WO2021152744A1 - Dispositif de commande, procédé de commande, dispositif de traitement d'informations et procédé de traitement d'informations - Google Patents

Dispositif de commande, procédé de commande, dispositif de traitement d'informations et procédé de traitement d'informations Download PDF

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Publication number
WO2021152744A1
WO2021152744A1 PCT/JP2020/003241 JP2020003241W WO2021152744A1 WO 2021152744 A1 WO2021152744 A1 WO 2021152744A1 JP 2020003241 W JP2020003241 W JP 2020003241W WO 2021152744 A1 WO2021152744 A1 WO 2021152744A1
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WO
WIPO (PCT)
Prior art keywords
arm
axis
robot
information processing
rotation shaft
Prior art date
Application number
PCT/JP2020/003241
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English (en)
Japanese (ja)
Inventor
智紀 川▲崎▼
Original Assignee
株式会社Ｆｕｊｉ
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 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to PCT/JP2020/003241 priority Critical patent/WO2021152744A1/fr
Priority to JP2021573703A priority patent/JP7348965B2/ja
Publication of WO2021152744A1 publication Critical patent/WO2021152744A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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

Definitions

  • This specification discloses a control device, a control method, an information processing device, and an information processing method.
  • an arm robot for example, after acquiring the inclination and height of a plane on which a work object is installed by contact with a manipulator, an image of a marker on the plane is taken to measure the position of the marker on the plane, and the position of the marker is measured. It has been proposed to control the manipulator according to the measurement of the inclination and the position of the marker on the plane (see, for example, Patent Document 1).
  • the arm robot can accurately correct the distance to the work target and the inclination of the work target, and can correct the position even if the robot installation position deviates significantly from a predetermined position.
  • the present disclosure has been made in view of such a problem, and provides a control device, a control method, an information processing device, and an information processing method capable of further improving the work accuracy of the arm robot by simpler processing.
  • the main purpose is a control device, a control method, an information processing device, and an information processing method capable of further improving the work accuracy of the arm robot by simpler processing.
  • control device control method, information processing device, and information processing method disclosed in the present specification have adopted the following means in order to achieve the above-mentioned main object.
  • the control device of the present disclosure is A control device that controls an arm robot equipped with an arm that rotates around a rotation axis.
  • a storage unit that stores axis information including the tilt angle of the rotation axis with respect to the reference plane, and a storage unit.
  • a control unit that rotates the rotation shaft so as to arrange the arm at a target position using the shaft information. It is equipped with.
  • the rotation shaft is rotated so as to arrange the arm at the target position using the axis information including the tilt angle of the rotation shaft with respect to the reference plane.
  • the working position of the tip of the arm may shift, but this may be caused by the inclination of the rotation shaft.
  • the movement range of the arm can be grasped more accurately by using the tilt angle of the rotation axis, and the positional deviation of the arm can be grasped accurately, so that this can be easily corrected. can do. Therefore, since this control device uses the tilt angle of the rotation axis, the work accuracy of the arm robot can be further improved by a simpler process.
  • the schematic explanatory view which shows an example of the work work system 10 and the information processing PC 50.
  • Explanatory drawing which shows an example of the inclination of the measurement surface M with respect to the reference surface R.
  • FIG. 1 is a schematic explanatory view showing an example of the work work system 10.
  • FIG. 2 is an explanatory diagram of an example of the axis information 34 stored in the storage unit 33.
  • the work work system 10 is configured to include an arm robot 20 that performs a predetermined work on an article (work W) to be worked.
  • the work work system 10 includes one or more arm robots 20, a base 11 on which the arm robots 20 are arranged, and a control PC 30 for controlling the arm robots 20. Since the arm robot 20 can move in all directions, there is no fixed direction, but for convenience of explanation, the direction shown in FIG.
  • the vertical direction (Z-axis), the X-axis, and the front-back direction perpendicular to the Z-axis will be described as the Y-axis direction.
  • the arm robot 20 is configured as a device that executes a predetermined work on the work W to be worked.
  • the work W include various parts such as mechanical parts, electric parts, electronic parts, and chemical parts, as well as food, bio, and biological related articles.
  • the predetermined work includes, for example, a moving work of collecting, moving, and arranging from a collecting position to a placement position, an assembling work of assembling parts, a processing work of processing, a coating work of applying a viscous material, and heating by heating. Examples include work, processing work for performing a predetermined chemical and / or physical treatment, and inspection work for performing an inspection.
  • Assembling work includes, for example, fastening work of fastening members such as screws and bolts, insertion work of connectors, wiring work, fitting work of parts, mounting work of members, and pressing work of pressing the work.
  • Examples of the processing work include grinding work, cutting work, deformation work, connection work, and joining work.
  • Examples of the viscous material include adhesives, solder pastes, and greases.
  • Examples of the inspection work include the work of inspecting one or more work results described above, and may involve the work of moving the work W.
  • This arm robot 20 is a horizontal articulated robot having an arm 21 fixed to a base 11 and rotating around a rotation shaft 24.
  • the arm robot 20 includes an arm 21, an end effector 22, a support shaft 23, and a drive unit (not shown).
  • the arm 21 is an articulated arm, and includes a first arm 21a that rotates about a first rotation shaft 24a and a second arm 21b that rotates about a second rotation shaft 24b.
  • the end effector 22 is a member that performs a predetermined work on the work W, and is connected to the lower end side of the support shaft 23.
  • the support shaft 23 is arranged at the tip of the second arm 21b so as to be vertically movable.
  • the drive unit is a motor that drives the arm 21.
  • This drive unit rotationally drives the first rotation shaft 24a connected to the first arm 21a and the second rotation shaft 24b connected to the second arm 21b.
  • the arm robot 20 is arranged so that the first rotation shaft 24a and the second rotation shaft 24b are perpendicular to the reference surface R of the base 11, but may have a slight inclination.
  • the first arm 21a and the second arm 21b are collectively referred to as an arm 21, and the first rotation shaft 24a and the second rotation shaft 24b are collectively referred to as a rotation shaft 24.
  • the control PC 30 is a computer that controls the entire arm robot 20 included in the work work system 10.
  • the control PC 30 includes a control device 31, a display unit 38, and an input device 39.
  • the control device 31 has the function of the control device of the present disclosure.
  • the control device 31 is configured as a microprocessor centered on the CPU 32, and includes a storage unit 33 for storing data.
  • the control device 31 outputs a drive signal to the drive unit of the arm robot 20 and the like.
  • the display unit 38 displays a screen including information about the arm robot 20, and is, for example, a liquid crystal display.
  • the input device 39 is a mouse, a keyboard, or the like that performs various inputs.
  • the storage unit 33 is configured as a large-capacity storage device such as an HDD.
  • the storage unit 33 stores axis information 34 and the like used for controlling the arm 21.
  • the axis information 34 is information including the inclination of the rotation shaft 24, and the inclination of the first rotation shaft 24a with respect to the X axis and the inclination with respect to the Y axis are the first rotation shaft 24a.
  • the inclination of the second rotation shaft 24b with respect to the X axis and the inclination with respect to the Y axis are associated with the second rotation shaft 24b.
  • the deviation of the first rotation shaft 24a in the X-axis direction is set to ⁇ X
  • the deviation in the Y-axis direction is set to ⁇ Y.
  • the control device 31 acquires the axis information 54 created by the information processing PC 50 from the information processing PC 50 and stores it in the storage unit 33 as the axis information 34.
  • the information processing PC 50 is configured as a device for adjusting the work work system 10 before shipment, and executes, for example, a process of setting a value used for controlling the arm robot 20.
  • the information processing PC 50 is a computer that measures the operation of the arm robot 20 included in the work work system 10 and sets values and the like used for controlling the arm robot 20.
  • the information processing PC 50 includes a control device 51, a display unit 58, and an input device 59.
  • the control device 51 has the function of the information processing device of the present disclosure, and also has the function of the control device 31 that controls the arm robot 20.
  • the control device 51 is configured as a microprocessor centered on the CPU 52, and includes a storage unit 53 for storing data.
  • the control device 51 sets the axis information 54 including the inclination angle of the rotation shaft 24 used for controlling the arm robot 20, and outputs the axis information 54 to the work work system 10.
  • the control device 51 inputs a measurement signal or the like from a height measuring device such as a laser displacement meter attached to the tip of the support shaft 23.
  • the storage unit 53 stores the axis information 54 and the like used in the arm robot 20.
  • the display unit 58 displays a screen including information about the work work system 10, and is, for example, a liquid crystal display.
  • the input device 59 is a mouse, a keyboard, or the like that performs various inputs.
  • FIG. 3 is a flowchart showing an example of the axis information setting processing routine executed by the CPU 52 of the information processing PC 50.
  • FIG. 4 is an explanatory diagram of the operation of the arm 21 when measuring the height H.
  • FIG. 5 is an explanatory diagram showing an example of the inclination of the measurement surface with respect to the reference surface R.
  • the axis information setting processing routine is stored in the storage unit 53 and executed in response to the start input of the operator. For example, before shipping the work work system 10, the operator connects the information processing PC 50 to the arm robot 20 and attaches a height measuring device to the tip of the support shaft 23 when setting the correction value of the arm robot 20. Then, the start input is performed in the information processing PC 50.
  • the CPU 52 of the control device 51 sets the rotation shaft 24 to be measured for obtaining the tilt angle of the shaft (S100). For example, the CPU 52 may set the rotation shaft 24 for obtaining the tilt angle in the order of the first rotation shaft 24a (J1) and the second rotation shaft 24b (J2) in the order closer to the base 11. .. Next, the CPU 52 rotates the rotation shaft 24 to be measured to a designated point in a state where the rotation shafts other than the rotation shaft 24 to be measured are fixed, and the work point P of the arm 21 is used as a reference for the base 11. The height H to the surface R is measured (S110).
  • FIG. 4 is an explanatory diagram of the operation of the arm 21 when measuring the height H.
  • the CPU 52 measures the height H at at least three designated points A to C that pass when the first rotation shaft 24a to be measured is rotated with the second rotation shaft 24b or the like fixed.
  • the designated points A to C are assumed to be set in advance, but may be any measurement point of 3 or more.
  • the CPU 52 determines the coordinates (x, y,,) of the measured points. z) may be stored.
  • FIG. 5 is an explanatory diagram showing an example of the inclination of the measurement surface M with respect to the reference surface R.
  • the measurement surface M can be specified by at least three coordinate points (x, y, z).
  • the CPU 52 uses the height H measured in S110 as the Z coordinate, and uses the X-axis and Y-axis coordinates of each designated point to obtain the planar equation represented by the equation (1).
  • the rotation angle of the plane around the X and Y axes is obtained using the coefficients p, q, and r of the equation (1), and this rotation angle is defined as the tilt angle.
  • the rotation angle around the X-axis of the planar type is represented by the formula (2)
  • the rotation angle around the Y-axis is represented by the formula (3). In this way, the tilt angle of the rotation shaft 24 to be measured can be obtained.
  • the CPU 52 stores the acquired tilt angle in the axis information 54 (S150), and determines whether or not the tilt angle has been acquired for all the rotation shafts 24 (S160).
  • the CPU 52 executes the processes after S100. That is, the CPU 52 sets the next rotation shaft 24 as the measurement target in S100, measures the height H at three or more designated points, obtains the measurement surface M based on the measured coordinate points, and measures the measurement target.
  • the tilt angle of the rotation shaft 24 of the above is acquired.
  • the inclination angle of the second rotation shaft 24b (J2) measured as the second axis also includes the inclination angle of the first rotation shaft 24a (J1).
  • the CPU 52 fixes the first rotation shaft 24a at a predetermined position, rotates the shaft J2 to measure the height H, and subtracts the tilt angle of the shaft J1 to obtain the tilt of the shaft J2.
  • the CPU 52 outputs the shaft information 54 to the control PC 30 (S170) and ends this routine. In this way, the CPU 52 outputs the actually measured inclination angle of each rotation shaft 24 to the control PC 30 and stores it as the axis information 34.
  • FIG. 6 is a flowchart showing an example of a work processing routine executed by the CPU 32 of the control PC 30.
  • the work processing routine is stored in the storage unit 33 and executed in response to the start input of the worker.
  • the case where the arm robot 20 executes processing on the work W at the target position (X, Y) on the base 11 will be described as a specific example.
  • the CPU 32 of the control device 31 acquires the target position for performing the work of the arm robot 20 (S200), and acquires the tilt angle of each rotation axis 24 from the axis information 34 (S210). Next, the CPU 32 rotates the arm 21 using the acquired tilt angle to obtain the position of the work point P actually arranged, corrects the target position to a position that reduces the error from the target position, and after the correction.
  • the designated angle of the rotation shaft 24 on which the arm 21 at the target position of the above moves is acquired (S220).
  • the CPU 32 uses the length of each arm 21 to perform a process of obtaining a designated angle of each rotation shaft 24 based on inverse kinematics.
  • each rotation shaft 24 Since the inclination angle of each rotation shaft 24 is known in the CPU 32, it is more accurate to know which position the arm 21 is arranged when the arm 21 is rotated, how much the position is deviated from the target position, and the like. It is possible to grasp. Then, since the CPU 32 corrects this positional deviation and obtains an instruction angle for operating the arm 21, the work point P can be moved to a more accurate position.
  • the CPU 32 controls the rotation shaft 24 with the indicated angle corrected by using the tilt angle (S230), determines whether or not all the work of the arm robot 20 is completed (S240), and all the work is done. When it is not finished, the CPU 32 repeatedly executes the processes after S200. That is, the CPU 32 repeatedly executes the process of acquiring the target position and moving the arm 21 to the corrected target position using the tilt angle of each rotation shaft 24. On the other hand, when all the work is completed in S240, the CPU 32 ends this routine.
  • the control device 31 of the present embodiment corresponds to the control device of the present disclosure
  • the arm robot 20 corresponds to the arm robot
  • the arm 21, the first arm 21a, and the second arm 21b correspond to the arm
  • the first rotation shaft 24a and the second rotation shaft 24b correspond to the rotation shaft
  • the storage unit 33 corresponds to the storage unit
  • the axis information 34 corresponds to the axis information
  • the CPU 32 corresponds to the control unit.
  • the control device 51 corresponds to the information processing device
  • the CPU 52 corresponds to the acquisition unit.
  • an example of the control method of the present disclosure is clarified by explaining the operation of the control device 31, and an example of the information processing method of the present disclosure is clarified by explaining the operation of the control device 51. Has been clarified.
  • the control device 31 of the embodiment described above rotates the rotation shaft 24 so as to arrange the arm 21 at the target position using the axis information 34 including the tilt angle of the rotation shaft 24 with respect to the reference surface R.
  • the arm robot 20 may be displaced at the work point P, which is the work position of the tip of the arm 21, but it may be caused by the inclination of the rotation shaft 24.
  • the amount of misalignment when the arm 21 is moved to a plurality of designated points is held as a correction value, and the distance between the designated points is corrected by calculation by linear interpolation. It is conceivable to find the value.
  • each arm 21 rotates about an axis, it is difficult to improve the position accuracy by linear interpolation as in the XY robot.
  • the arm robot 20 In order to improve the accuracy of the arm robot 20 by this method, the arm robot 20 must measure an extremely large number of designated points.
  • the moving range of the arm 21 can be grasped more accurately by using the tilt angle of the rotating shaft 24, and the positional deviation of the arm 21 can be grasped accurately. Can be easily corrected. Therefore, since the control device 31 uses the tilt angle of the rotation shaft 24, the work accuracy of the arm robot 20 can be further improved by a simpler process.
  • the CPU 32 controls an arm robot 20 which is a horizontal articulated robot having two or more rotation axes 24 perpendicular to the reference plane R.
  • the control device 31 can improve the work accuracy of the horizontal articulated robot by a simpler process.
  • the arm robot 20 is an articulated robot including a first arm 21a that rotates about the first rotation shaft 24a as an arm 21 and a second arm 21b that rotates about the second rotation shaft 24b.
  • the storage unit 33 stores the axis information 34 including the tilt angle of the first rotation shaft 24a and the tilt angle of the second rotation shaft 24b.
  • the working accuracy of the arm robot 20 can be further improved by using the inclination angle of each rotation shaft 24.
  • the work point of the arm 21 is from the reference surface R when only the target rotation shaft 24 is rotated and the arm 21 is arranged at at least three or more designated points on the X axis and the Y axis.
  • the height H in the Z-axis direction up to P is measured to acquire at least three or more coordinate points, the measurement surface M including the acquired coordinate points is specified, and the inclination of the rotation shaft 24 is tilted based on the measurement surface M. Get the angle.
  • the work accuracy of the arm robot 20 can be further improved by simpler processing.
  • the CPU 52 acquires 3 or more coordinate points from the arm robot 20 which is a horizontal articulated robot having 2 or more rotation axes 24 perpendicular to the reference plane R.
  • the arm robot 20 is an articulated arm 21 including a first arm 21a that rotates about the first rotation shaft 24a and a second arm 21b that rotates about the second rotation shaft 24b. It is a robot, and the storage unit 53 acquires the tilt angle of the first rotation shaft 24a and the tilt angle of the second rotation shaft 24b.
  • the working accuracy of the arm robot 20 can be further improved by using the tilt angle of each rotation shaft 24.
  • the tilt angle of the rotation shaft 24 is acquired by the information processing PC 50 at the time of shipment of the work work system 10, but the present invention is not particularly limited to this.
  • the function of the information processing PC 50 may be added to the control PC 30 so that the control PC 30 can acquire the tilt angle of the rotation shaft 24.
  • the control PC 30 can periodically adjust the arm robot 20.
  • the arm robot 20 has been described as a horizontal articulated robot having two or more rotation axes 24 perpendicular to the reference plane R, but the arm robot 20 has an arm that rotates about the rotation axis. If so, it is not particularly limited to this. If the control device 31 is an articulated robot, the work accuracy of the arm robot 20 can be further improved by a simpler process.
  • the arm robot 20 is a horizontal articulated robot, it is preferable that the present disclosure is easier to apply because it has a rotation shaft 24 perpendicular to the reference plane R.
  • the arm 21 includes the first arm 21a and the second arm 21b
  • the rotation shaft 24 includes the first rotation shaft 24a and the second rotation shaft 24b.
  • the arm robot may not include the second arm 21b and the second rotation shaft 24b, or may have three or more arms such as a third arm, a third rotation shaft, a fourth arm, and a fourth rotation shaft. It may have a rotating shaft. Even in such an arm robot, the work accuracy of the arm robot can be further improved by a simpler process by using the tilt angle of the rotation axis.
  • control device 31 has been described as being provided by the control PC 30 connected to the outside of the arm robot 20, but the present invention is not particularly limited to this, and for example, a controller provided inside the arm robot 20 is used as the control device. May be good.
  • contents of the present disclosure have been described as the control device 31 and the control device 51, but they may also be a control method or an information processing method. Further, it may be a program that executes a control method or a program that executes an information processing method.
  • control device and the information processing device of the present disclosure may be configured as follows.
  • the control unit may control the arm robot, which is a horizontal articulated robot having two or more rotation axes perpendicular to the reference plane.
  • This control device can improve the work accuracy of the horizontal articulated robot by a simpler process. If this control device is an articulated robot, the work accuracy of the arm robot can be further improved by simpler processing, but for a horizontal articulated robot having a rotation axis perpendicular to a reference plane, Easier to apply.
  • the arm robot is an articulated robot including a first arm that rotates about a first rotation axis as the arm and a second arm that rotates about a second rotation axis. It is a robot, and the storage unit may store the axis information including the tilt angle of the first rotation shaft and the tilt angle of the second rotation shaft. In this control device, the working accuracy of the arm robot can be further improved by using the tilt angle of each rotation axis.
  • the control method of the present disclosure is A control method for controlling an arm robot having an arm that rotates around a rotation axis.
  • this control method uses the tilt angle of the rotation axis as in the control device described above, the work accuracy of the arm robot can be further improved by a simpler process.
  • the mode of any of the above-mentioned control devices may be adopted, or the step of expressing the function of any of the above-mentioned control devices may be included.
  • the information processing device of the present disclosure is An information processing device related to an arm robot having an arm that rotates around a rotation axis. Measure the height in the Z-axis direction from the reference plane to the arm when only the target rotation axis is rotated and the arm is arranged at at least three or more designated points on the X-axis and the Y-axis. It is provided with an acquisition unit that acquires at least three or more coordinate points, identifies a measurement surface including the acquired coordinate points, and acquires the tilt angle of the rotation axis based on the measurement surface.
  • the Z-axis direction from the reference plane to the arm when only the target rotation axis is rotated and the arm is arranged at at least three or more designated points on the X-axis and the Y-axis. At least 3 or more coordinate points are acquired by measuring the height of the above, the measurement surface including the acquired coordinate points is specified, and the inclination angle of the rotation axis is acquired based on the measurement surface.
  • the work accuracy of the arm robot can be further improved by simpler processing.
  • the acquisition unit acquires the three or more coordinate points from the arm robot, which is a horizontal articulated robot having two or more rotation axes perpendicular to the reference plane. May be good.
  • the work accuracy of the horizontal articulated robot can be improved by simpler processing.
  • the arm robot includes a first arm that rotates about a first rotation axis as the arm, and a second arm that rotates about a second rotation axis. It is an articulated robot, and the storage unit may acquire the tilt angle of the first rotation shaft and the tilt angle of the second rotation shaft.
  • the working accuracy of the arm robot can be further improved by using the tilt angle of each rotation axis.
  • the information processing method of the present disclosure is An information processing method related to an arm robot having an arm that rotates around a rotation axis. Measure the height in the Z-axis direction from the reference plane to the arm when only the target rotation axis is rotated and the arm is arranged at at least three or more designated points on the X-axis and the Y-axis. This includes a step of acquiring at least three or more coordinate points, specifying a measurement surface including the acquired coordinate points, and acquiring the inclination angle of the rotation axis based on the measurement surface.
  • the inclination with respect to the reference plane can be easily obtained with as few measurement points as possible. Therefore, in this information processing method, the work accuracy of the arm robot can be further improved by simpler processing.
  • the mode of any of the above-mentioned information processing devices may be adopted, or the step of expressing the function of any of the above-mentioned information processing devices may be included.
  • This disclosure can be used in the field of arm robots equipped with arms.
  • 10 work work system 11 base, 20 arm robot, 21 arm, 21a 1st arm, 21b 2nd arm, 22 end effector, 23 support shaft, 24 rotation shaft, 24a 1st rotation shaft, 24b 2nd Dynamic axis, 30 control PC, 31 control device, 32 CPU, 33 storage unit, 34 axis information, 38 display unit, 39 input device, 50 information processing PC, 51 control device, 52 CPU, 53 storage unit, 54 axis information, 58 display unit, 59 input device, A to C designated points, H height, P work point, R reference plane, W work.

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  • 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)
  • Manipulator (AREA)

Abstract

Ce dispositif de commande commande un robot à bras pourvu d'un bras qui tourne autour de l'axe de rotation, et comprend : une unité de stockage qui stocke des informations d'axe comprenant l'angle d'inclinaison de l'axe de rotation par rapport à un plan de référence ; et une unité de commande qui utilise les informations d'axe pour faire tourner l'axe de rotation de telle sorte que le bras est positionné à une position cible.
PCT/JP2020/003241 2020-01-29 2020-01-29 Dispositif de commande, procédé de commande, dispositif de traitement d'informations et procédé de traitement d'informations WO2021152744A1 (fr)

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PCT/JP2020/003241 WO2021152744A1 (fr) 2020-01-29 2020-01-29 Dispositif de commande, procédé de commande, dispositif de traitement d'informations et procédé de traitement d'informations
JP2021573703A JP7348965B2 (ja) 2020-01-29 2020-01-29 情報処理装置及び情報処理方法

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