WO2003084720A1 - Dispositif de simulation de controleur de robot - Google Patents

Dispositif de simulation de controleur de robot Download PDF

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Publication number
WO2003084720A1
WO2003084720A1 PCT/JP2003/004306 JP0304306W WO03084720A1 WO 2003084720 A1 WO2003084720 A1 WO 2003084720A1 JP 0304306 W JP0304306 W JP 0304306W WO 03084720 A1 WO03084720 A1 WO 03084720A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot controller
robot
unit
computer
manipulator
Prior art date
Application number
PCT/JP2003/004306
Other languages
English (en)
Japanese (ja)
Inventor
Yumie Kubota
Yasuhiko Noguchi
Kenji Matsuo
Original Assignee
Kabushiki Kaisha Yaskawa Denki
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 Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Publication of WO2003084720A1 publication Critical patent/WO2003084720A1/fr

Links

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
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Definitions

  • the present invention relates to a robot controller simulation device in which software of a robot controller is mounted on a computer.
  • a robot controller 100 is connected to a computer 105 via a communication means 101 such as a network.
  • the computer 105 uses, for example, a workstation and includes a display 102, a main body 103, and a keyboard 104.
  • the robot controller 100 is configured around a processor, and controls a robot operation based on basic software and a robot program.
  • the command signal for the robot operation control is normally sent to the robot, but is transferred to the computer 100 via the communication means 101 here.
  • the computer 100 simulates the operation of the robot based on the command signal.
  • the present invention solves the above problem by using a function software installed in a robot controller that drives a manipulator without connecting the robot controller that drives the manipulator, and simulating the robot controller with high accuracy.
  • the present invention provides a robot controller simulation device that operates.
  • a robot simulation device is a robot controller simulation device that simulates a function of a robot controller using a computer including a storage memory and an operating system, wherein the robot controller drives a manipulator.
  • Function software to be installed and the function software Address conversion for converting a memory address of a robot controller that drives the manipulator into an address of the storage memory included in the computer, and an operating system connection unit that connects the hardware and the operating system included in the computer. And a unit.
  • the robot simulation apparatus includes: a programming pendant used in a robot controller that drives the manifold, and a pendant communication processing unit that communicates with the programming pendant. It is a feature.
  • the robot simulation device further includes a processing speed adjustment unit that adjusts a difference between a processing speed of the robot controller that drives the manipulator and a processing speed of the computer, wherein the processing speed adjustment unit includes: Delaying execution of instructions of the computer.
  • the robot simulation device is a robot simulation device comprising: a servo delay input unit for inputting a delay time of a servo control device provided in a robot controller for driving the manipulator; And a servo simulation unit that simulates the servo control device based on the value input to the unit.
  • the robot simulation apparatus includes: an external device connection unit that connects the computer to external devices; and a scan time between the robot controller that drives the manipulator and the external device.
  • An external device control time input unit for inputting, and an external connection function unit for accessing the external device based on a value input by the external device control time input unit.
  • the robot simulation device provides the functional software with a command relating to a robot operation, a command for performing communication with the external device, and a command for accessing data held by the functional software. It is characterized by having a function resource access unit to perform.
  • the robot simulation apparatus provides the function software with a command relating to an operation of a robot, a command for performing communication with the external device, and a command for accessing data held by the function software.
  • a function resource access unit for performing an operation, inputting an operation instruction to the robot via the function resource access unit, and displaying an operation state of the robot on a display connected to the computer. is there.
  • FIG. 1 is a system configuration diagram of the present invention.
  • FIG. 2 is a software configuration diagram of a robot controller that drives the manipulator.
  • Figure 3 shows the system call flow.
  • Figure 4 shows the flow of address access.
  • Figure 5 shows the flow of job execution.
  • Figure 6 shows the flow of the move command.
  • FIG. 7 is a configuration diagram of the second embodiment.
  • FIG. 8 is a configuration diagram of the third embodiment.
  • FIG. 9 is a configuration diagram of the fourth embodiment.
  • FIG. 10 is a configuration diagram of the fifth embodiment.
  • FIG. 11 is a configuration diagram of the sixth embodiment.
  • FIG. 12 is a configuration diagram of a conventional technique.
  • FIG. 1 is a schematic diagram of the present invention.
  • the computer 1 includes a storage memory 10 and an operating system 11.
  • the operating system 1 is software that directly controls the computer 1 hardware.
  • the functional software 2 installed in the robot controller that drives the manipulator is software that executes commands for performing robot operations such as the position and speed of the robot, and commands for communicating with external devices.
  • the functional software 2 accesses the talent rating system 11 through the operating system connection unit 3, and finally controls the hardware of the computer 1.
  • the address of the robot controller that drives the manipulator specified by the functional software 2 accesses the storage memory 10 included in the computer 1 through the memory address conversion unit.
  • Figure 2 shows the configuration of the software installed on the robot controller that drives the manipulator.
  • a robot controller that drives a manipulator needs real-time operation to drive a servo motor or the like. Therefore, as shown in FIG. 2, it is composed of two softwares, an operating system 20 for robot control and a functional software 2.
  • the functional software 2 of the robot controller that drives the manipulator includes a system call to the operating system 20 for controlling the robot.
  • a system call is a general term for processing that calls the operating system.
  • the flow in which the functional software 2 executes a system call will be described with reference to FIG.
  • step 1 the functional software 2 issues a system call of the operating system 20 for robot control.
  • this command is received by operating system connection 3.
  • there is a system call correspondence table 12 in which the system call of the operating system 11 of the computer 1 and the system call of the operating system 20 for controlling the mouth bot are associated.
  • the processing is instructed to the operating system 11 of the computer 1 using the table 12.
  • the functional software 2 includes a command to access a memory in a robot controller that drives the manipulator.
  • functional software 2 Describes a processing flow for accessing the storage memory 10 of the computer 1.
  • step 1 the functional software is instructed to access the actual memory in the robot controller.
  • step 2 this command is received by the memory address translator 4.
  • step 3 There is a memory address correspondence table 13 in which the memory addresses of the computer 1 and the memory addresses in the robot controller that drives the manipulator are associated in advance.
  • the memory of computer 1 is accessed using this table 13.
  • Fig. 5 shows a simulation of job 21 for robot movement.
  • Job 21 has a MOV instruction which is a robot movement instruction.
  • Functional software 2 instructs the process of reading job 21 1.
  • the functional software 2 instructs the memory address conversion unit 4 to read 100 bytes from the memory address 100 0 in the robot controller that drives the manipulator in which the job 21 exists.
  • the memory address converter 4 reads the memory address correspondence table 13.
  • the memory address 1100 of computer 1 corresponding to the memory address 1100 in the robot controller that drives the manipulator is obtained.
  • 100 bytes are read from the memory address 1 1100 of computer 1.
  • Job 21 is read and Function Software 2 interprets the instruction.
  • the instruction is converted once as an intermediate code, and the control of the CPU is shifted to a processing function corresponding to the intermediate code.
  • a command position is created at regular intervals in the robot operation unit of the functional software 2.
  • the robot controller that drives the manipulator sends the created command position to the servo control unit and drives the servo motor.
  • the functional software 2 writes the position command into the address 200 of the communication unit with the servo control device in the mouth bot controller that drives the manipulator.
  • the memory address conversion unit 4 obtains the memory address 300000 of the computer 1 from the memory address correspondence table 13. This address does not actually control the servo controller because it is not physically physically connected externally.
  • a command is created at regular intervals, and the command position of the next MOVE command is calculated before the next cycle arrives.
  • This is called prefetching and is programmed with the concept of tasks. In other words, in order to finally issue the position command to the servo controller, this pre-read must be completed. In this case, whether or not the prefetching is completed is determined by a mail which is a system call of the operating system 20 for controlling the robot 5 / port.
  • the functional software 2 instructs the operating system connection unit 3 to use the system call mail.
  • the operating system connection unit 3 issues a system call of the operating system 11 of the computer 1 using the system call correspondence table 12. By doing so, the functional software 2 can create a mail that is a system call.
  • the robot controller that drives the manipulator By using the functional software of the controller, it can be realized accurately and inexpensively with a robot controller simulation device using a computer.
  • the programming pendant 5 is used for the robot controller that drives the manipulator.
  • the pendant communication processing unit 6 that performs data communication with the programming pendant 5 connects the functional software 2 and the programming pendant 5.
  • the board and programming pendant in the robot controller use data communication such as a serial transmission processing method.
  • a communication circuit element and a program are mounted.
  • the pendant communication processing unit 6 assumes this substrate.
  • the pendant communication processing unit 6 is only software.
  • the robot controller that drives the manipulator uses the robot in the base coordinate system (the unique coordinate system that the robot has). Move the robot's control point in the plus direction with respect to the axis.
  • the key information is transmitted to the pendant communication processing unit 6.
  • the transmitted key information is stored in the key information storage area designated by the functional software 2 through the memory address translation 4.
  • the response time of the actual programming pendant in other words, by pressing the key once, the time until the functional software 2 recognizes the key is specified in advance in the pendant communication processing unit 6.
  • the processing speed of the computer 1 is delayed, and a response feeling equivalent to that of the actual machine can be realized.
  • the robot controller can be simulated with the same feeling.
  • the processing speed of the functional software 2 installed in Calculator 1 depends on the processing speed of CPU of Calculator 1.
  • a difference occurs between the CPU processing speed of the robot controller that drives the manipulator and the CPU processing speed of the computer 1.
  • This difference causes a problem in the case of processing in which the processing speed of the command affects the accuracy (for example, trajectory interpolation of a moving command).
  • the processing speed adjusting unit 7 delays the processing of the CPU of the robot controller simulation device. For example, suppose that the CPU processing speed of the computer 1 is twice as fast as the C.PU processing speed of the robot controller that drives the manifold. If 1 msec is needed to execute the instruction, Calculator 1 stops executing the CPU of l msec after the instruction is completed. This instruction is completed 2 ms after the start of the instruction execution.
  • the processing speed is the same as that of the robot controller that drives the manipulator in instruction units. 6 Same as La.
  • a fourth embodiment of the present invention will be described with reference to FIG.
  • the robot controller that drives the manipulator gives a command to the servo control device, and based on the command, sets the delay time until the robot moves.
  • the functional software 2 issues a command pulse to the servo simulation unit 9 as a command.
  • the servo simulation unit 9 delays the response by the time based on the value set in the servo delay input unit 8.
  • the servo simulation unit 9 returns to the functional software 2 assuming a feedback pulse after the set time has elapsed.
  • This feedback pulse is a method of using a simple command as it is as a feedback pulse, a method of adding a random number to the command to generate a feedback pulse, and a method of using a feedback pulse that takes into account the load inertia that can be calculated from the robot mechanism and gravity. and so on.
  • the actual movement of the robot can be accurately grasped, and the trajectory accuracy and the tact time can be accurately simulated.
  • the computer 1 is connected to the external device 30 via the external device connection unit 31.
  • the external device connection unit 31 may be either inside or outside the computer 1. Connection to external devices is via an industrial network such as a fieldbus.
  • the functional software 2 is connected to an external device via an I / I or network. Input the I / ⁇ scan time of the robot controller that drives the manipulator to the external device control time input section 32. At this time, the external connection function unit 33 performs an IZO scan of the external device. In the functional software 2, the external connection function unit 33 accesses the I I data through the memory address conversion unit.
  • Calculator 1 displays a display.
  • the operation panel 72 is displayed on this display.
  • operation buttons for starting and stopping the robot such as emergency stop, servo power supply ⁇ ⁇ , start, and hold are displayed.
  • This display is a touch panel. By touching this button, commands can be issued to the mouth bot.
  • the teaching mode and the play mode are selected.
  • the command of the operation panel 72 accesses the function software 2 through the function resource access section 34.
  • the functional software 2 performs the robot trajectory calculation, and sequentially returns the result to the data display panel 73 and the operation display panel 74.
  • the data display panel displays the data desired by the user, such as the current position, cycle time, and robot operation time.
  • the robot position can be acquired at regular intervals, and the robot model can be displayed on the operation display panel 74. As a result, the actual operation of the robot can be confirmed with the simulator device. 4306
  • the user can perform desired data display / simulation through the functional resource access unit.
  • the functional software mounted on the robot controller for driving the manipulator since the functional software mounted on the robot controller for driving the manipulator is used as it is, it is possible to accurately simulate the mouth-bottom controller for driving the manipulator.
  • the operability can be made the same as the actual machine.
  • the user can use a computer that is generally available on the market and has the special effect that it can be realized at low cost.
  • the user can use a general computer when creating software using the functional resource access means, and thus can use a software development environment (compiler, assembler, etc.) that the user prefers.
  • the present invention is useful for a robot controller simulation in which software of a robot controller is installed in a computer.

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

Abstract

L'invention concerne un dispositif de simulation de contrôleur de robot utilisant un logiciel de fonction. Ce dispositif est installé dans un contrôleur de robot de commande de manipulateur et permet de simuler avec précision ce contrôleur de robot sans connexion du contrôleur de robot de commande de manipulateur. Le dispositif de simulation de contrôleur de robot simule la fonction du contrôleur de robot au moyen d'un ordinateur (1) doté d'une mémoire de stockage (10) et d'un système d'exploitation (11), et comprend un logiciel de fonction (2) installé dans le contrôleur de robot de commande de manipulateur, une unité de connexion au système d'exploitation (3) connectant le logiciel de fonction (2) au système d'exploitation (11), ainsi qu'une unité de conversion d'adresses mémoire (4) convertissant les adresses mémoire dans le contrôleur de robot de commande de manipulateur en adresses dans la mémoire de stockage (10) intégrée dans l'ordinateur (1).
PCT/JP2003/004306 2002-04-09 2003-04-03 Dispositif de simulation de controleur de robot WO2003084720A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002/105935 2002-04-09
JP2002105935A JP3948329B2 (ja) 2002-04-09 2002-04-09 ロボットコントローラシミュレーション装置

Publications (1)

Publication Number Publication Date
WO2003084720A1 true WO2003084720A1 (fr) 2003-10-16

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PCT/JP2003/004306 WO2003084720A1 (fr) 2002-04-09 2003-04-03 Dispositif de simulation de controleur de robot

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JP (1) JP3948329B2 (fr)
WO (1) WO2003084720A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110223579A (zh) * 2019-06-26 2019-09-10 商飞信息科技（上海）有限公司 一种对拖直流伺服电机控制仿真教学平台
WO2023045015A1 (fr) * 2021-09-23 2023-03-30 南京轩世琪源软件科技有限公司 Banc de travail de commande d'expérience de simulation de développement de logiciel de robot industriel
US11673273B2 (en) 2019-06-07 2023-06-13 Fanuc Corporation Off-line programming apparatus, robot controller, and augmented reality system

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012135821A (ja) * 2010-12-24 2012-07-19 Seiko Epson Corp ロボットシミュレーション装置、ロボットシミュレーション方法、及びロボットシミュレーションプログラム
JP6350037B2 (ja) * 2014-06-30 2018-07-04 株式会社安川電機 ロボットシミュレータおよびロボットシミュレータのファイル生成方法
JP6444908B2 (ja) * 2016-02-17 2018-12-26 ファナック株式会社 掃引空間を算出するロボットのシミュレーション装置

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JPH02137005A (ja) * 1988-11-18 1990-05-25 Komatsu Ltd 学習制御方法
JPH02176906A (ja) * 1988-12-28 1990-07-10 Toyota Motor Corp 動作状態表示装置，動作指示制御装置および制御装置
JPH03113605A (ja) * 1989-09-28 1991-05-15 Yokogawa Electric Corp ロボットシミュレータ表示装置
JPH05324022A (ja) * 1992-05-19 1993-12-07 Fanuc Ltd 計算機接続型ロボット制御装置
JPH0699375A (ja) * 1992-09-18 1994-04-12 Kawasaki Heavy Ind Ltd ロボット操作訓練装置
JPH0816220A (ja) * 1994-06-30 1996-01-19 Komatsu Ltd プログラマブルシーケンスコントローラ
JPH09261618A (ja) * 1996-03-21 1997-10-03 Toshiba Corp 遠隔操作装置
JPH10143218A (ja) * 1996-11-08 1998-05-29 Nissan Motor Co Ltd ロボットのサイクルタイム予測装置
JP2000172317A (ja) * 1998-12-09 2000-06-23 Mitsubishi Electric Corp 数値制御装置内蔵用のプログマブル・マシン・コントローラおよび数値制御装置のネットワークシステム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02137005A (ja) * 1988-11-18 1990-05-25 Komatsu Ltd 学習制御方法
JPH02176906A (ja) * 1988-12-28 1990-07-10 Toyota Motor Corp 動作状態表示装置，動作指示制御装置および制御装置
JPH03113605A (ja) * 1989-09-28 1991-05-15 Yokogawa Electric Corp ロボットシミュレータ表示装置
JPH05324022A (ja) * 1992-05-19 1993-12-07 Fanuc Ltd 計算機接続型ロボット制御装置
JPH0699375A (ja) * 1992-09-18 1994-04-12 Kawasaki Heavy Ind Ltd ロボット操作訓練装置
JPH0816220A (ja) * 1994-06-30 1996-01-19 Komatsu Ltd プログラマブルシーケンスコントローラ
JPH09261618A (ja) * 1996-03-21 1997-10-03 Toshiba Corp 遠隔操作装置
JPH10143218A (ja) * 1996-11-08 1998-05-29 Nissan Motor Co Ltd ロボットのサイクルタイム予測装置
JP2000172317A (ja) * 1998-12-09 2000-06-23 Mitsubishi Electric Corp 数値制御装置内蔵用のプログマブル・マシン・コントローラおよび数値制御装置のネットワークシステム

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11673273B2 (en) 2019-06-07 2023-06-13 Fanuc Corporation Off-line programming apparatus, robot controller, and augmented reality system
CN110223579A (zh) * 2019-06-26 2019-09-10 商飞信息科技（上海）有限公司 一种对拖直流伺服电机控制仿真教学平台
WO2023045015A1 (fr) * 2021-09-23 2023-03-30 南京轩世琪源软件科技有限公司 Banc de travail de commande d'expérience de simulation de développement de logiciel de robot industriel

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JP2003300185A (ja) 2003-10-21
JP3948329B2 (ja) 2007-07-25

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