WO2012108022A1 - センサ中継制御装置 - Google Patents
センサ中継制御装置 Download PDFInfo
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- WO2012108022A1 WO2012108022A1 PCT/JP2011/052790 JP2011052790W WO2012108022A1 WO 2012108022 A1 WO2012108022 A1 WO 2012108022A1 JP 2011052790 W JP2011052790 W JP 2011052790W WO 2012108022 A1 WO2012108022 A1 WO 2012108022A1
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- data
- robot
- sensor
- control device
- control
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34012—Smart, intelligent I-O coprocessor, programmable sensor interface
-
- 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
- G05B2219/40586—6-DOF force sensor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/16—Cartesian, three degrees of freedom
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
- Y10S901/29—Wrist
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
Definitions
- the present invention relates to a sensor relay control device that enables a robot control device to execute control that reflects feedback data such as a force sensor in the operation of a robot without impairing its processing performance.
- feedback data from the force sensor is directly captured by the robot controller, and processing is performed once so that the input information from the sensor can be used for robot control, and is synchronized with the robot control cycle.
- movement of a robot according to sensor input information for example, refer patent document 1.
- the personal computer takes in feedback data from the force sensor, performs processing so that input information from the sensor can be used for robot control, and outputs it to the robot controller.
- the robot control apparatus that has taken in the information synchronizes the input information from the personal computer with the control period of the robot, and then corrects the operation of the robot according to the sensor input information.
- the robot controller In the former method, it is necessary to perform all the series of processing of processing input information from a force sensor or the like for robot control and correcting the operation of the robot by the robot controller. Since the input information from the external sensor is not necessarily synchronized with the control period of the robot, a prediction element is included in the process of generating the correction data. If the robot controller generates correction data with a processing load that does not hinder the robot control, the prediction accuracy is low and the reliability is low. On the other hand, when the prediction accuracy is increased, the processing load of the robot control device increases, which may hinder the robot control.
- the latter method is similar to the former method in the process in which the robot controller generates correction data. Contains prediction elements. Therefore, if the correction data is generated with a processing load that does not hinder the robot control, the prediction accuracy is low and the reliability is low. On the other hand, when the prediction accuracy is increased, the processing load of the robot control device increases, which may hinder the robot control.
- the present invention has been made in view of the above, and provides a sensor relay control device that enables a robot control device to perform control for reflecting feedback data such as a force sensor in the operation of the robot without increasing the processing load.
- the purpose is to obtain.
- the present invention generates feedback data based on sensor data output from an external sensor installed in a joint part of the robot, and feedback of the robot based on the feedback data.
- a sensor relay control device connected to a robot control device that performs control, taking in sensor data output from an external sensor, and converting the taken sensor data into control data for a motor that moves a joint of the robot; Means for synchronizing the motor control data with the control cycle of the robot control device, and means for outputting the motor control data synchronized with the control cycle of the robot control device as feedback data to the robot control device It is characterized by.
- the sensor relay control device Since the sensor relay control device according to the present invention outputs motor control data to the robot control device in synchronization with the control cycle of the robot, synchronization processing in the robot control device becomes unnecessary. Thereby, an increase in the processing load of the robot control device can be suppressed.
- FIG. 1 is a diagram showing a connection form of a sensor relay control apparatus according to an embodiment of the present invention.
- FIG. 2 is a diagram showing the configuration of the embodiment of the sensor relay control device according to the present invention.
- FIG. 3 is a diagram illustrating an example of processing in the data processing unit.
- FIG. 4 is a diagram illustrating an example of processing in the data synchronization unit.
- FIG. 1 is a diagram showing a connection form of a sensor relay control apparatus according to an embodiment of the present invention.
- the sensor relay control device 5 is installed between the force sensor 3 as an external sensor and the robot control device 1 and is connected to each device.
- the robot 4 has a robot arm 2.
- the robot arm 2 is provided with a force sensor 3 for feeding back the force applied to the robot work surface to the robot controller 1.
- the force sensor 3 is provided at a joint (so-called wrist) closest to the work surface of the robot arm 2.
- FIG. 2 is a diagram showing the configuration of the embodiment of the sensor relay control device according to the present invention.
- the sensor relay control device 5 includes a sensor data input unit 7, a data processing unit 8, a data synchronization unit 9, and a data output unit 10.
- the sensor data input unit 7 receives input data from the force sensor 3 based on the communication specification of the sensor.
- the data processing unit 8 converts the data format so that the input data from the force sensor 3 can be handled without being processed by the robot control device 1.
- the data synchronization unit 9 synchronizes the information from the force sensor 3 input asynchronously with the control cycle of the robot 4 in the robot control apparatus 1 with the control cycle of the robot 4.
- the data output unit 10 transmits data processed by the sensor data input unit 7, the data processing unit 8, and the data synchronization unit 9 to the robot control apparatus 1.
- the sensor data input unit 7 receives data according to the sensor specifications sent from the force sensor 3 and analyzes the input data.
- the analysis process includes reading input data and checking the validity of the input data (checking whether the data is damaged due to the influence of external noise or the like).
- the data processing unit 8 converts the input data from the force sensor 3 read by the sensor data input unit 7 into data having specifications that can be decoded by the robot control device 1 from the sensor specification data.
- FIG. 3 is a diagram illustrating an example of processing in the data processing unit 8, and illustrates an example of processing for converting input data from a six-axis force sensor.
- the input data from the 6-axis force sensor are X, Y, Z, Mx (force against the X axis), My (force against the Y axis), Mz (with respect to the Z axis) with respect to the sensor center.
- 6-axis force sensor input data 11 of 6 elements (force).
- the data processing unit 8 once converts the six-axis force sensor input data 11 into six elements of X, Y, Z, Mx, My, and Mz with respect to the control point of the robot 4 (for example, the center position of the flange and the tip position of the tool such as the hand). Then, the robot control point correction data 12 is used.
- each axis motor correction data 13 is a data specification that can be output to the robot controller.
- the data synchronization unit 9 synchronizes the sensor input information (processed information) received from the data processing unit 8 and specified for the robot controller with the control cycle of the robot 4.
- FIG. 4 is a diagram illustrating an example of processing in the data synchronization unit 9.
- the sensor cycle and the robot control cycle are fixed values.
- the synchronization correction process a process for dividing each axis motor correction data according to the control period of the robot 4 and calculating optimum correction data in accordance with the control period of the robot 4 is performed. For example, by performing linear interpolation based on the latest axis motor correction data and the past axis motor correction data, it is possible to predict and calculate optimum correction data in accordance with the control period of the robot 4.
- the motor correction data for each axis can be synchronized with the control cycle of the robot 4 by performing a thinning process for each axis motor correction data. it can.
- the data output unit 10 outputs the data converted by the sensor data input unit 7, the data processing unit 8, and the data synchronization unit 9 to the robot control device.
- the hardware specifications of the sensor data input unit 7 are related to data specifications and conversion methods in accordance with the sensors connected by preparing a plurality of general-purpose communication interfaces (for example, RS-232C, RS-422, etc.).
- a general-purpose communication interface for example, RS-232C, RS-422, etc.
- the sensor relay control device converts the input data from the sensor into the robot control information, and the data conversion and data synchronization among the processes necessary for correcting the operation of the robot.
- the robot control device By cutting out from the robot control device what is different from the normal control processing, it is possible to suppress a decrease in control performance due to a robot control processing load that tends to increase when performing advanced work using a sensor.
- the robot control device connected to the sensor relay control device according to the present embodiment does not need to perform processing for synchronizing each axis motor correction data input from the sensor relay control device with the control cycle of the robot 4. .
- the sensor relay control device is a dedicated device that specializes in processing that allows input information from the sensor to be used for robot control, thereby improving processing performance and providing real-time processing. It becomes easy to make.
- the device since it is not necessary to provide an unnecessary function to the processing for processing the input information from the sensor so that it can be used for robot control, it is possible to make the device smaller than the personal computer. Therefore, when it becomes unnecessary, transportation for disposal is easy and the amount of generated waste is reduced, so that the environmental load can be reduced.
- a force sensor has been described as an example of the external sensor.
- the present invention can be similarly applied to a case where an external sensor different from a force sensor such as a visual sensor, a direction sensor, a proximity sensor, or a tactile sensor is used. is there.
Abstract
Description
図1は、本発明の実施の形態にかかるセンサ中継制御装置の接続の形態を示す図である。センサ中継制御装置5は、外界センサとしての力センサ3とロボット制御装置1との間に設置されて、それぞれの機器と接続される。
2 ロボットアーム
3 力センサ
4 ロボット
5 センサ中継制御装置
7 センサデータ入力部
8 データ加工部
9 データ同期部
10 データ出力部
11 6軸力センサ入力データ
12 ロボット制御点補正用データ
13 各軸モータ補正用データ
Claims (2)
- ロボットの関節部分に設置された外界センサが出力するセンサデータを基にフィードバックデータを生成し、該フィードバックデータに基づいて前記ロボットのフィードバック制御を行うロボット制御装置へ接続されるセンサ中継制御装置であって、
前記外界センサが出力するセンサデータを取り込み、取り込んだセンサデータを前記ロボットの関節を可動させるモータの制御用データに変換する手段と、
前記モータの制御用データを、前記ロボット制御装置の制御周期に同期させる手段と、
前記ロボット制御装置の制御周期に同期させた前記モータの制御用データを、前記フィードバックデータとして前記ロボット制御装置へ出力する手段とを有することを特徴とするセンサ中継制御装置。 - 汎用インタフェースを介して、前記外界センサが出力するセンサデータを取り込むことを特徴とする請求項1記載のセンサ中継制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020137022672A KR20130117870A (ko) | 2011-02-09 | 2011-02-09 | 센서 중계 제어장치 |
PCT/JP2011/052790 WO2012108022A1 (ja) | 2011-02-09 | 2011-02-09 | センサ中継制御装置 |
US13/984,475 US8948916B2 (en) | 2011-02-09 | 2011-02-09 | Sensor relay control device |
DE112011104865.3T DE112011104865B4 (de) | 2011-02-09 | 2011-02-09 | Sensorsteuervorrichtung |
JP2012538125A JP5138121B2 (ja) | 2011-02-09 | 2011-02-09 | センサ中継制御装置 |
CN2011800673006A CN103347659A (zh) | 2011-02-09 | 2011-02-09 | 传感器中继控制装置 |
TW100117168A TWI438064B (zh) | 2011-02-09 | 2011-05-17 | 感測器中繼控制裝置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2011/052790 WO2012108022A1 (ja) | 2011-02-09 | 2011-02-09 | センサ中継制御装置 |
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WO2012108022A1 true WO2012108022A1 (ja) | 2012-08-16 |
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PCT/JP2011/052790 WO2012108022A1 (ja) | 2011-02-09 | 2011-02-09 | センサ中継制御装置 |
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US (1) | US8948916B2 (ja) |
JP (1) | JP5138121B2 (ja) |
KR (1) | KR20130117870A (ja) |
CN (1) | CN103347659A (ja) |
DE (1) | DE112011104865B4 (ja) |
TW (1) | TWI438064B (ja) |
WO (1) | WO2012108022A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11173603B2 (en) | 2018-06-15 | 2021-11-16 | Fanuc Corporation | Robot system and robot |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US8948916B2 (en) * | 2011-02-09 | 2015-02-03 | Mitsubishi Electric Corporation | Sensor relay control device |
CN104092753B (zh) * | 2014-07-07 | 2017-05-31 | 佛山市禅信通科技有限公司 | 基于无线中继系统的物联网信息处理与融合方法及其系统 |
JP5890477B2 (ja) | 2014-07-09 | 2016-03-22 | ファナック株式会社 | ロボットプログラム修正システム |
CN105751231B (zh) * | 2016-04-29 | 2018-12-28 | 广州达意隆包装机械股份有限公司 | 一种机器人末端压力反馈装置 |
JP6898374B2 (ja) | 2019-03-25 | 2021-07-07 | ファナック株式会社 | ロボット装置の動作を調整する動作調整装置およびロボット装置の動作を調整する動作調整方法 |
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2011
- 2011-02-09 US US13/984,475 patent/US8948916B2/en active Active
- 2011-02-09 DE DE112011104865.3T patent/DE112011104865B4/de active Active
- 2011-02-09 WO PCT/JP2011/052790 patent/WO2012108022A1/ja active Application Filing
- 2011-02-09 JP JP2012538125A patent/JP5138121B2/ja active Active
- 2011-02-09 CN CN2011800673006A patent/CN103347659A/zh active Pending
- 2011-02-09 KR KR1020137022672A patent/KR20130117870A/ko not_active Application Discontinuation
- 2011-05-17 TW TW100117168A patent/TWI438064B/zh not_active IP Right Cessation
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JPH0934520A (ja) * | 1995-07-20 | 1997-02-07 | Mitsubishi Electric Corp | 数値制御駆動装置のデータ処理方法 |
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US11173603B2 (en) | 2018-06-15 | 2021-11-16 | Fanuc Corporation | Robot system and robot |
Also Published As
Publication number | Publication date |
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TW201233509A (en) | 2012-08-16 |
JP5138121B2 (ja) | 2013-02-06 |
DE112011104865B4 (de) | 2019-01-17 |
KR20130117870A (ko) | 2013-10-28 |
US8948916B2 (en) | 2015-02-03 |
US20130325180A1 (en) | 2013-12-05 |
TWI438064B (zh) | 2014-05-21 |
DE112011104865T5 (de) | 2013-11-07 |
JPWO2012108022A1 (ja) | 2014-07-03 |
CN103347659A (zh) | 2013-10-09 |
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