WO2007138756A1 - 回転中心点算出方法、回転軸線算出方法、プログラムの作成方法、動作方法およびロボット装置 - Google Patents
回転中心点算出方法、回転軸線算出方法、プログラムの作成方法、動作方法およびロボット装置 Download PDFInfo
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- WO2007138756A1 WO2007138756A1 PCT/JP2007/050579 JP2007050579W WO2007138756A1 WO 2007138756 A1 WO2007138756 A1 WO 2007138756A1 JP 2007050579 W JP2007050579 W JP 2007050579W WO 2007138756 A1 WO2007138756 A1 WO 2007138756A1
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- WIPO (PCT)
- Prior art keywords
- rotation
- center point
- rotation center
- manipulator
- position information
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005259 measurement Methods 0.000 claims description 85
- 238000004364 calculation method Methods 0.000 claims description 75
- 238000004088 simulation Methods 0.000 claims description 61
- 238000010586 diagram Methods 0.000 description 13
- 238000003384 imaging method Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 230000036544 posture Effects 0.000 description 6
- 239000000470 constituent Substances 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
Classifications
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- 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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- 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
- G05B2219/37—Measurements
- G05B2219/37608—Center and diameter of hole, wafer, object
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40131—Virtual reality control, programming of manipulator
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- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40383—Correction, modification program by detection type workpiece
Definitions
- the present invention relates to a method for calculating at least one of a rotation center point of a rotating body and a rotation axis connecting the rotation center points of two rotating bodies, a program creation method, an operation method, and a robot using a manipulator Relates to the device.
- Patent Document 1 Japanese Patent Laid-Open No. 2002-303592
- Patent Document 2 JP 2005-19963
- the present invention has been made in view of such problems, and a rotation axis connecting a rotation center point of a rotating body and a rotation center point of two rotating bodies without providing an external device such as an imaging device.
- the method which can calculate etc. is provided.
- the rotation center point calculation method of the present invention is a rotation center point calculation method for calculating a rotation center point on a rotation surface of a positioning device that rotates and determines the position of a carriage using a manipulator.
- the rotation center point of the rotation surface can be calculated using a manipulator and a positioning device used in an actual system or the like, and thus an external device such as an imaging device is provided. It is possible to calculate the center of rotation of the rotating body.
- the rotation axis calculation method of the present invention uses a manipulator to rotate and position the rotation center point on the first rotation surface of the positioning device that positions the workpiece, and the first rotation surface.
- the fourth step of calculating the position that bisects the straight line connecting the position of the measurement point as the rotation center point of the first rotation surface of the positioning device, and the second rotation surface using a manipulator The 5th step of acquiring the position information of the second measurement point above, the 6th step of rotating the 2nd rotation plane by 180 degrees, and the 2nd rotation rotated by 180 degrees using the manipulator From the seventh step of acquiring the position information of the second measurement point on the surface, the position information acquired in the fifth step, and the position information acquired in the seventh step, An eighth step of calculating a position that bisects a
- the manipulator used in an actual system or the like and the positioning The positioning center for positioning the workpiece by rotating without using an external device, and the rotation center point on the first rotation surface of the positioning device and the first rotation surface are rotated.
- the rotation axis connecting the rotation center point on the second rotation surface for positioning the workpiece can be calculated.
- the rotation axis is calculated with higher accuracy than the rotation axis that can be created by measuring one surface by measuring each rotation surface. It becomes possible.
- a method for creating a program is a method for creating a program for operating at least one of a manipulator and a positioning device that rotates to position a workpiece.
- the first step of comparing the position information indicating the rotation center point of the rotation surface of the included positioning device with the position information of the rotation center point of the rotation surface of the positioning device calculated by the rotation center point calculation method of the present invention.
- a second step of creating a new operation program by correcting the program based on the result of the comparison in the first step.
- the position information of the rotation center point included in the program can be corrected by the position information of the rotation center point calculated by the rotation center point calculation method of the present invention. Therefore, it is possible to create an operation program that can operate the manipulator more accurately.
- an operation method of the present invention is an operation method for operating at least one of a manipulator and a positioning device that rotates to position a workpiece, and the program creation method of the present invention The step of operating at least one of a manipulator and a positioning device is provided based on the operation program created in (1).
- the robot apparatus of the present invention is a positioning apparatus for rotating and positioning a cabinet.
- a robot device that calculates a rotation center point on a rotation surface, using a manipulator and a manipulator to acquire first position information of a predetermined position on the rotation surface and to rotate the positioning device
- the operation control unit that rotates the surface 180 degrees and acquires the second position information of the rotated predetermined position, and the first position information and the second position information acquired by the operation control unit are used. Then, the position that bisects the straight line connecting the predetermined position before rotating the rotating surface and the predetermined position after rotating the rotating surface is calculated as the rotation center point of the rotating surface of the positioning device.
- a rotation center point calculation unit is provided.
- the rotation center point of the rotation surface can be calculated using a manipulator and a positioning device used in an actual system or the like, so that it is not necessary to provide an external device such as an imaging device.
- the rotation center point of the rotating body can be calculated.
- the robot apparatus of the present invention faces the rotation center point on the first rotation surface of the positioning device that rotates to position the cabinet and faces the first rotation surface.
- a robot apparatus that calculates a rotation axis that connects a rotation center point on a second rotation surface that moves and positions a workpiece, and uses a manipulator and a manipulator on the first rotation surface.
- the first position information of the first measurement point is acquired, the first rotation surface of the positioning device is rotated 180 degrees, the second position information of the rotated first measurement point is acquired, and the manipulator Is used to obtain the third position information of the second measurement point on the second rotation plane, and the second rotation point is rotated 180 degrees and the fourth measurement point of the second measurement point rotated is rotated.
- An operation control unit for acquiring position information, and the first position information and the second position information acquired by the operation control unit; Using the position to bisect the straight line connecting the position of the first measurement point before rotating the first rotation surface and the position of the first measurement point after rotating the first rotation surface. Calculated as the rotation center point of the first rotation surface of the positioning device, and the second position before rotating the rotation surface using the third position information and the fourth position information obtained by the operation control unit. The position that bisects the straight line connecting the position of the second measurement point and the position of the second measurement point after rotating the rotation surface is calculated as the rotation center point of the second rotation surface.
- a rotation axis calculation unit for calculating a rotation axis connecting the rotation center point of the first rotation surface and the rotation center point of the second rotation surface is provided.
- a manipulator and a positioning device used in an actual system or the like
- the rotating center point on the first rotating surface of the positioning device that rotates to position the workpiece is opposed to the first rotating surface and rotates to position the workpiece. Since the rotation axis connecting the rotation center point on the second rotation surface can be calculated, it is possible to calculate the rotation axis of the rotating body without providing an external device such as an imaging device.
- a configuration including a simulation calculation unit that performs at least one of simulation calculation and off-line teaching using the position coordinates of the rotation center point of the rotation surface of the positioning device calculated by the rotation center point calculation unit It may be.
- a configuration may be provided that includes a robot control device having a robot device force motion control unit and a simulation device having a simulation calculation unit.
- the robot control device may have a rotation center point calculation unit.
- the rotation center point can be further calculated on the robot control device side. Therefore, highly accurate simulation calculation and off-line teaching can be performed while improving the versatility of the simulation device. At least one of the following.
- FIG. 1 is a diagram showing a configuration of a robot apparatus according to a first embodiment of the present invention.
- FIG. 2 is a diagram for explaining a method for obtaining a rotation center point of a rotation surface of a rotation positioner which is an example of a positioning device in the first embodiment of the present invention.
- FIG. 3 is a flowchart for explaining a step of calculating a rotation center point of a rotation surface of a rotation positioner using the robot apparatus according to the first embodiment of the present invention.
- Fig. 4 is a diagram for explaining a method of calculating a rotation axis connecting rotation center points of rotation surfaces arranged opposite to each other in the second embodiment of the present invention.
- FIG. 5 shows the operation for obtaining the rotation surface of the rotation positioner and the rotation center point of the rotation surface and the operation for obtaining the rotation axis connecting each rotation center point in the second embodiment of the present invention. It is a flowchart for demonstrating.
- FIG. 6 is a diagram showing a configuration of a robot apparatus according to a third embodiment of the present invention.
- FIG. 7 is a diagram showing a configuration of a robot apparatus according to a fourth embodiment of the present invention.
- FIG. 8 is a diagram showing a configuration of a robot apparatus according to a fifth embodiment of the present invention.
- FIG. 1 is a diagram showing a configuration of a robot apparatus 400 according to the first embodiment of the present invention.
- FIG. 2 is a diagram for explaining a method for obtaining the rotation center point of the rotation surface of the rotation positioner which is an example of the positioning device in the first embodiment of the present invention.
- the robot apparatus 400 includes a manipulator 101 and a robot control apparatus 301 that controls the manipulator 101.
- the robot control device 301 includes a measurement point storage unit 302 that stores position information of measurement points measured by operating the manipulator 101, and an operation program based on the position information stored in the measurement point storage unit 302.
- a correction amount calculation unit 303 for calculating the correction amount of the correction amount a correction amount storage unit 304 for storing the correction amount calculated by the correction amount calculation unit 303, an operation program for controlling the operation of the manipulator 101, and a manipulator
- An operation control unit 305 that measures position information by moving 101.
- the operation control unit 305 controls the operation of the manipulator 101 and also controls the rotation of the rotation positioner 102.
- the manipulator 101 holds a tool 105 with a hand, an end effector or the like and moves an arm 107 to process a workpiece.
- the rotation positioner 102 is a positioning device that positions the workpiece to be covered by the manipulator 101 by rotating the rotation surface 106 (in FIG. 2, the Y axis is the rotation axis of the rotation surface 106).
- the rotation plane 106 is located in the XZ plane direction).
- manipulator 101 is also used to measure the position of rotation center point 113 of rotation surface 106 of rotation positioner 102.
- the number of marks 108 provided at a predetermined position on the rotation surface 106 of the rotation positioner 102 may actually be one, but before and after the rotation surface 106 is rotated 180 degrees. Are shown in a superimposed manner for convenience.
- FIG. 3 is a flowchart for explaining the steps of calculating the position of the rotation center point of the rotation surface 106 of the rotation positioner 102 using the robot apparatus 400 according to the first embodiment of the present invention.
- the rotation surface 106 of the rotation positioner 102 to be measured is set to an arbitrary rotation angle position
- the tip (end) of the tool 105 attached to the manipulator 101 is set to the rotation positioner. It is moved to a mark 108 provided at an arbitrary position on the rotating surface 106 of 102 (except for the vicinity of the rotation center point) (S2).
- S2 the tip of the tool 105 is brought into contact with the mark 108, the position information of the mark 108 can be measured more accurately.
- Posture force of the manipulator 101 in this step S2 The first measuring posture 103 in FIG. 2, and in this state, the tip end position 111 of the tool 105 attached to the manipulator 101 is on the mark 108.
- the motion control unit 305 of the robot control device 301 measures the position coordinates of the mark 108 (first position information, specifically, the position coordinates of the tip position 111 of the tool 105) at this time, and the measurement point storage unit Store in 302 (S4).
- examples of the mark 108 include those marked by marking the rotating surface 106, those marked by punching, and those marked with a mark.
- the operation control unit 305 operates the manipulator 101 to move the tip of the tool 105 again to the position of the mark 108 after the rotation (S8).
- the attitude force of the manipulator 101 in this step S8 is the second measurement attitude 104 in FIG. 2.
- the tip position 112 force of the tool 105 attached to the manipulator 101 is on the S mark 108.
- the motion control unit 305 of the robot control device 301 measures the position coordinates of the mark 108 (second position information, specifically, the coordinates of the tip position 112 of the tool 105) at this time, and the measurement point storage unit Store it in 302 (S 10).
- the correction amount calculation unit 303 in the robot control device 301 functions as a rotation center point calculation unit, and performs the following calculation to calculate the rotation center point 113 of the rotation surface 106.
- the correction amount calculation unit 303 is stored in the measurement point storage unit 302, and the position coordinates of the tip position 111 of the tool 105 measured in step S4 and the tool 105 measured in step S10. A point that bisects the straight line connecting the position coordinates of the tip position 112 is calculated as the rotation center point 113 of the rotation surface 106 of the rotation positioner 102 (S12). Then, the position information of the rotation center point 113 is stored in the correction amount storage unit 304. [0050] As described above, according to the rotation center point calculation method in the present embodiment, the rotation center point 113 of the rotation surface 106 of the rotation positioner 102 without providing an extra detection device such as an imaging unit is obtained. It can be measured.
- the rotational center of the rotational surface 106 of the rotational positioner 102 obtained by the above measurement is obtained.
- the correction amount calculation unit 303 calculates a deviation amount between the point 113 and the rotation center point of the rotation positioner 102 given in advance to the robot control device 301 (S14).
- the deviation amount is stored in the correction amount storage unit 304 (S16).
- the operation control unit 305 can correct the operation of the manipulator 101 using the deviation amount stored in the correction amount storage unit 304. By performing such correction, the operation accuracy of the manipulator 101 of the robot apparatus 400 can be improved.
- the information on the rotation center point of the rotation positioner 102 given in advance to the robot control device 301 it is stored in the operation control unit 305 of the robot control device 301 in order to operate the manipulator 101 and the like.
- the position information of the rotation center point of the rotation positioner 102 in the control program can be mentioned.
- the rotation surface 106 of the rotation positioner 102 that does not use the force mark 108 described in the example of calculating the position of the rotation center point of the rotation surface 106 using the mark 108 is used.
- the coordinates of the center of rotation of the rotating surface 106 are measured by measuring the coordinates of this point before and after the rotation of the rotating surface 106. May be requested.
- the force showing an example in which the arm 107 of the manipulator 101 is one and the mark 108 provided on the rotating surface 106 is one.
- the present invention is not limited to this example.
- FIG. 4 is a diagram for explaining a method of calculating a rotation axis connecting rotation center points of rotation surfaces arranged opposite to each other in the second embodiment of the present invention.
- the robot apparatus 402 includes a robot control apparatus 301 for controlling the manipulator 101, similarly to the robot apparatus 400 in the first embodiment.
- the robot apparatus 402 can calculate the rotation center points 113 and 216 of the two opposing rotating surfaces 106 and 203 for holding the workpiece, and further, A rotation axis 217 connecting the respective rotation center points 113 and 216 can also be calculated.
- a manipulator 101 is used to measure the rotation center point of the rotation surface 106 of the rotation positioner 102.
- the rotation positioner 102 is a positioning device that places a workpiece and positions it by rotating, and the rotation center point 113 of the rotation surface 106 is measured by the manipulator 101.
- the rotation surface 203 is a surface that is rotatably arranged at a position facing the rotation surface 106 of the rotation positioner 102.
- the rotation surface 106 and the rotation surface 203 have a common rotation axis.
- the rotating surface 203 rotates as the rotating surface 106 of the rotation positioner 102 rotates.
- a frame-shaped jig 218 for placing a workpiece or the like is attached to the rotating surface 106 and the rotating surface 203.
- the jig 218 is supported by the rotation surface 106 and the rotation surface 203, and rotates when the rotation positioner 102 rotates.
- FIG. 5 is a diagram for explaining the operation for obtaining the rotation surface of the rotation positioner and the rotation center point of the rotation surface and the operation for obtaining the rotation axis connecting each rotation center point in the second embodiment of the present invention. It is a flowchart.
- the present invention is not limited to the order of measurement, in the present embodiment, first, the rotation center point 113 of the rotation surface 106 of the rotation positioner 102 is measured. Next, the case where the rotation center point 216 of the rotation surface 203 facing the rotation surface 106 of the rotation positioner 102 is measured will be described as an example.
- the rotation center point 113 is measured in the same manner as described in the first embodiment by rotating the rotation surface 106 of the rotation positioner 102 to be measured to an arbitrary rotation.
- Set the rotation angle position move the manipulator 101 to move the tip (end) of the tool 105 together with the rotation surface 106 of the rotary positioner 102 to a predetermined position on the surface of the rotation surface 106 of the jig 218 (here Then, the tool is moved to the corner point of the jig 218 (referred to as the first measurement point, see FIG. 4) (S20).
- the position coordinate can be measured more accurately by bringing the tip of the tool 105 into contact with the first measurement point 211.
- the motion control unit 305 measures the coordinates of the tip position of the tool 105 attached to the manipulator 101 at this time, and stores it in the measurement point storage unit 302 in the robot control device 301 as the first position information. (S22).
- the motion control unit 305 moves the tip of the tool 105 again to the first measurement point 212 after rotation (S26), and the tip end position of the tool 105 attached to the manipulator 101 at this time Is stored in the measurement point storage unit 302 as second position information (S28).
- the rotation surface 106 of the rotation positioner 102 to be measured is set to an arbitrary rotation angle position (S32).
- This arbitrary rotational angular position is the first total in steps S22 and S28. It is not necessarily the same as the angle when measuring the measuring points 211 and 212.
- the manipulator 101 is moved to a corner point on the surface of the rotation surface 203 of the jig 218 that rotates together with the rotation surface 203 (this point is referred to as a second measurement point 214) (S34). .
- the motion control unit 305 measures the tip position of the tool 105 attached to the manipulator 201 (S36), and stores it in the measurement point storage unit 302 as third position information.
- the tip of the tool 105 is moved again to the second measurement point 215 after the rotation of the rotation surface 203 (S40). Then, the operation control unit 305 measures the tip position of the tool 105 at this time (S42), and stores it in the measurement point storage unit 302 as fourth position information.
- the correction amount calculation unit 303 in the robot control device 301 performs an operation for calculating the rotation center point 113 of the rotation surface 106 and the rotation center point 216 of the rotation surface 203. Do.
- the correction amount calculation unit 303 stores the position coordinates (first position information, first measurement point 211) of the tip position of the tool 105 measured in step S 22 and stored in the measurement point storage unit 302. Rotate the point that bisects the straight line connecting the position coordinate of the tool 105 measured in step S28 and the position coordinate of the tip of the tool 105 (second position information, position coordinate of the first measurement point 212) This is calculated as the rotation center point 113 of the rotation surface 106 of the positioner 102. Then, the position information of the rotation center point 113 is stored in the correction amount storage unit 304.
- the correction amount calculation unit 303 stores the position coordinates (third position information, second measurement point) of the tip position of the tool 105 measured in step S36, which is stored in the measurement point storage unit 302. 214) and the point that bisects the straight line connecting the position coordinates of the tip of the tool 105 measured in step S42 (fourth position information, position coordinates of the second measurement point 215) Calculated as the rotation center point 216 of the rotation surface 203. Then, the position information of the rotation center point 216 is stored in the correction amount storage unit 304 (S44).
- the correction amount calculation unit 303 functions as a rotation axis calculation unit, and the rotation center point 113 of the rotation surface 106 of the rotation positioner 102 and the rotation center point 216 of the rotation surface 203 calculated in step S44. That is, the rotation axis 217 of the rotation positioner 102 is calculated (S46 ). Information indicating the coordinates of the rotation axis 217 calculated by the correction amount calculation unit 303 is stored in the correction amount storage unit 304.
- the rotation surface 106, the rotation surface 106, and the rotation surface 203 are arranged so that the rotation surface 106 and the rotation surface 203 are opposed to each other.
- 203 By calculating the respective rotation center points 113 and 216 and setting the straight line connecting the rotation center points 113 and 216 as the rotation axis 217, the rotation axis can be calculated more easily and accurately than the conventional method. .
- the first measurement points 211 and 212 and the second measurement points 214 and 215 are corner points located on the surfaces of the rotation surface 106 and the rotation surface 203, respectively.
- the force described as: The present invention is not limited to this example. By using two different points on the jig 218 as the first measurement point and the second measurement point, the center of rotation of the rotating surface cannot be calculated, but the rotation axis can be calculated. It is.
- the rotation center point of the rotation surface 106 of the rotation positioner 102 obtained by measurement is obtained as shown by the broken line portion in FIG. 113 is calculated by the correction amount calculation unit 303 (S48), and the amount of deviation is stored in the correction amount storage unit 304. (S50). Further, the correction amount calculation unit 303 calculates a deviation amount between the rotation center point 216 of the rotation surface 203 obtained by the measurement and the rotation center point of the rotation surface 203 previously given to the robot controller 301 (S48), The deviation amount is stored in the correction amount storage unit 304 (S50). The information (correction amount) stored in the correction amount storage unit 304 may be used for correcting the operation of the manipulator 101 of the robot apparatus 402. By performing such correction, the control accuracy of the robot apparatus 402 can be improved.
- FIG. 6 is a diagram showing a configuration of a robot apparatus 404 according to the third embodiment of the present invention. Also in the present embodiment, the same components as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- the robot device 404 in the present embodiment is different from the robot device 400 in the first embodiment and the robot device 402 in the second embodiment in the first embodiment and the second embodiment.
- the robot operation program is corrected using the simulation function based on the correction amount calculated by the method described in the embodiment.
- the robot apparatus 404 includes a manipulator 101, a robot control apparatus 301, and a simulation apparatus 311 that performs a simulation and creates an operation program used in the robot control apparatus 301. .
- the robot control device 301 is added to the measurement point storage unit 302, the correction amount calculation unit 303, the correction amount storage unit 304, and the operation control unit 305 described in the first embodiment and the second embodiment.
- an operation program storage unit 318 for storing an operation program created by the simulation apparatus 311 is provided.
- the operation control unit 305 controls the operation of the manipulator 101 by executing the operation program stored in the operation program storage unit 318.
- the simulation apparatus 311 is provided separately from the robot control apparatus 301, and includes a correction amount capturing section 312 that captures a correction amount from the robot control apparatus 301, and a correction amount storage that stores the correction amount captured by the correction amount capturing section 312. 315 and a simulation for performing at least one of the simulation calculation for operating at least one of the manipulator 101 and the rotation positioner 102 and the off-line teaching based on the correction amount stored in the correction amount storage unit 315.
- a calculation unit 316 and an operation program storage unit 317 for storing an operation program created as a result of the calculation in the simulation calculation unit 316 are provided.
- the simulation apparatus 311 includes a robot control apparatus 301 via a correction amount capturing unit 312. Is stored in the correction amount storage unit 304, and information indicating the correction amount (correction information) is fetched and stored in the correction amount storage unit 315. The correction information stored in the correction amount storage unit 315 is taken into the simulation calculation unit 316 that performs at least one of simulation of mouthbot operation and off-line teaching.
- the simulation calculation unit 316 when the simulation calculation unit 316 performs the simulation calculation, by using the acquired correction information, for example, in the simulation apparatus 311, it is expressed on the three-dimensional coordinates. It is possible to correct the position and tilt of the rotary positioner, and the tilt and position shift between the position of the virtual position and the actual position of the rotary positioner. Can be reduced. Therefore, according to the present embodiment, it is possible to perform highly accurate simulation calculation and off-line teaching.
- the simulation device 311 of the robot device 404 stores the created operation program in the operation program storage unit 317 as a result of performing such highly accurate simulation calculation and offline teaching.
- the control program before correction is transmitted from the robot control device 301 to the simulation device 311, and the operation program may be corrected by the simulation device 311, and then transmitted from the robot control device 301. Therefore, it is also possible to store an operation program in the force simulation device 311 and correct the operation program by the simulation device 311.
- the robot control device 301 loads the control program for the robot device 404 stored in the operation program storage unit 317 of the simulation device 311 into the operation program storage unit 318 in the robot control device 301. Then, the operation control unit 305 in the robot apparatus 301 controls the operation of at least one of the manipulator 101 and the rotation positioner 102 by reading and executing the control program stored in the operation program storage unit 318.
- the manipulator 101 and the rotary positioner 102 that are actually arranged can be operated based on an operation program with high accuracy! And simulation calculation and offline teaching. Therefore, the operation accuracy can be further improved.
- FIG. 7 is a diagram showing a configuration of a robot apparatus 406 according to the fourth embodiment of the present invention.
- the same constituent elements as those of the robot apparatus 404 of the third embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- the robot apparatus 406 of the present embodiment is different from the robot apparatus 404 of the third embodiment in that the correction amount is calculated by the simulation device 311, which is not calculated by the robot control device 301. This is the point that I tried to do.
- the robot apparatus 406 includes a manipulator 101, a robot control apparatus 301, and a simulation apparatus 311.
- the robot control apparatus 301 includes a measurement point storage unit 302, an operation control unit 305, and an operation program storage unit 318.
- the simulation device 311 is information about the measurement points measured by the robot control device 301 (specifically, measurement results of coordinates such as the mark 108, the first measurement point 211, the second measurement point 214, etc.)
- the measurement point acquisition unit 313 that acquires the correction amount
- the correction amount calculation unit 314 that calculates the rotation center point, rotation axis, etc. of the rotation surface using the information of the measurement points acquired by the measurement point acquisition unit 313, and the correction amount calculation unit
- the simulation calculation for operating at least one of the manipulator 101 and the rotation positioner 102 is turned off.
- a simulation calculation unit 316 that executes at least one of the line teachings and an operation program that stores an operation program created as a result of the calculation by the simulation calculation unit 316 And a log memory storage unit 317.
- the simulation apparatus 311 acquires information about measurement points from the measurement point storage section 302 in the robot control apparatus 301 via the measurement point capturing section 313. Then, the correction amount calculation unit 314 calculates correction information, and the calculated correction information is stored in the correction amount storage unit 315.
- the simulation calculation unit 316 performs simulation and offline teaching using the correction information, and stores at least one of the control programs for the manipulator 101 and the rotation positioner 102 in the operation program storage unit 317. Operation program The operation program stored in the memory unit 317 is taken into the robot controller 301 to control the machine 101 and the like.
- the simulation device 311 is provided with a function of calculating the correction amount.
- the manipulator 101 and the rotary positioner 102 that are actually arranged can be operated based on the operation program with high accuracy and simulation and offline teaching, the operation accuracy can be improved.
- FIG. 8 is a diagram showing a configuration of a robot apparatus 408 according to the fifth embodiment of the present invention.
- the robot apparatus 408 of the present embodiment is different from the robot apparatus 404 of the third embodiment in that it does not have the simulation apparatus 311 but includes a simulation calculation unit 316 in the robot control apparatus 301, and This is a point in which at least one of the manipulator 101 and the rotary positioner 102 is controlled by performing simulation and teaching using the correction information in the control device 301.
- the correction information is calculated by the correction amount calculation unit 303 based on the information stored in the measurement point storage unit 302 and stored in the correction amount storage unit 304. This is the same as the third embodiment.
- the operation control unit 305 includes a simulation calculation unit 316.
- the simulation calculation unit 316 can correct the arrangement and inclination of the rotation positioner in the virtual reality world expressed on three-dimensional coordinates with the correction information.
- the robot apparatus 408 it is possible to perform simulation and off-line teaching with high accuracy, little deviation in the position and tilt between the rotation positioner in the virtual reality world and the rotation positioner actually placed.
- the simulation function can be provided in the robot control device 301, the simulation device is provided separately from the robot control device 301. It is possible to perform highly accurate simulation and off-line teaching without providing the device 311 and to operate the manipulator 101 and the like with high accuracy.
- the present invention it is possible to calculate the rotation center point of the rotating body, the rotation axis connecting the rotation center points of the two rotating bodies, and the like without providing an external device such as an imaging device. Since a special effect can be obtained, it is useful as a method for calculating at least one of the rotation center point of the rotating body and the rotation axis connecting the rotation center points of the two rotating bodies using a manipulator. is there.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/791,452 US7957834B2 (en) | 2006-05-31 | 2007-01-17 | Method for calculating rotation center point and axis of rotation, method for generating program, method for moving manipulator and positioning device, and robotic system |
AT07713626T ATE504868T1 (de) | 2006-05-31 | 2007-01-17 | Verfahren zur berechnung eines rotationsmittelpunktes, verfahren zur berechnung einer rotationsachse, verfahren zur erstellung eines programms, betriebsverfahren und robotergerät |
DE602007013654T DE602007013654D1 (de) | 2006-05-31 | 2007-01-17 | Verfahren zur berechnung eines rotationsmittelpunktes, verfahren zur berechnung einer rotationsachse, verfahren zur erstellung eines programms, betriebsverfahren und robotergerät |
CN200780000025.XA CN101213049B (zh) | 2006-05-31 | 2007-01-17 | 旋转中心点计算方法、旋转轴线计算方法、程序的生成、动作方法以及机器人装置 |
JP2007518404A JP4613955B2 (ja) | 2006-05-31 | 2007-01-17 | 回転軸線算出方法、プログラムの作成方法、動作方法およびロボット装置 |
EP07713626A EP1886771B1 (en) | 2006-05-31 | 2007-01-17 | Rotation center point calculating method, rotation axis calculating method, program creating method, operation method, and robot apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006151233 | 2006-05-31 | ||
JP2006-151233 | 2006-05-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007138756A1 true WO2007138756A1 (ja) | 2007-12-06 |
Family
ID=38778283
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/050579 WO2007138756A1 (ja) | 2006-05-31 | 2007-01-17 | 回転中心点算出方法、回転軸線算出方法、プログラムの作成方法、動作方法およびロボット装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7957834B2 (ja) |
EP (1) | EP1886771B1 (ja) |
JP (1) | JP4613955B2 (ja) |
CN (1) | CN101213049B (ja) |
AT (1) | ATE504868T1 (ja) |
DE (1) | DE602007013654D1 (ja) |
WO (1) | WO2007138756A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5705326B2 (ja) * | 2010-10-26 | 2015-04-22 | エーファウ・グループ・エー・タルナー・ゲーエムベーハー | 回転軸の位置を決定する方法 |
AT511523B1 (de) * | 2011-05-23 | 2013-06-15 | Amst Systemtechnik Gmbh | Vorrichtung zur räumlichen bewegung von personen |
JP5729404B2 (ja) | 2013-02-21 | 2015-06-03 | 株式会社安川電機 | ティーチングシステムおよびティーチング方法 |
JP6475409B2 (ja) * | 2013-12-20 | 2019-02-27 | 蛇の目ミシン工業株式会社 | ロボット、ロボットの制御方法、及びロボットの制御プログラム |
JP6486005B2 (ja) * | 2014-01-17 | 2019-03-20 | 蛇の目ミシン工業株式会社 | ロボット、ロボットの制御方法、及びロボットの制御プログラム |
EP2958200A1 (de) * | 2014-06-16 | 2015-12-23 | Delphi Technologies, Inc. | Verfahren zum Kalibrieren einer Bestückungsvorrichtung |
CN104977148B (zh) * | 2015-07-30 | 2017-06-30 | 四川省工业设备安装公司 | 风洞试验段迎角机构旋转中心的检测装置及方法 |
DE102016013891A1 (de) * | 2016-11-21 | 2018-05-24 | Kuka Roboter Gmbh | Vermessen einer Bewegungsachse eines Roboters |
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- 2007-01-17 EP EP07713626A patent/EP1886771B1/en not_active Not-in-force
- 2007-01-17 AT AT07713626T patent/ATE504868T1/de not_active IP Right Cessation
- 2007-01-17 CN CN200780000025.XA patent/CN101213049B/zh not_active Expired - Fee Related
- 2007-01-17 US US11/791,452 patent/US7957834B2/en active Active
- 2007-01-17 JP JP2007518404A patent/JP4613955B2/ja active Active
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Also Published As
Publication number | Publication date |
---|---|
US20090228144A1 (en) | 2009-09-10 |
US7957834B2 (en) | 2011-06-07 |
ATE504868T1 (de) | 2011-04-15 |
EP1886771A4 (en) | 2010-01-06 |
EP1886771B1 (en) | 2011-04-06 |
DE602007013654D1 (de) | 2011-05-19 |
JP4613955B2 (ja) | 2011-01-19 |
CN101213049A (zh) | 2008-07-02 |
JPWO2007138756A1 (ja) | 2009-10-01 |
CN101213049B (zh) | 2010-11-03 |
EP1886771A1 (en) | 2008-02-13 |
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