WO1995000890A1 - Procede d'enseignement d'une position a un robot et appareil de commande - Google Patents

Procede d'enseignement d'une position a un robot et appareil de commande Download PDF

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Publication number
WO1995000890A1
WO1995000890A1 PCT/JP1994/000978 JP9400978W WO9500890A1 WO 1995000890 A1 WO1995000890 A1 WO 1995000890A1 JP 9400978 W JP9400978 W JP 9400978W WO 9500890 A1 WO9500890 A1 WO 9500890A1
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WO
WIPO (PCT)
Prior art keywords
teaching
data
robot
point
position data
Prior art date
Application number
PCT/JP1994/000978
Other languages
English (en)
Japanese (ja)
Inventor
Masayuki Hamura
Kenji Aztuma
Original Assignee
Masayuki Hamura
Kenji Aztuma
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 Masayuki Hamura, Kenji Aztuma filed Critical Masayuki Hamura
Publication of WO1995000890A1 publication Critical patent/WO1995000890A1/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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36043—Correction or modification of program
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36484—Each teached point has a correlated amount of shift data, independently modified

Definitions

  • the present invention relates to a position teaching method and a control device for an industrial robot that operates according to a teaching program.
  • the method and apparatus of the present invention can be applied to a robot that performs a deburring operation.
  • position teaching is performed by operating the robot while an effector such as a deburring tool is mounted on the robot, and the actual work target
  • the robot's tool point approaches or touches the point, teaches a position that seems appropriate based on the robot's current position data, and reproduces it on a trial basis to determine whether the position teaching is appropriate.
  • Many methods have been adopted for confirmation. It is rare that an optimal position teaching is realized only by a single teaching operation, so that such position teaching and confirmation operations are inevitably repeated by trial and error.
  • the above-mentioned tool point is a point defined near the tool mounted on the robot, and this point may be defined as a work point at which work is actually performed by the tool. .
  • the robot operates such that the tool point moves along a movement path determined according to a teaching program.
  • the robot Whenever it is determined that the position data already taught needs to be corrected, the robot is actually operated each time. It is necessary to move the work point to a position that seems more desirable and then teach the position again. Even when the position teaching is executed offline, there are very few cases where the position data given offline is accurate enough to require no correction. In most cases, the re-teaching operation as described above is required in most cases.
  • the position specified by the position data corresponds to the position taken by the tool point at the time of reproduction, so that the taught position data itself is used. Unless the position indicates the optimal position, the optimal robot position could not be achieved during the teaching program regeneration operation.
  • the torque data is modifiable independently of the position data, and includes a step of determining a position of a target point based on the position data and the shift vector data.
  • a robot control device is a robot control device for performing the above method, and includes a robot tool boy.
  • Correction vector data for indicating a shift vector toward a point, a correction means for correcting the shift vector data independently of the position data, and a teaching block.
  • FIG. 1 is an explanatory diagram showing a moving path of a tool point based on position data and a moving path of a tool point obtained by specifying a shift vector amount for each teaching point.
  • FIG. 2 is a diagram showing a shift condition setting screen displayed on the LCD screen of the robot controller according to one embodiment of the present invention.
  • FIG. 3 is a teaching screen displayed on the LCD screen of the robot controller. Figure showing the program data display screen,
  • FIG. 4 is a block diagram of a main part showing a configuration of a robot control device for implementing the method of the present invention.
  • FIG. 5 is a flow chart showing a procedure for completing a deburring process by using the robot control device shown in FIG. 4 to teach the robot a position and perform a regeneration operation according to the method of the present invention. It is one.
  • FIG. Figure 1 shows the teaching program When the regeneration operation is executed by the teaching path including the travel path of the tool point corresponding to the evening position data and the deviation vector amount specified for each teaching point The travel route of a single point is shown.
  • a tool point is a point defined near a tool mounted on a robot, and this point is a work point at which work is actually performed by the tool. You may.
  • the robot operates such that the tool point moves along a movement path determined according to the teaching program.
  • the robot position refers to the position of this tool point.
  • points P [1] to P [4] indicated by ⁇ represent teaching points corresponding to position data in the teaching program.
  • the coordinate values representing the positions of the teaching points P [1] to P [4] on the tool coordinate system 1 are respectively (XI, Yl, Z1) to
  • ⁇ M1> to ⁇ M4> are shift vectors introduced in the present invention, each of which has a teaching point P [1] to P [4] as a starting point and shifts each teaching point.
  • the target points P1 to P4 are the vectors that end points.
  • the deviation vector is specified along the Z-axis direction of the tool coordinate system 1.
  • the data for designating the position of the target point in the teaching program includes the position data portion and the deviation vector.
  • the shift vector data part that specifies the contents of the file. That is, in the example shown in FIG. 1, coordinate values (XI, Y1, Z1) to (X4, Y4, Z4) of each teaching point are given as position data. Specify the data that represents the contents of the transfer Ml> to ⁇ M4>.
  • the target points P 1 to P 4 obtained by shifting each of the teaching points P [1] to P [4] in accordance with the shift vectors ⁇ M1> to ⁇ M4>.
  • the tool point moves along P4.
  • the point P0 indicated by the X mark indicates the initial position of the robot.
  • the data of the deviation vector is corrected.
  • the travel route can be modified by a procedure that simply rewrites the data stored in the memory of the user. Therefore, the work of correcting the robot position is made much more efficient.
  • this correction work can be specified by the amount of deviation based on the teaching point, it is possible to execute quantitative and relative position correction by a systematic procedure. That is, the optimum position can be asymptotically searched for and determined based on the teaching point.
  • the robot controller 10 is a central processing unit.
  • the CPU 11 has a memory 12 consisting of ROM, a memory 13 consisting of RAM, a nonvolatile memory 14 consisting of CMOS elements, etc., and a teaching provided with an LCD (liquid crystal display) 15.
  • An operation panel 16, a robot axis controller 17 for controlling each axis of the robot, and an off-line program creating device (not shown) are connected via a bus 19.
  • the robot axis controller 17 is further connected to the robot main body 20 via a servo circuit 18.
  • the R0M12 stores various programs to be executed for controlling the CPU 11 1 robot 20 and the robot controller 10 itself.
  • R AMI 3 is a memory used for temporary storage of data and calculation.
  • the non-volatile memory 14 has various parameter settings from the teaching operation panel 16 or from an offline program creation device via an interface. And programs created offline (including teaching data) can be stored.
  • the above configuration is basically the same as the conventional robot control device, but differs from the conventional robot control device in the following points I and ⁇ .
  • the shift condition setting screen shown in Fig. 2 is displayed on the LCD 15, and the shift
  • the program for inputting the compliant coordinate system data expressing the amount of torque and the data specifying the deviation direction on the screen and storing it in the non-volatile memory 14 is stored in the ROM 12 or the non-volatile memory. Stored in 14.
  • a blog program for inputting and correcting each deviation amount data independently of the position data is stored in the ROM. Stored in 12 or nonvolatile memory 14.
  • step S 1 a virtual machining line (valley generation) of a representative work having no burrs fixed at a predetermined position and having no burrs is manually operated by a robot (jog feed). Move the deburring tool along the line area that is Then, the teaching points (P1 to P4 in Fig. 1) are determined, and at each point, the current position data of the mouth robot (for example, the encoder provided in the servo motor that operates each joint) Teach the position data obtained from the data. This position data is stored in the non-volatile memory 14 of the robot controller 10. Note that the position teaching in step S1 may be replaced with offline teaching. Of course it does not matter.
  • step S2 operate the teaching operation panel 16 to display the shift condition setting screen shown in Fig. 2 on the attached LCD 15 screen, and input the shift condition.
  • the tool coordinate system 1 is input as the reference coordinate system for expressing the deviation vector data.
  • a coordinate system to be input is selected and input from a coordinate system such as a base coordinate system, a work coordinate system, or a user coordinate system that has been set for the robot.
  • the tool coordinate system may be used as the reference coordinate system. Deemed desirable.
  • the shift direction (direction of shift vector) is specified by and.
  • the Z-axis (1) direction of the tool coordinate system 1 is designated as the deviation direction. That is, when deviation amount data ⁇ is input, conditions are set such that a deviation of one ⁇ in the Z-axis direction of the tool coordinate system 1 is realized. Note that it is possible to specify the shift direction by the direction cosine (1, m, n), and it is also possible to specify the shift direction for each basic teaching point.
  • step S3 the work to be deburred is set to a predetermined position, and the teaching block is set. Regenerate the gram and operate the robot to perform the first deburring process.
  • the CPU 1 determines that the deviation is equal to 0, and plays back based on the position data taught in step S1. Operation is performed.
  • the operator evaluates the result of the deburring performed under the condition of the deviation amount of 0, and determines whether or not there is a teaching point that requires a correction of the tool point position (step
  • step S5 executes the work to input the deviation amount data.
  • the teaching operation panel 16 is operated to call up the teaching program data display screen shown in FIG. 3 on the LCD 15, and the deviation amount data is input for each reference teaching point.
  • the deviation data is programmed so that it can be entered and corrected completely independently of the reference position data (XI, Y1, Z1), and a memory area for it is provided.
  • the area is stored separately from the area for storing position data in the non-volatile memory 14.
  • the four numerical values shown in Fig. 3 are input, corresponding to the case in Fig. 1.
  • the CPU 11 moves the working point toward the position P i while performing normal interpolation calculation in step S9.
  • the travel route in the first travel cycle is a straight trajectory from the initial position PO to P1 (see Fig. 3; the route shape specified by the teaching program is If it is an arc, it will be an arc orbit).
  • the CPU 11 determines that the shift point P i is the shift point P q corresponding to the last teaching point (q is the total number of teaching points). It is determined whether or not there is (Step S10), and if yes, the robot is stopped after arrival at Pq, and one machining cycle is ended.
  • step S10 If there is an untraveled teaching point section, the process proceeds from step S10 to step S11, and the teaching point index i is counted up by one. Return to step S7, and read the next block of the teaching program data.
  • steps S7 to S11 are repeated q times to complete the processing for one processing cycle.
  • the trajectory of the working point during this time is P0—P1 ⁇ P2 ⁇ ⁇ 3 ⁇ ⁇ 4 ⁇ ... ⁇ Pq (not shown) as shown in Fig. 1. Correction of the position and trajectory of the working point has been realized without any corrections.
  • step S12 the work flash is completed in the operation. Evaluate the processing status. If the machining is judged to be good, the machining is terminated, but if the removal of burrs is incomplete in any part related to the teaching point, step S is repeated. Return to step 5 and correct the deviation. For example, in FIG. 1, assuming that the Z-axis direction is the target pressing direction, the pressing of the deburring tool against the work at the teaching point P [2] is 0. . Five If it seems that mm is insufficient, the numerical value 2.0 mm in Fig. 3 may be corrected to 2.5 mm.
  • the teaching blog with the deviation data corrected in this way is regenerated and operated again according to step S6 and thereafter, and the machining result is evaluated again in step S12. Despite correcting the deviation, if the machining result is not good, correct the deviation again. In some cases, the shift condition is also corrected. Hereinafter, the above process is repeated until the best result is obtained within a reasonable number of machining cycles, and the deburring operation is completed.
  • step S5 it is also conceivable to select and specify in step S5 when performing deburring. In the conventional technology in which the position data is updated when the robot position is corrected, it is practically difficult to easily take such a measure.
  • the data for determining the movement route to be taken by the robot tool point is divided into a position data portion and a shift vector data portion that can be corrected independently of the position data.
  • the tool path is corrected without actually moving the robot to the target position. Rukoto can.
  • This shift vector data correction work is performed only by a procedure for rewriting data stored in the memory of the robot control device according to the present invention. Therefore, even if the initial position data is not very accurate, it is possible to correct the position data within a short time and realize the optimum position teaching.
  • position data is not required to be very accurate
  • work to teach position data work to teach current data while moving a robot or work to create offline data
  • the efficiency will be improved, and the range in which offline data can be used will be expanded.
  • the position correction is always specified by the amount of deviation based on the teaching position, even when the position correction is repeated by trial and error, it is easy to quantitatively and relatively recognize the contents of the correction each time. In addition, it is easy to execute position teaching by a systematic procedure. It is also easy to use the position data and deviation data when a good robot operation is realized as reference data for similar operations in the future.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

On détermine la voie de fonctionnement d'un robot par les données de position qui représentent des points d'enseignement et les degrés de décalage par rapport aux points d'enseignement. Les données dans un programme d'enseignement servant à determiner la voie de fonctionnement du robot sont groupés dans des données de position et des données de vecteur de décalage. Les valeurs de coordonnées des points d'enseignement (X, Y1, Z1) à (X4, Y4, Z4) sont spécifiées en tant que données de position. Outre les valeurs, les données représentant le contenu des vecteurs ∫M1⊃ à ∫M4⊃ sont spécifiées. Lors de l'exécution du programme d'enseignement, le point de l'outil est déplacé et passe par les points cibles P1 à P4 par rapport auxquels les points d'enseignement P[1] à P[4] sont décalés en fonction des vecteurs ∫M1⊃ à ∫M4⊃. Etant donné que les données sur les vecteurs de décalage peuvent être corrigées indépendamment, il est possible de corriger les positions de fonctionnement du robot sans déplacer réellement le point de l'outil par rapport aux points cibles P1 à P4.
PCT/JP1994/000978 1993-06-23 1994-06-16 Procede d'enseignement d'une position a un robot et appareil de commande WO1995000890A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP5/174662 1993-06-23
JP5174662A JPH0778021A (ja) 1993-06-23 1993-06-23 ロボットの位置教示方法及びロボット制御装置

Publications (1)

Publication Number Publication Date
WO1995000890A1 true WO1995000890A1 (fr) 1995-01-05

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WO (1) WO1995000890A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105415376B (zh) * 2016-01-10 2017-03-29 宁波市智能制造产业研究院 一种离线编程装置
CN109311155A (zh) * 2016-12-27 2019-02-05 深圳配天智能技术研究院有限公司 一种工业机器人的工具坐标系原点的标定方法及装置

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005148803A (ja) * 2003-11-11 2005-06-09 Yaskawa Electric Corp ロボットシステム
WO2012097835A2 (fr) * 2011-01-21 2012-07-26 Abb Ag Système pour apprendre un mouvement de robot
JP7414987B2 (ja) * 2020-05-28 2024-01-16 ファナック株式会社 ワークに対する作業をロボットに実行させる制御装置、ロボットシステム、及び制御方法
WO2023171722A1 (fr) * 2022-03-08 2023-09-14 株式会社安川電機 Dispositif de génération de programme et procédé de génération de programme

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58225406A (ja) * 1982-06-23 1983-12-27 Shin Meiwa Ind Co Ltd 工業用ロボツト
JPS6091409A (ja) * 1983-10-26 1985-05-22 Hitachi Metals Ltd 教示デ−タの検査方法
JPH01175608A (ja) * 1987-12-29 1989-07-12 Honda Motor Co Ltd ロボットのティーチングデータ作成方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58225406A (ja) * 1982-06-23 1983-12-27 Shin Meiwa Ind Co Ltd 工業用ロボツト
JPS6091409A (ja) * 1983-10-26 1985-05-22 Hitachi Metals Ltd 教示デ−タの検査方法
JPH01175608A (ja) * 1987-12-29 1989-07-12 Honda Motor Co Ltd ロボットのティーチングデータ作成方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105415376B (zh) * 2016-01-10 2017-03-29 宁波市智能制造产业研究院 一种离线编程装置
CN109311155A (zh) * 2016-12-27 2019-02-05 深圳配天智能技术研究院有限公司 一种工业机器人的工具坐标系原点的标定方法及装置
CN109311155B (zh) * 2016-12-27 2022-04-15 深圳配天智能技术研究院有限公司 一种工业机器人的工具坐标系原点的标定方法及装置

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Publication number Publication date
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