WO2022004371A1 - 動作方法、ロボットシステム、制御装置、教示方法及びプログラム - Google Patents

動作方法、ロボットシステム、制御装置、教示方法及びプログラム Download PDF

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Publication number
WO2022004371A1
WO2022004371A1 PCT/JP2021/022780 JP2021022780W WO2022004371A1 WO 2022004371 A1 WO2022004371 A1 WO 2022004371A1 JP 2021022780 W JP2021022780 W JP 2021022780W WO 2022004371 A1 WO2022004371 A1 WO 2022004371A1
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WIPO (PCT)
Prior art keywords
robot arm
target position
information indicating
assembly site
holding
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PCT/JP2021/022780
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English (en)
French (fr)
Japanese (ja)
Inventor
健志 岡田
Original Assignee
住友重機械工業株式会社
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Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Priority to JP2022533824A priority Critical patent/JP7692417B2/ja
Publication of WO2022004371A1 publication Critical patent/WO2022004371A1/ja

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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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to an operation method, a robot system, a control device, a teaching method and a program.
  • a robot arm has been used to hold an object such as a part and assemble it at a predetermined position on the target. For example, attempts have been made to hold a fitted object using a robot arm and fit it to a target object.
  • Patent Document 1 describes a method for correcting misalignment when fitting a fitted object to a target object using a robot arm. Specifically, a method of acquiring contact pressure in a predetermined direction using a force sensor attached to the tip of a robot arm, and when the contact pressure exceeds a threshold value, performing position correction in that direction to correct the misalignment. Is described. In the same document, as a prior art, it is described that a spring is added to a list of robot hands to give compliance, thereby giving a margin to the positioning of the robot hands.
  • Patent Document 2 describes a robot teaching device used when a fitting object is inserted into a hole and fitted. Specifically, the robot adjusts the pressing amount while displaying the deviation between the command value and the actual value of the movement amount of the robot arm and the contact pressure acquired by the force sensor attached to the tip of the robot arm. It is described to teach the operation of the arm.
  • FIG. 2 of the same document describes that the contact pressure acquired by the force sensor is feedback-controlled to acquire the position correction amount of the robot arm.
  • Patent Document 3 when a fitting object having a plurality of fitting legs is fitted to a target object, the amount of deformation of each fitting leg in the elastic region is calculated, and the plurality of fittings are calculated based on the calculation.
  • a fitting method for executing fitting by feeding back the contact pressure acquired by the force sensor attached to the tip of the robot arm to the command value of the position control after setting the insertion order of the feet is described. There is.
  • Japanese Unexamined Patent Publication No. 06-126665 Japanese Unexamined Patent Publication No. 2009-190147 Japanese Unexamined Patent Publication No. 2013-154446
  • an object of the present invention is to provide an operation method, a robot system, a control device, a teaching method, and a program that can easily realize an operation involving contact with an object.
  • the present disclosure provides a method of operating a robot arm.
  • This operation method includes a step of acquiring information indicating a target position, a step of acquiring information indicating an allowable range, a step of holding an object using a robot arm having a flexible drive mechanism, and a robot.
  • the flexible drive mechanism may include at least one of, for example, a ferrofluid, a mechanical spring, an air spring, a magnetic spring, and a vane motor to impart flexibility.
  • to imitate the object to the assembly site means to move the object relative to the assembly site while bringing the object into contact with the assembly site.
  • the relative movement is not limited to the translational movement, but includes the rotational movement of the object relative to the assembly site.
  • “Information indicating the target position” refers to information indicating the target position of the part of the robot arm (hereinafter referred to as "reference position").
  • the reference position of the robot arm may be a link constituting the robot arm.
  • the reference position of the robot arm may be the hand position of the robot arm (for example, the center point of the end effector).
  • the "information indicating the target position” can be expressed as, for example, angle information.
  • the "information indicating the target position” can be expressed as, for example, three-dimensional position information.
  • the "information indicating the allowable range” is the angle information in a predetermined range including the target position (angle) when the link reaches the target position (angle).
  • the “information indicating the allowable range” may be expressed as ⁇ ⁇ ⁇ .
  • the “information indicating the allowable range” is expressed as the position information of a predetermined range including the target position when the center point of the end effector reaches the target position. Can be done.
  • the flexible drive mechanism being displaced based on elasticity or viscosity, it can be expressed as position information indicating a region where the center point of the downstream end effector fluctuates from the target position.
  • the reference position of the robot arm is not limited to the center point of the end effector.
  • the “target position” is not limited to the position at the time of completion of the movement when the robot arm executes a series of movements, and includes a position in the middle of the series of movements. Further, the number of “target positions” may be plural.
  • the “flexible drive mechanism” may be a series elastic actuator.
  • the Series Elastic Actuator comprises, for example, a motor and an elastic body such as a spring. The torque output from the motor is transmitted to the rigid link via the elastic body. Therefore, it is possible to easily realize that the object by the robot arm is brought into contact with the assembled portion and imitated. It is preferable to imitate the object with respect to the assembly site so that the elastic body provided in the series elastic actuator is elastically deformed.
  • this operation method further includes a step of acquiring a path for moving the robot arm so that the object interferes with the assembly site, and a step of acquiring information indicating a second allowable range, and assembles the object.
  • the step of imitating the attachment site is to imitate the object to the attachment site while moving the robot arm within the second permissible range based on the path where the object interferes with the assembly site. May be good.
  • the "path for moving the robot arm” may be a path through which the reference position of the robot arm passes.
  • "Move the robot arm within the second permissible range based on the path” includes the case where the robot arm is moved so that the reference position of the robot arm exists in the region within the second permissible range from the path. ..
  • the "permissible range based on the target position" and the “second permissible range based on the route” may be the same. When both are the same, by acquiring the information of one, the information of the other is also acquired. Alternatively, by configuring the latter to be larger than the former, the positioning accuracy may be improved with respect to the allowable range based on the target position, and conversely, the latter may be configured to be larger than the former. You may. Further, when having a plurality of target positions, the "allowable range based on the target position" may be different for each target position.
  • the step of imitating the object to be assembled may reduce the moving speed of the robot arm when the robot arm moves out of the second allowable range based on the path. Further, this operation method may further include a step of releasing the holding of the object by the robot arm when the robot arm reaches the allowable range with respect to the target position.
  • the flexible drive mechanism may be configured for compliance control based on information indicating flexibility.
  • This disclosure provides a robot system.
  • This robot system is a robot arm having a flexible drive mechanism and a holding mechanism capable of holding an object, a control device for controlling the robot arm, and a means for acquiring information indicating a target position. It is equipped with a means for acquiring information indicating an allowable range, a step of moving the object using the robot arm to bring it closer to the assembly site, and a target so that the robot arm reaches within the allowable range based on the target position. It is provided with a step of imitating an object with respect to an assembly site and a control device configured to be feasible.
  • the present disclosure provides a control device.
  • This control device controls a robot arm having a flexible drive mechanism and a holding mechanism capable of holding an object. Then, it is equipped with a means for acquiring information indicating a target position and a means for acquiring information indicating an allowable range, and a step of moving an object by using a robot arm to bring it closer to an assembly site and a target position as a reference. It is configured to be feasible to imitate the assembly site with the object so that the robot arm reaches within the permissible range.
  • This disclosure provides a teaching method.
  • This teaching method teaches the operation of a robot arm including a driving mechanism having flexibility, a holding mechanism capable of holding an object, and a control device for controlling the robot arm.
  • a step of acquiring information indicating a target position a step of acquiring information indicating an allowable range, a step of holding an object using a robot arm, and a step of moving the object using a robot arm are performed.
  • Teaching the robot system to perform a step to bring it closer to the assembly site and a step to imitate the object to the assembly site so that the robot arm reaches within the allowable range based on the target position. conduct.
  • the teaching can be carried out by a method such as online teaching or offline teaching.
  • This teaching method may include a step of teaching a target position such that the object held by the robot arm interferes with the assembly site.
  • This disclosure provides a computer program.
  • This computer program includes instructions for causing the computer to perform a step of acquiring information indicating a target position and a step of acquiring information indicating an allowable range. Furthermore, a step of holding the object using a robot arm having a flexible drive mechanism, a step of moving the object using the robot arm to bring it closer to the assembly site, and an allowance based on the target position. It includes a step of imitating an object to be assembled so that the robot arm can reach within the range, and a command for causing the computer to generate a control command for operating the robot arm.
  • FIG. 1 shows a functional block diagram of the robot system 100.
  • the robot system 100 includes a robot arm 20 and a control device 10 for controlling the robot arm 20.
  • the robot system 100 according to the present embodiment holds the insert component W which is a fitting object (an example of an “object”), and the fitting object is a gold which is an object to be fitted (an example of an “object”).
  • the fitting operation of assembling to the assembling portion of the mold M is executed.
  • the present invention can be generally applied to an operation including an operation of bringing an object into contact with an object.
  • the robot arm 20 holds an object and performs an operation including an operation of bringing the object into contact with the object.
  • the robot arm 20 is, for example, a vertical articulated robot, and has one or a plurality of bases, a plurality of links 20L, a joint 20J connecting each link 20L, an end effector 20E, and one or a plurality of drive units 20A.
  • the series elastic actuator 20D is provided.
  • the robot arm 20 is not limited to the vertical articulated robot, and may be, for example, a horizontal articulated robot device or a parallel link type robot device.
  • the link 20L is composed of a rigid member, for example, a link 20L corresponding to a body rotatably attached to a base and a lower arm rotatably attached to the body.
  • the end effector 20E (an example of a "holding mechanism") has a function of holding an object.
  • the end effector 20E is attached to the tip of a link 20L corresponding to a wrist portion, and is configured to be able to hold an object by sandwiching it with movable plates 20E1 and 20E2 that are opened and closed by an actuator, for example.
  • the end effector 20E is not limited to this, and for example, a negative pressure is generated in the suction pad based on a plurality of suction pads for holding the surface of the object and a control signal transmitted from the control device 10. It may be provided with an actuator that causes the object to be moved, or may hold an object by electromagnetic force.
  • the end effector 20E of the robot arm 20 shown in the present embodiment is not provided with a sensor for acquiring contact pressure or torque for six axes.
  • the robot arm 20 includes a series elastic actuator 20D provided at at least one joint 20J connecting the links 20L to each other.
  • the series elastic actuator 20D (an example of a "flexible drive mechanism") is composed of, for example, a drive unit 20DA and an elastic body 20DE connected to the drive unit 20DA.
  • the drive unit 20DA is composed of, for example, a servomotor.
  • the elastic body 20DE is composed of, for example, a mechanical spring.
  • the power output from the drive unit 20DA in the series elastic actuator 20D is transmitted to the link 20L on the output side via the elastic body 20DE and is rotated.
  • the series elastic actuator 20D according to the present embodiment includes a sensor for acquiring the displacement amount of the mechanical spring.
  • the parameters are the inertia, mass and length of the part driven by the series elastic actuator 20D corresponding to the flexible drive mechanism, the external force, and the spring constant of the mechanical spring which is the elastic body 20DE.
  • the equation of motion is established. Therefore, the control device 10 is configured to perform mechanical compliance control for controlling impedance based on the spring constant and the amount of displacement of the mechanical spring.
  • the series elastic actuator 20D may be connected to the drive shaft of the servomotor, which is the drive unit 20DA, and may include a gear that transmits power to the mechanical spring. Further, the series elastic actuator 20D may be provided with a damper mechanism for cushioning an impact based on viscosity and a clutch mechanism for switching power transmission.
  • a viscous body such as a damper mechanism having viscosity
  • a viscosity constant is added as a parameter to the equation of motion. For example, an equation of motion is established in which the value obtained by multiplying the viscosity constant by the time change of the link angle is taken as the torque.
  • the link 20L other than the link 20L driven by the series elastic actuator 20D is driven by, for example, a drive unit 20A composed of a servomotor.
  • the drive unit 20A rotates the link 20L on the output side around the drive shaft.
  • the drive unit 20A may be built in the link 20L.
  • the control device 10 acquires the start position of the reference position of the robot arm 20 (for example, the center point of the end effector 20E corresponding to the hand position; hereinafter referred to as “reference position”) and the start position acquisition at that time.
  • the route acquisition unit 10D that acquires the route connecting one or a plurality of target positions acquired by the above, and the servo motor corresponding to each drive unit 20A of the robot arm 20 and the series according to the route acquired by the route acquisition unit 10D.
  • a control command acquisition unit 10E for acquiring a control command for controlling the servo motor of the elastic actuator 20D is provided.
  • the start position acquisition unit 10A acquires, for example, the start position input from the teaching device 50 connected to the control device 10 and the posture at that time.
  • the teaching device 50 may be a teaching device 50 that follows online teaching in which the robot arm 20 is actually moved in the field to teach the reference position and posture at that time as the starting position, or the teaching device 50 may use the position and posture of the reference position as the starting position by a computer program.
  • the teaching device 50 that follows offline teaching such as a text type, a simulator type, an emulator type, or an automatic teaching type may be used.
  • the target position acquisition unit 10B acquires the target position input from the teaching device 50 and the posture at that time, as in the case of the start position, for example.
  • the target position acquisition unit 10B can acquire a plurality of target positions and postures at that time.
  • the permissible range acquisition unit 10C acquires information indicating an allowable range in which the reference position of the robot arm 20 can be separated from the target position with the target position as a reference. Further, the permissible range acquisition unit 10C acquires information indicating a permissible range (an example of the "second permissible range") in which the reference position of the robot arm 20 can be separated from the path with the path as a reference.
  • the information indicating the allowable range of the link 20L is, for example, ⁇ . It is acquired as angle information of ⁇ ⁇ .
  • ⁇ is information in an angle unit that can be preset as a range in which elastic deformation is possible based on the spring constant of the elastic body 20DE of the series elastic actuator 20D.
  • the allowable range acquisition unit 10C sets an allowable range for each of the plurality of links 20L driven by the series elastic actuator 20D. It is possible to obtain the indicated information.
  • the allowable range acquisition unit 10C can acquire different allowable ranges for each target position. For example, at a target position where precise movement is required, it may be configured to acquire an allowable range of ⁇ ⁇ ⁇ (however, ⁇ ⁇ ). Further, the upper limit width and the lower limit width with respect to the target position may be different values.
  • the information indicating the allowable range may be position information indicating a predetermined area that can be taken by the reference position, which is another part of the robot arm 20, as a result of the angle of the link 20L fluctuating. That is, when the angle of the predetermined link 20L is ⁇ + ⁇ , the tip of the link 20L is displaced by the distance obtained by multiplying ⁇ by the length of the link 20L, so that the portion of the downstream robot arm 20 is also displaced accordingly. do. Therefore, the permissible range acquisition unit 10C may use another portion of the robot arm 20 as a reference position and acquire it as position information indicating a predetermined region that the reference position can take.
  • the permissible range is preferably configured to allow a distance of at least ⁇ 5 mm from the path and target position at the reference position of the robot arm 20.
  • the information indicating the permissible range can be determined in advance as a constant based on the elasticity or viscosity of the drive mechanism in the computer program stored in the non-volatile storage element described later. Therefore, the information indicating the permissible range may be acquired by reading the computer program from the arithmetic element of the control device 10. Alternatively, the control device 10 may acquire information indicating an allowable range from the teaching device 50.
  • the route acquisition unit 10D acquires a route (planned locus) connecting the start position and the target position by arithmetic processing or the like. As will be described later, the route acquisition unit 10D according to the present embodiment can acquire a route such that the object held by the robot arm 20 interferes with the object.
  • the control command acquisition unit 10E acquires control commands for controlling each servomotor for moving the reference position according to the route by arithmetic processing or the like. For example, the control command acquisition unit 10E calculates the rotation angle of each servomotor for the reference position to be located on the path by inverse kinematics calculation (inverse kinematics), and generates a control command based on this. , Can be stored in a non-volatile storage element.
  • the control device 10 includes, for example, an arithmetic element that is a processor such as a CPU (Central Processing Unit) and a GPU (Graphical Processing Unit), a SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), and the like. It is possible to configure a computer equipped with a volatile storage element of the above, a non-volatile storage element such as a NOR flash memory, a NAND flash memory, and an HDD (Hard Disc Drive), and a communication means such as a bus connecting these.
  • the non-volatile storage element stores, for example, a computer program (including data such as information indicating an allowable range) for executing each process shown in the present embodiment.
  • the volatile storage element temporarily stores at least a part of these computer programs, arithmetic processing results, and the like.
  • at least a part of these arithmetic elements, non-volatile storage elements and the like may be installed in a remote place connected to a communication network such as the Internet.
  • the arithmetic element may be configured to acquire a computer program or necessary data via a communication network.
  • the control device 10 and the robot arm 20 are configured to be capable of transmitting and receiving information by wireless or wired communication means.
  • a teaching device 50 for teaching operations to the robot system 100 may be connected to the control device 10.
  • the teaching device 50 includes, for example, a portable teaching pendant for performing online teaching.
  • the teaching device 50 includes an arithmetic element, a volatile memory element, and a non-volatile memory element, and further includes a display means having a display and an input means having a plurality of operation keys and levers.
  • the input means may be composed of a touch panel type input means for inputting by pressing the display.
  • the insert component W (an example of an “object”) is provided with a mold M (“assembly site” or “purpose” in which a cylindrical recess is formed.
  • An example of "object” will be described.
  • FIGS. 2A and 2B are schematic views showing a state in which an object, which is an insert component W, is fitted to an object, which is a mold M, by a robot arm 20 in a side view and a top view.
  • the robot arm 20 has a link 20L corresponding to a lower arm portion rotatably attached to the body portion and an upper arm portion rotatably attached to the lower arm portion.
  • the link 20L corresponding to the above, the link 20L corresponding to the wrist part rotatably attached to the upper arm part, the end effector 20E that can be held by sandwiching the object between the movable plates 20E1 and 20E2, and each link.
  • It is equipped with a joint 20J that connects 20L.
  • a series elastic actuator 20D for driving the link 20L corresponding to the lower arm portion is mounted on the joint 20J between the link 20L corresponding to the upper arm portion and the link 20L corresponding to the lower arm portion.
  • the insert component W is formed in a disk shape, for example.
  • the cylindrical recess formed in the mold M is formed, for example, slightly larger than the diameter of the insert component W (for example, 50 ⁇ m larger).
  • the fitting method disclosed in the present disclosure makes it possible to increase the possibility of assembling the object.
  • the specific process will be described below.
  • the end effector 20E of the robot arm 20 tilts and holds the object by sandwiching the upper surface and the side surface of the object.
  • the robot arm 20 moves the object and brings it closer to the object.
  • the robot arm 20 brings the end portion of the object into contact with the surface of the object.
  • the robot arm 20 imitates the object by moving the object relative to the object while maintaining the state where the end of the object is in contact with the surface of the object. Let me know. As shown in FIG.
  • the robot arm 20 when the end of the object reaches the recess, the robot arm 20 brings the side surface of the object into contact with the corner of the recess by inserting the end into the recess. After that, the robot arm 20 imitates the object by rotating the object relative to the object with the side surface of the object in contact with the corner of the recess as a fulcrum. Let me know. As shown in FIG. 3C, the robot arm 20 rotates the object until the object is horizontal. At this time, since the side surface of the object is brought into contact with the recess and rotated to move, it is possible to suppress the possibility that the object protrudes out of the recess when the object becomes horizontal. As shown in FIG. 3D, the robot arm 20 may press the surface of the object to fit the object into the fitting.
  • the robot arm 20 having a flexible drive mechanism it is possible to move the object relative to the assembly site while bringing the object into contact with the assembly site. become. As a result, it becomes possible to easily realize the operation of bringing the object held by the robot arm 20 into contact with the target object. Further, by using the robot arm 20 having a flexible drive mechanism, it is possible to prevent the surface of the object from being damaged even if the surface of the object is pressed.
  • FIG. 4 is a flowchart showing a process for teaching the operation to the robot system 100.
  • the operator teaches the robot system 100 the start position by moving the end effector 20E manually or by using the input means of the teaching device 50 (step S41).
  • the position where the end effector 20E starts holding the object may be set as the starting position.
  • the control device 10 acquires the position and orientation of the end effector 20E when present at the start position, the angle of each link 20L, and the like, and stores the end effector 20E in the non-volatile storage element in association with the start position (step S42).
  • step S43 the operator teaches an operation for holding the object to the end effector 20E (step S43), and the control device 10 stores the operation for holding the object in the non-volatile storage element (step S44). ).
  • step S45 the operator moves the end effector 20E a plurality of times manually or by using the input means of the teaching device 50, and causes the control device 10 to acquire the position and the like of the end effector 20E at that time, whereby the robot system 100 To teach a plurality of target positions (step S45).
  • the position of the end effector 20E where the object interferes with the object is taught as the target position. This point will be described with reference to the drawings.
  • FIG. 5 is a schematic diagram for explaining the difference between the target position and the actual position in the scene where the end portion of the object (insert component W) shown in FIG. 3A comes into contact with the surface of the target object (mold M). be.
  • the end effector 20E and the object held by the end effector 20E when the reference position is at the target position are shown by broken lines.
  • the actual end effector 20E whose reference position is separated from the target position and the object held by the end effector 20E are shown by a solid line.
  • the broken line the object held by the end effector 20E at the target position interferes with the object. In reality, due to the presence of the object, the end of the object comes into contact with the surface of the object.
  • the displacement amount D1 corresponds to the amount of elastic deformation of the elastic body 20DE of the series elastic actuator 20D.
  • a force based on the displacement amount and the spring constant acts from the object to the object.
  • FIG. 6 is a schematic view showing a target position in a scene where the side surface of the object shown in FIG. 3B comes into contact with the surface of the object. Also in the figure, the end effector 20E at the target position and the object held by the end effector 20E are shown by a broken line, and the actual end effector 20E and the object held by the end effector 20E are shown by a solid line.
  • the object (insert component W) held by the end effector 20E at the target position interferes with the object (mold M).
  • the displacement amount D2 corresponds to the amount of elastic deformation of the elastic body 20DE of the series elastic actuator 20D.
  • a force based on the displacement amount and the spring constant acts from the object to the object.
  • the control device 10 acquires the position and posture of the end effector 20E and the angle of each link 20L when they are present at each target position, and stores them in the storage element in association with each target position (step S46).
  • control device 10 acquires information indicating an allowable range (step S47).
  • the control device 10 acquires, for example, position information that allows the reference position of the robot arm 20 to be separated from the target position as information indicating an allowable range.
  • the information indicating the allowable range may be stored in advance in the non-volatile storage element based on the spring constant or the like of the elastic body 20DE of the series elastic actuator 20D.
  • the control device 10 acquires a route connecting a start position and a plurality of target positions by an operation according to a route generation algorithm.
  • the control device 10 causes the object to interfere with the object in a region where the object imitates the object, for example, from the target position in the scene of FIG. 3A to the target position in the scene of FIG. 3B.
  • the route to be used is obtained by calculation. By acquiring the route in this way, it becomes possible to imitate the object with respect to the object.
  • the control device 10 calculates the route so that the distance between the route and the surface of the target object is within the allowable range (step S48).
  • the permissible range on the route may be the same value as the permissible range at the adjacent target positions.
  • the control device 10 allows the object to imitate. Acquire a route that interferes with the target object by calculation. By acquiring the path in this way, it becomes possible to rotate the object in a stable state by pressing the object against the object.
  • control device 10 may store the acquired path in the non-volatile storage element.
  • control command acquisition unit 10E of the control device 10 calculates a control command for controlling each drive unit of the robot arm 20 and the drive unit of the series elastic actuator 20D based on the acquired target position and path. It may be acquired by the above and stored in the non-volatile storage element.
  • FIG. 7 is a flowchart showing an operation method of the robot system 100.
  • the start position acquisition unit 10A and the target position acquisition unit 10B of the control device 10 acquire information indicating the start position and information indicating the target position, respectively (step S71).
  • the control device 10 may acquire this information by reading it from the non-volatile storage element.
  • the control device 10 may acquire this information from the teaching device 50.
  • the permissible range acquisition unit 10C of the control device 10 acquires information or the like indicating the permissible range (step S72).
  • the control device 10 may acquire this information by reading it from the non-volatile storage element.
  • the control device 10 has a route generation algorithm such that the distance between the object surface and the reference position is within an allowable range when the route is acquired by calculation based on the information indicating the start position and the information indicating the target position.
  • the information indicating the permissible range may be acquired by reading the above and acquiring the route based on this.
  • the route acquisition unit 10D of the control device 10 reads out a route generation algorithm from the non-volatile storage element so that the distance between the object surface and the reference position is within the allowable range, and based on this, determines the start position and a plurality of target positions.
  • the route to be connected is acquired by calculation (step S73), and the control command acquisition unit 10E controls each drive unit of the robot arm 20 and the drive unit of the series elastic actuator 20D based on the acquired target position, path, and the like.
  • the control command of is acquired by calculation (step S74).
  • control device 10 controls to reflect the start position information and the like. These information may be acquired by reading the instruction.
  • the robot arm 20 drives each link 20L based on the control command received from the control device 10.
  • the end effector 20E of the robot arm 20 holds the object (step S75).
  • the robot arm 20 moves the object and brings it closer to the object (step S76). Then, the robot arm 20 brings the end portion of the object into contact with the surface of the object (step S77). The robot arm 20 causes the object to imitate the object by moving the object relative to the object while maintaining the state where the end of the object is in contact with the surface of the object. (Step S78). Specifically, from the target position shown by the broken line in FIG. 5 (more accurately, the position of the end effector 20E when the reference position is present at the target position; the same applies hereinafter), the following shown by the broken line in FIG. The object is actually moved from the position shown by the solid line in FIG. 5 toward the target position toward the position shown by the solid line in FIG.
  • the center position (reference position) of the end effector 20E shown by the solid line in FIG. 6 exists within the allowable range with respect to the center position (reference position) of the end effector 20E shown by the broken line in FIG. At this time, the elastic body 20DE of the series elastic actuator 20D is elastically deformed according to the displacement amount.
  • FIG. 8 is a graph for explaining a deceleration operation when the allowable range is exceeded during the copying operation.
  • the horizontal axis is time and the vertical axis is the angle of the link 20L driven by the series elastic actuator 20D.
  • the target link 20L has an angle ⁇ 1 at time t11 as a start position S (or a first target position) and an angle ⁇ 2 at time t2 as a target position G (or a second target position). It is assumed that the planned locus P, which is an angle change in which the angle increases linearly, is set. Further, the permissible range based on the target position and the route of the link 20L is ⁇ ⁇ 1 centered on the angle of the link 20L. Further, in this graph, the actual angle change is shown by the solid line A.
  • the robot arm 20 reduces the rotation speed of the link 20L and the movement speed of the object as described above. , The angle of the link 20L is controlled to be within the permissible range.
  • the control device 10 since the angle of the link 20L is within the allowable range from the time t11 to the time t2, the control device 10 does not control the solid line A to approach the planned locus P. Then, at time t2, when the angle of the link 20L is within the allowable range of the angle ⁇ 2 which is the target position (angle ⁇ 2 ⁇ ⁇ 1), the operation proceeds to the next operation.
  • the control device 10 determines that the reference position of the robot arm 20 has reached the allowable range of the target position set near the recess (step S81), the control device 10 moves the robot arm 20 toward the next target position.
  • the robot arm 20 uses the object as a fulcrum with the side surface of the object in contact with the corner of the recess as a fulcrum, with the end of the object slightly inserted into the recess.
  • the object is made to imitate the object (step S82).
  • the robot arm 20 rotates the object until the object becomes horizontal, and then releases the holding of the object (step S83).
  • the end effector 20E may be used to push down the surface of the object to ensure that the object is fitted to the target.
  • the operation method according to the present embodiment it is possible to realize a series of operations including an operation involving contact with the target object only by setting the start position and the target position. .. Further, by providing the sensor at the hand position, it is possible to realize the operation accompanied by the contact of the object with the target object without using the force sense parameter acquired from this sensor.
  • control may be performed to stop the operation of the robot arm 20 when an excessive force is detected by a sensor provided in the series elastic actuator 20D or the like.
  • various position coordinates may be expressed by any coordinate system such as an orthogonal coordinate system and an indirect coordinate system.
  • the mode of the copying operation is not particularly limited. As shown in the present embodiment, the robot arm can perform a copying motion accompanied by rotational movement and a copying motion accompanied by translational movement, respectively.
  • the present invention holds a flange (an example of an "object”) on which a through hole is formed, and a shaft (“objective”) on the wall surface of the through hole so that the shaft penetrates the through hole.
  • the work of assembling the flange to the shaft and the printed wiring board to be inspected are held and formed on the printed wiring board, following the surface of the "object” and "assembly site”).
  • the inner diameter of the through hole is inspected by tracing the wall surface of the through hole to the surface of the inspection instrument so that the rod-shaped inspection instrument (an example of "object” and "assembly site”) penetrates the through hole.
  • the “assembly site” is not limited to a member to which an object is attached and fixed, but also includes a member having a temporary engagement relationship with the object.
  • the robot arm performs an inspection by imitating the surface of the inspection instrument, which is the assembly site, with the printed wiring board, which is the object, and then holds the printed wiring board as the inspection instrument. May be disengaged and moved to another position.
  • various drive mechanisms can be used in addition to the series elastic actuator.
  • Magnetic fluids mechanical springs (leaf springs, torsion coil springs), air springs, magnetic force springs, vane motors, variable dampers using electric viscous fluids whose viscosity can be adjusted according to the applied voltage, to impart viscosity and elasticity. Etc. may be used.
  • the present invention can be modified in various ways as long as it does not deviate from the gist thereof.
  • some components in one embodiment may be added to other embodiments within the normal creative abilities of those skilled in the art.
  • some components in one embodiment can be replaced with corresponding components in another embodiment.
  • Control device 10A Start position acquisition unit 10B Target position acquisition unit 10C Allowable range acquisition unit 10D Route acquisition unit 10E Control command acquisition unit 20 Robot arm 20A Drive unit 20E End effector 20E1 Movable plate, 20E2 Movable plate 20D Series elastic actuator 20DA Drive unit 20DE Elastic body 20J Joint 20L Link 50 Teaching device 100 Robot system

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
PCT/JP2021/022780 2020-07-03 2021-06-16 動作方法、ロボットシステム、制御装置、教示方法及びプログラム WO2022004371A1 (ja)

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JPS63151291U (enrdf_load_stackoverflow) * 1987-03-23 1988-10-05
JPH04193494A (ja) * 1990-11-28 1992-07-13 Fujitsu Ltd ロボットハンド装置
JPH0639775A (ja) * 1992-07-24 1994-02-15 Canon Inc コンプライアンス機構
JPH06297378A (ja) * 1993-04-20 1994-10-25 Nec Corp コンプライアンス機構
JP3288518B2 (ja) * 1994-03-04 2002-06-04 三菱電機株式会社 部品自動組立方法及び部品自動組立装置
JP2008307634A (ja) * 2007-06-14 2008-12-25 Fanuc Ltd 嵌合装置
JP2014188642A (ja) * 2013-03-28 2014-10-06 Seiko Epson Corp ロボットおよびロボット制御方法
JP2018111198A (ja) * 2016-11-11 2018-07-19 サルコス コーポレーションＳａｒｃｏｓ Ｃｏｒｐ． ロボットシステムのクラッチ式関節モジュール
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CN102448683B (zh) 2009-07-02 2014-08-27 松下电器产业株式会社 机器人、机器人手臂的控制装置及机器人手臂的控制程序
JP2015096290A (ja) 2013-11-15 2015-05-21 セイコーエプソン株式会社 ロボット、ロボットシステム、ロボット制御装置及び方法
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JPS62145305A (ja) * 1985-12-20 1987-06-29 Hitachi Ltd ロボツトによる組立作業制御方法
JPS63151291U (enrdf_load_stackoverflow) * 1987-03-23 1988-10-05
JPH04193494A (ja) * 1990-11-28 1992-07-13 Fujitsu Ltd ロボットハンド装置
JPH0639775A (ja) * 1992-07-24 1994-02-15 Canon Inc コンプライアンス機構
JPH06297378A (ja) * 1993-04-20 1994-10-25 Nec Corp コンプライアンス機構
JP3288518B2 (ja) * 1994-03-04 2002-06-04 三菱電機株式会社 部品自動組立方法及び部品自動組立装置
JP2008307634A (ja) * 2007-06-14 2008-12-25 Fanuc Ltd 嵌合装置
JP2014188642A (ja) * 2013-03-28 2014-10-06 Seiko Epson Corp ロボットおよびロボット制御方法
JP2018111198A (ja) * 2016-11-11 2018-07-19 サルコス コーポレーションＳａｒｃｏｓ Ｃｏｒｐ． ロボットシステムのクラッチ式関節モジュール
WO2020110482A1 (ja) * 2018-11-28 2020-06-04 ソニー株式会社 弾性ユニット

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