definitions
- the present invention relates to a collision detection method capable of quickly and reliably detecting a collision between a driven object driven by a servomotor and an obstacle using an observer.
- a workpiece mounted on a machine-operated part such as a robot arm or a machine table, or a table mounted on a table may move over an obstacle, for example, the operating area of a driven body. May collide with foreign objects.
- the servomotor will move the driven object to the commanded position even after the driven object collides with an obstacle and stops moving. Occurs.
- mechanical components including the servomotor may be damaged or a secondary disaster may occur.
- the occurrence of a collision is detected by various methods, and the rotation of the motor is stopped when the collision occurs.
- a servomotor drive current that increases due to a collision between the driven body and an obstacle is predetermined. It is known to detect a collision when the value is exceeded. However, since it takes time until the servo motor drive current actually reaches the predetermined value from the time of the collision, detection delay occurs and the damage is increased.
- the purpose of the present invention is to provide a collision detection method. .
- a collision detection method applied to a machine that drives a driven body by a servomotor driven and controlled by a servo system.
- This collision detection method includes a step of estimating the magnitude of a disturbance applied to the servo system using an observer, and a method in which the driven body is placed on an obstacle when the magnitude of the estimated disturbance exceeds a preset threshold value. Determining a collision.
- the present invention when the magnitude of the disturbance estimated using the observer exceeds a preset threshold, it is determined that the driven body has collided with the obstacle. Even during low-speed operation of the servomotor, the occurrence of a collision can be detected quickly and reliably, and damage to mechanical components due to the collision can be prevented.
- FIG. 1 is a block diagram showing an observer and peripheral elements for implementing the collision detection method according to one embodiment of the present invention
- FIG. 2 is a block diagram showing a servo system used together with the observer of FIG. Diagram
- FIG. 3 is a block diagram showing a portion of the servo system shown in FIG. 2 which is targeted in the observer configuration, and
- FIG. 4 is a flowchart showing the processing executed by the digital servo circuit.
- the machine (not shown) is provided with one or more servomotors for driving the driven body.
- the servo system for driving and controlling the corresponding one of the servomotors includes a difference between a position command 0r sent from a numerical controller or the like and an actual position 0 (position).
- Deviation) s is multiplied by the proportional gain Kp to generate a speed command, the first block 10, and the integration constant ⁇ 1 and the integration constant ⁇ 1 based on the difference (speed deviation) between the speed command and the actual speed
- a second block 12 is provided for obtaining a motor drive current (torque command) I by performing a proportional-integral control with a proportional constant ⁇ 2.
- the servo system has a position loop that performs proportional control, and a speed loop that is provided as a minor loop of the position loop and performs proportional integration control. Further, the servo system supplies the drive current I to the servomotors represented by the third and fourth blocks 14 and 16 to rotate the motor at zero speed.
- the fifth block 18 represents a pulse coder or the like for detecting the actual motor rotational position ⁇ .
- the motor rotation speed 0 is detected based on, for example, a pulse coder output.
- the symbols Kt and J represent the torque constant and inertia of the servomotor, respectively
- T and TL represent the output torque and disturbance torque of the servomotor, respectively.
- an apparatus comprising an observer for estimating the disturbance torque TL and means for stopping the driving of the servomotor when the estimated disturbance torque exceeds a threshold value.
- the collision detection device preferably performs the functions of the position loop, the velocity loop, and the observer, etc. of FIG. 2 by software-your processing. It consists of a servo circuit.
- Fig. 3 shows the part (model) of the servo system shown in Fig. 2 that is targeted for the observer configuration.
- 0 represents motor acceleration
- TL represents motor speed and disturbance torque as state variables, respectively.
- I represents the torque command as input
- Kt and J represent the torque constant and the inertia of the motor, respectively.
- T L represents the rate of change of the disturbance torque.
- the observer for estimating the disturbance torque TL is configured as shown in Fig. 1.
- the observer 50 in FIG. 1 includes first to fourth blocks 51 to 54 whose transfer functions are KtJ, K3, K4S, and 1 / S, respectively.
- Obsano, Torque command at '50 The sum of the output of the first block 51, input of I, the output of the second block 52, and the output X of the third block 53 is supplied to the fourth block 54. .
- the deviation between the actual speed 0 and the estimated speed V sent from the fourth block 54 is supplied to each of the second and third blocks 52, 53.
- Eq. (7) which represents the deviation —V between the actual speed and the estimated speed.
- the output X of the third block 53 of the observer 50 is expressed by the following equation (8).
- the output X of the third block 53 of the observer 50 is substantially equal to the value obtained by dividing the disturbance torque TL by the inertia J.
- the collision detection device includes a multiplier 61 and one of the motor stopping means in cooperation with the multiplier 61. And a comparator 62 forming a part.
- the multiplier 61 the output X of the third block 53 of the observer 50 is multiplied by the product of the inertia J and the conversion constant A for matching the unit system.
- Look y (TL) is required.
- the comparator 62 the estimated disturbance torque y is compared with a threshold Ts for collision detection determination.
- the comparator 62 detects an estimated disturbance torque y equal to or larger than the threshold value T s, the comparator 62 determines that a collision has occurred and determines an alarm. It is sent out. As will be described later, the motor stopping means stops driving the motor in response to the alarm.
- the threshold value T s is set to a value smaller than the minimum value of the motor output torque corresponding to the destruction limit of various mechanical components of the machine. For this reason, even if the servomotor is at a low speed, when the driven body of the machine collides with an obstacle, an alarm is issued before the various mechanical components are damaged.
- the threshold value T s is larger than the maximum value of the motor output torque corresponding to the static friction force generated in the machine, the reaction force generated by the spring system of the machine, and the gravitational term that changes according to the operating state of the machine. It is set to a large value. Therefore, as long as the machine is operating normally and therefore the motor output torque fluctuates within the normal range, no alarm will be issued.
- the processor built in the digital servo circuit periodically executes the processing shown in Fig. 4.
- the processor executes the position loop processing in each processing cycle based on the position command 0r sent from the numerical controller and the actual position 0 detected by the pulse coder.
- Step 100 To calculate the speed command (Step 100).
- the processor sends the flag F It is determined whether or not the value is “1” indicating the occurrence of a collision (Step 101). Since the flag F is initially set to the value “0” indicating that no collision has occurred, Therefore, the determination result in step 101 is negative, in which case the processor executes a software-process to achieve the function of the observer 50.
- the processor The sensor outputs the known parameters Kt, J, K3, ⁇ 4, the actual speed detected in the previous processing cycle, and the torque command I calculated in the speed loop processing in the previous processing cycle. Then, the processor calculates the estimated speed V in the previous processing cycle, that is, the speed when the disturbance torque TL is not applied, according to Equation (3). The error 1 V between the speed and the estimated speed is obtained, and this calculation error is used. Therefore, the processor calculates a value corresponding to the third block output X of the observer 50. In order to achieve the function of the multiplier 61, the processor adds the value J ⁇ A to the calculated value X.
- Step 102 determines whether the estimated disturbance torque y is equal to or larger than the threshold value T s.
- Step 103 When the driven body moves normally without being obstructed by obstacles, in other words, the servomotor normally operates according to the torque command I.
- the error ⁇ '-V between the actual speed and the estimated speed is small, and the estimated disturbance torque y is small, while if the driven body collides with an obstacle, the speed error is 1 V As a result, the estimated disturbance torque y becomes a considerably large value indicating the occurrence of a collision.
- the processor determines that the estimated disturbance torque y is smaller than the threshold value T s, the processor performs a speed loop process based on the speed command and the actual speed ⁇ to calculate a current command (torque command: ⁇ I). (Step 106), and passes the calculation command I to the current loop (Step 107), thereby ending the processing of FIG. 4 in the current processing cycle.
- the threshold value T s is set to a value larger than the frictional force generated in the machine, etc., so that no collision occurs as long as the estimated disturbance torque y fluctuates within the normal range. Nevertheless, it is not erroneously determined that a collision has occurred.
- the processor determines that a collision has occurred, issues an alarm, and The flag F is set to a value "1" indicating the occurrence of a collision (step 104).
- the processor resets the value of the speed command calculated in Step 100 and the value of the integrator (not shown) of the speed loop to “0”, respectively (Step 1). 0 5), and sequentially executes the current command calculation step 106 and the current command transmission step 107.
- the determination result in step 101 following the speed command calculation step 100 becomes positive, and the above steps 105 to 107 are sequentially executed. Is done.
- the present invention is not limited to the above embodiment, and various modifications are possible.
- the present invention is implemented by a digital servo circuit, but another type of servo circuit may be used.
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Electric Motors In General (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69021048T DE69021048T2 (de) | 1989-12-26 | 1990-12-25 | Verfahren zur Bestimmung eines Zusammenstosses unter Verwendung eines Beobachters. |
EP91900952A EP0464211B1 (en) | 1989-12-26 | 1990-12-25 | Method of detecting collision using observer |
US08/177,342 US5440213A (en) | 1989-12-26 | 1994-01-04 | Collision detecting method using an observer |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1334967A JP2665984B2 (ja) | 1989-12-26 | 1989-12-26 | 外乱推定オブザーバによる衝突検出方法 |
JP1/334967 | 1989-12-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1991010181A1 true WO1991010181A1 (en) | 1991-07-11 |
Family
ID=18283230
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1990/001692 WO1991010181A1 (en) | 1989-12-26 | 1990-12-25 | Method of detecting collision using observer |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0464211B1 (ja) |
JP (1) | JP2665984B2 (ja) |
DE (1) | DE69021048T2 (ja) |
WO (1) | WO1991010181A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2732159B2 (ja) * | 1991-10-29 | 1998-03-25 | ファナック株式会社 | 異常負荷検出方法 |
JPH06245561A (ja) * | 1993-02-10 | 1994-09-02 | Fanuc Ltd | サーボモータの異常負荷検出制御方法 |
JPH0751999A (ja) * | 1993-08-06 | 1995-02-28 | Fanuc Ltd | 工具破損検出方式 |
JPH0796419A (ja) * | 1993-09-28 | 1995-04-11 | Fanuc Ltd | ワイヤ放電加工機の移動軸衝突防止方法 |
JPH0796418A (ja) * | 1993-09-28 | 1995-04-11 | Fanuc Ltd | ワイヤ放電加工機の上ノズルすきま自動調整方法 |
JPH07132440A (ja) * | 1993-11-02 | 1995-05-23 | Fanuc Ltd | 加工負荷監視方式 |
DE19601763A1 (de) * | 1996-01-19 | 1997-07-24 | Hoechst Ag | Verwendung von Tensiden bei der Trocknung von hydrophilen, hochquellfähigen Hydrogelen |
JP2870482B2 (ja) * | 1996-05-10 | 1999-03-17 | 日本電気株式会社 | サーボモータの位置制御方法および制御装置 |
JP3367641B2 (ja) * | 1998-07-31 | 2003-01-14 | 株式会社安川電機 | ロボットの制御装置 |
JP4930040B2 (ja) * | 2006-12-21 | 2012-05-09 | 日産自動車株式会社 | 状態量推定装置及び角速度推定装置 |
JP2008211953A (ja) * | 2007-02-28 | 2008-09-11 | Tietech Co Ltd | モータのサーボ制御装置 |
JP4335286B2 (ja) * | 2008-02-08 | 2009-09-30 | ファナック株式会社 | 部品保護機能を備えたロボット制御装置及びロボット制御方法 |
JP4852733B2 (ja) * | 2008-05-30 | 2012-01-11 | 株式会社安川電機 | 包装装置およびモータ制御装置 |
JP5375062B2 (ja) * | 2008-12-10 | 2013-12-25 | 株式会社安川電機 | ロボットシステムおよび制御方法 |
JP5561459B2 (ja) | 2009-03-24 | 2014-07-30 | 株式会社安川電機 | プレス機械装置およびそのモータ制御装置 |
JP6019945B2 (ja) | 2012-08-31 | 2016-11-02 | ブラザー工業株式会社 | 制御装置及び画像形成システム |
JP6311635B2 (ja) * | 2015-03-31 | 2018-04-18 | ブラザー工業株式会社 | 数値制御装置と制御方法 |
JPWO2019043936A1 (ja) * | 2017-09-04 | 2020-04-02 | 学校法人千葉工業大学 | 自走式掃除機 |
EP3679847A4 (en) * | 2017-09-04 | 2021-03-10 | Chiba Institute of Technology | SELF-PROPELLED VACUUM CLEANER |
US20230191597A1 (en) * | 2018-01-10 | 2023-06-22 | Sony Corporation | Control device, control method, and program |
JP2022090541A (ja) * | 2020-12-07 | 2022-06-17 | 株式会社ユーシン精機 | 成形品取出機の制御装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01230107A (ja) * | 1988-03-10 | 1989-09-13 | Fanuc Ltd | サーボモータにより駆動される被駆動体の衝突検出方法 |
JPH01291682A (ja) * | 1988-05-18 | 1989-11-24 | Fuji Electric Co Ltd | 電動機制御装置の故障診断装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61251915A (ja) * | 1985-04-30 | 1986-11-08 | Fujitsu Ltd | 移動体制御方式 |
JPS6277608A (ja) * | 1985-09-30 | 1987-04-09 | Fujitsu Ltd | 移動体制御方式 |
JPS63120312A (ja) * | 1986-11-10 | 1988-05-24 | Matsushita Electric Ind Co Ltd | 柔軟ア−ムの制御装置 |
JPS63314606A (ja) * | 1987-06-18 | 1988-12-22 | Fanuc Ltd | 多関節ロボットの制御装置 |
JP2906256B2 (ja) * | 1989-09-25 | 1999-06-14 | セイコーインスツルメンツ株式会社 | サーボ制御装置 |
-
1989
- 1989-12-26 JP JP1334967A patent/JP2665984B2/ja not_active Expired - Lifetime
-
1990
- 1990-12-25 EP EP91900952A patent/EP0464211B1/en not_active Expired - Lifetime
- 1990-12-25 WO PCT/JP1990/001692 patent/WO1991010181A1/ja active IP Right Grant
- 1990-12-25 DE DE69021048T patent/DE69021048T2/de not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01230107A (ja) * | 1988-03-10 | 1989-09-13 | Fanuc Ltd | サーボモータにより駆動される被駆動体の衝突検出方法 |
JPH01291682A (ja) * | 1988-05-18 | 1989-11-24 | Fuji Electric Co Ltd | 電動機制御装置の故障診断装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0464211A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP0464211A4 (en) | 1993-02-24 |
JP2665984B2 (ja) | 1997-10-22 |
JPH03196313A (ja) | 1991-08-27 |
DE69021048D1 (de) | 1995-08-24 |
EP0464211B1 (en) | 1995-07-19 |
DE69021048T2 (de) | 1995-12-14 |
EP0464211A1 (en) | 1992-01-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US5440213A (en) | Collision detecting method using an observer | |
WO1991010181A1 (en) | Method of detecting collision using observer | |
KR0144650B1 (ko) | 서보모터의 이상부하 검출 제어방법 | |
US9821459B2 (en) | Multi-joint robot having function for repositioning arm | |
JP3212571B2 (ja) | 産業用ロボット | |
JPH05116094A (ja) | 異常負荷検出方法 | |
WO1998042483A1 (fr) | Controleur de robot | |
JP3204207B2 (ja) | ロボットの制御装置とその制御方法 | |
JPH1170490A (ja) | 産業用ロボットの衝突検出方法 | |
EP1046470B1 (en) | Industrial robot with means for detecting collision and preventing re-collision | |
JPH1177580A (ja) | ロボットの制御装置 | |
JPS63245389A (ja) | ロボツトの制御方法 | |
JP2749724B2 (ja) | 推定外乱による衝突検出方法 | |
WO1996033549A1 (fr) | Procede et dispositif de detection de l'emballement d'un moteur | |
JPH1110580A (ja) | 産業用ロボットの駆動軸制御方法及びその装置 | |
JPH09305235A (ja) | サーボモータの位置制御方法および制御装置 | |
JP2001353687A (ja) | ロボットの制御装置とその制御方法 | |
JPH06131050A (ja) | サーボモータで駆動される可動部の衝突検出方法 | |
JPH11245191A (ja) | 産業用ロボットの駆動軸制御方法及びその装置 | |
JP3408956B2 (ja) | サーボモータの駆動制御装置 | |
JPH0584681A (ja) | ロボツトアームの異物との衝突検出方法 | |
JP2000099105A (ja) | 負荷機械の制御方法 | |
WO1995009064A1 (fr) | Procede permettant d'empecher la collision d'un arbre mobile d'une machine d'usinage par etincelage | |
JPH06292379A (ja) | 異常負荷時のトルクリミット変更方法 | |
JPS6235918A (ja) | サ−ボ異常検出方式 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): CA US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IT LU NL SE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1991900952 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1991900952 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: CA |
|
WWG | Wipo information: grant in national office |
Ref document number: 1991900952 Country of ref document: EP |