WO2022025072A1 - 制御装置及びロボットシステム - Google Patents

制御装置及びロボットシステム Download PDF

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Publication number
WO2022025072A1
WO2022025072A1 PCT/JP2021/027780 JP2021027780W WO2022025072A1 WO 2022025072 A1 WO2022025072 A1 WO 2022025072A1 JP 2021027780 W JP2021027780 W JP 2021027780W WO 2022025072 A1 WO2022025072 A1 WO 2022025072A1
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WO
WIPO (PCT)
Prior art keywords
axis
motor
control
axes
correction value
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2021/027780
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English (en)
French (fr)
Japanese (ja)
Inventor
創一 有田
健一郎 小栗
和輝 澤田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to JP2022539504A priority Critical patent/JP7392159B2/ja
Priority to CN202180060250.2A priority patent/CN116209547A/zh
Priority to US18/001,586 priority patent/US20230302639A1/en
Priority to DE112021002634.8T priority patent/DE112021002634B4/de
Publication of WO2022025072A1 publication Critical patent/WO2022025072A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1651—Program controls characterised by the control loop acceleration, rate control
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop

Definitions

  • the present invention relates to a control device and a robot system.
  • the operation of the articulated robot is controlled by servo-controlling the servomotors arranged on each joint axis.
  • An example of such an articulated robot control device is described in Patent Document 1.
  • a control method that uses motor position / speed information from the encoder of a servomotor placed on each joint axis of an articulated robot as feedback information is also called a semi-closed control method.
  • an encoder that detects the position (angle) of the arm (axis) is placed on each joint axis, and the control method that uses the arm (axis) position information from this encoder as feedback information is a control method.
  • a fully closed control method By the way, in a machine having a plurality of axes such as an articulated robot, a part of the plurality of axes may be in a rotating relationship in which another axis is accompanied by an operation of one axis.
  • a control device and a robot system that can be controlled by an appropriate fully closed control method even when there are axes that are in a rotating relationship.
  • One aspect of the present disclosure is a control for controlling the operation of a machine having a plurality of axes and having a rotation relationship in which the rotation of one of the plurality of axes causes the rotation of the other axis.
  • an axis position detector that detects the position of each of the plurality of axes
  • a motor position detector that detects the position of each of the plurality of motors that drive the plurality of axes
  • the plurality of motor positions according to an operation program.
  • the speed command of the motor corresponding to each of the plurality of axes is output.
  • the speed control unit that controls each of the motors based on the speed command
  • the control target axis which is the axis that rotates depending on the rotation relationship among the plurality of axes.
  • a correction value calculation unit for calculating a correction value for correcting the speed command based on the rotation relationship is provided, and the speed control unit corresponding to the control target axis is the motor of the control target axis. It is a control device that corrects the speed command for the control based on the correction value and applies it to the control of the motor of the control target shaft.
  • Another aspect of the present disclosure is a robot system including the control device and an articulated robot having a configuration as the machine.
  • FIG. 1 is a diagram showing a configuration of a robot system 100 including a robot control device 20 according to an embodiment.
  • FIG. 2 is a functional block diagram of the robot control device 20 and the robot 10.
  • the robot control device 20 executes appropriate control in consideration of the case where the joint axis of the robot 10 has a rotational relationship in the feedback control by the fully closed control method.
  • the robot system 100 includes a robot 10 and a robot control device 20.
  • the robot 10 is a 6-axis vertical articulated robot. Other types of robots may be used as the robot 10.
  • the robot control device 20 controls the operation of the robot 10 according to the operation program.
  • the robot control device 20 may have a configuration as a general computer having a CPU, ROM, RAM, a storage device, an operation unit, a display unit, an input / output interface, a network interface, and the like.
  • a teaching device (not shown) may be connected to the robot control device 20.
  • the robot 10 is a 6-axis robot and has 6 joint axes (hereinafter, also simply referred to as axes) J1-axis-J6 axis.
  • the J1 axis and the J6 axis are rotatable as shown by the arrows in FIG.
  • the robot 10 is provided with an encoder on each axis as a detector for detecting the position (angle) of each axis.
  • the robot 10 can perform feedback control by a fully closed control method based on the detection position (detection angle) of each axis.
  • a relationship in which the rotation of one axis causes the rotation of another axis there may be a relationship in which the rotation of one axis causes the rotation of another axis.
  • the rotation relationship includes all cases where the rotation of at least one of a plurality of axes causes the rotation of at least one of the other axes.
  • the robot arm shown in FIG. 5 includes a first arm 331 and a second arm 332.
  • Such a robot arm mechanism is used, for example, as a mechanism of an arm tip portion of an articulated robot.
  • the servomotor 301 drives the B-axis (rotating factor axis), and the servomotor 302 drives the A-axis (rotating axis).
  • the servomotor 301 rotates, the first arm 331 rotates via the gears 311a and 311b. That is, the B axis is rotation-controlled by the rotation of the servomotor 301.
  • the servomotor 302 rotates, the shaft 321 rotates via the gears 312a and 312b, the shaft 323 rotates further via the bevel tooth gears 322a and 322b, and the second arm 332 rotates. That is, the A-axis is rotation-controlled by the rotation of the servomotor 302.
  • the umbrella tooth gear 322b rotates
  • the second arm 332 also has the A axis. It causes rotation around (that is, accompaniment). Therefore, when the servomotor 301 rotates, the B axis rotates, the first arm 331 rotates, and the second arm 332 rotates around the A axis.
  • each axis control by the fully closed control method in consideration of the rotation according to the present embodiment as a reference example, a semi-closed control method using an encoder that detects the motor position (rotation angle) and speed, and a semi-closed control method.
  • a general fully closed control method using an encoder that detects the position of an arm (each axis) will be described with reference to FIGS. 4A and 4B.
  • FIG. 4A shows a block diagram of the feedback control circuit by the semi-closed control method.
  • a motor position command is input as a command to the feedback control circuit of the semi-closed control method, and the motor position command is converted into a motor speed command by the position control unit 41 (Gp (s)).
  • the speed control unit 42 (Gv (s)) outputs a command (current command or the like) for controlling the motor 43 according to the speed command.
  • the robot mechanism is described as "twisting system”.
  • the motor speed is feedback-controlled as a minor loop, and the position control unit 41 executes the control using the deviation between the feedback signal of the motor position and the motor position command.
  • FIG. 4B shows a feedback control circuit based on a general fully closed control method.
  • An arm (axis) position command is given to the feedback control circuit of FIG. 4B as a command, and the position control unit 51 (Gp (s)) converts the arm position command into a motor speed command.
  • the speed control unit 52 (Gv (s)) outputs a command (current command or the like) for controlling the motor 53 according to the motor speed command.
  • the motor speed is feedback-controlled as a minor loop, and the position control unit 51 executes the control using the deviation between the feedback signal of the arm (axis) position and the arm (axis) position command.
  • control is performed based only on the motor speed of a single motor 53 arranged on the control target axis, so that the position of the control target axis also depends on other axes. It is understood that the companionship is not taken into account.
  • the robot control device 20 controls the operation of the robot 10 by a storage unit 32 that stores an operation program and other various information related to the control of the robot 10 and a kinematic calculation according to the operation program. It is provided with a position command calculation unit 27 for calculating a position (angle) command for each axis, and a feedback control unit 21-26 for executing feedback control by a fully closed control method for the J1 axis and the J6 axis, respectively.
  • the robot control device 20 further includes a correction value calculation unit 28 that calculates a correction value for a speed command of the rotation axis based on the rotation relationship.
  • the functional blocks of the robot control device 20, such as the position command calculation unit 27, the feedback control unit 21-26, and the correction value calculation unit 28, are realized by the CPU 31 of the robot control device 20 executing various software. Alternatively, it may be realized by a configuration mainly composed of hardware such as ASIC (Application Specific Integrated Circuit).
  • ASIC Application Specific Integrated Circuit
  • the robot 10 has a J1 axis 111, a J2 axis 112, a J3 axis 113, a J4 axis 114, a J5 axis 115, and a J6 axis 116, and each of these six axes has an axis position detection that detects an axis position (angle).
  • An encoder 121-126 is provided as a device.
  • the encoder 121-126 may be, for example, an optical rotary encoder.
  • the encoders 121-126 feed back the position information of the axes to the feedback control units 21-26, respectively.
  • Motors 211-216 which are servomotors, are arranged on the J1 to J6 axes.
  • the motors 211-216 are provided with encoders 221-226 as motor position detectors for detecting the rotation position.
  • the encoder 221-226 may be, for example, an optical rotary encoder.
  • the encoder 221-226 feeds back the position information and the speed information of the motor to the feedback control units 21-26, respectively.
  • the arm position ⁇ Jn when there is no rotation is expressed by the following mathematical formula (1).
  • the relationship between the arm position ⁇ Jn and the motor position ⁇ mn when there is a rotation relationship can be expressed by the following mathematical formula (2).
  • the position of a certain axis is not only the position of the motor provided on the axis, but also the position of the motor provided on the axis other than the axis.
  • Dependent In the matrix on the right side of the equation (2), when at least one of the components other than the diagonal components has a non-zero component, there is a rotation relationship.
  • the position of the J6 axis has a rotation relationship depending on the motor positions of the J4 axis and the J5 axis.
  • the position of the J6 axis is expressed by the following mathematical formula (3).
  • the coefficients representing the influence of the motor positions of the J4 axis and the J5 axis on the position of the J6 axis are ⁇ and ⁇ , respectively.
  • the speed of the J6 axis motor 216 is expressed as the following formula (6).
  • the correction value calculation unit 28 calculates the correction value as in the formula (7), and the calculated correction value is used as the feedback control unit (in this case, the control target axis). It is applied to the feedback control unit 26).
  • the correction value calculation unit 28 is accompanied by the position of the control target axis that rotates depending on the rotation relationship and the control target axis according to the above example.
  • the correction value is calculated based on the correspondence relationship (formula (4) in the above example) with the position of the motor corresponding to at least one axis that causes rotation.
  • FIG. 3 shows the feedback control by the fully closed control method for the J6 axis as a block diagram.
  • the fully closed control method for the other axes is the same as in FIG.
  • the feedback control circuit of FIG. 3 drives the position control unit 261 that calculates the speed command of the motor 216 based on the arm (axis) position command, and the motor 216 according to the speed command. It is provided with a speed control unit 262 that outputs a drive signal for the purpose.
  • the position control unit 261 and the speed control unit 262 in FIG. 3 correspond to the feedback control unit 26 of the J6 axis in FIG.
  • the motor speed is feedback-controlled as a minor loop, the shaft position is fed back, and the position control unit 261 executes the control using the deviation from the arm position command.
  • the motor speed correction value as the correction value (formula (7)) calculated by the correction value calculation unit 28 is the speed output by the position control unit 261.
  • the speed command is corrected by adding it to the command value. Therefore, speed control is realized for the J6 axis in consideration of the rotation relationship.
  • the feedback control unit 26 of the J6 axis can perform speed control based on the speed command in which the correction is made based on the correction value calculated by the correction value calculation unit 28.
  • the present embodiment even when the axis of the robot has a rotation relationship, it is possible to apply the control considering the rotation relationship to the control of the control target axis, and the robot arm.
  • the performance of position control can be improved.
  • the dynamic performance when operating the robot arm while controlling a plurality of axes including the axes in a rotating relationship is improved.
  • the coefficients AF, ⁇ , ⁇ and the like between each axis position and the motor position shown in the above-described embodiment may be stored in advance in the storage unit 32 of the robot control device 20, or the robot control device.
  • the user may be able to set via the operation unit (not shown) of 20.
  • these coefficients may be input from the external device to the robot control device 20.
  • the functional configuration of the robot control device 20 shown in FIG. 2 is an example, and various modifications may be made.
  • the robot control device 20 has one correction value calculation unit 28, and the correction value calculation unit 28 calculates a correction value to be applied to the control of the control target axis and controls the control target axis.
  • the configuration is applied to the feedback control unit of the above, instead of such a configuration, there may be a configuration in which each of the feedback control units 21-26 has a function of a correction value calculation unit that calculates a correction value inside the feedback control unit 21-26. ..
  • Robot 20 Robot control device 21-26 Feedback control unit 27 Position command calculation unit 28 Correction value calculation unit 31 CPU 32 Storage unit 100
  • Encoder 211-216 Motor 221-226 Encoder 261

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
PCT/JP2021/027780 2020-07-31 2021-07-27 制御装置及びロボットシステム Ceased WO2022025072A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2022539504A JP7392159B2 (ja) 2020-07-31 2021-07-27 制御装置及びロボットシステム
CN202180060250.2A CN116209547A (zh) 2020-07-31 2021-07-27 控制装置以及机器人系统
US18/001,586 US20230302639A1 (en) 2020-07-31 2021-07-27 Control device and robot system
DE112021002634.8T DE112021002634B4 (de) 2020-07-31 2021-07-27 Steuervorrichtung und Robotersystem

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020130903 2020-07-31
JP2020-130903 2020-07-31

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WO2022025072A1 true WO2022025072A1 (ja) 2022-02-03

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JP (1) JP7392159B2 (https=)
CN (1) CN116209547A (https=)
DE (1) DE112021002634B4 (https=)
WO (1) WO2022025072A1 (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03281083A (ja) * 1990-03-29 1991-12-11 Fanuc Ltd Ｃｎｃレーザ加工機の姿勢制御方式
JP2000000785A (ja) * 1998-06-11 2000-01-07 Meidensha Corp マニプレータの制御装置

Family Cites Families (12)

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Publication number Priority date Publication date Assignee Title
JPH0224075A (ja) * 1988-07-13 1990-01-26 Mitsubishi Electric Corp 産業用ロボット
JP2572483B2 (ja) * 1990-10-16 1997-01-16 本田技研工業株式会社 産業用ロボット装置
JPH0663884A (ja) * 1992-08-20 1994-03-08 Tokico Ltd 位置検出装置
JP4765995B2 (ja) * 2007-04-27 2011-09-07 セイコーエプソン株式会社 ロボット、及び、ロボット用のアタッチメント
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
JP5370392B2 (ja) * 2011-02-23 2013-12-18 株式会社安川電機 ロボットシステム、ロボット制御装置およびロボット制御方法
DE112012006256B4 (de) * 2012-04-20 2015-11-19 Mitsubishi Electric Corporation Robotergelenkstruktur
JP6504864B2 (ja) * 2015-03-13 2019-04-24 キヤノン株式会社 ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法
JP6684556B2 (ja) * 2015-08-28 2020-04-22 株式会社電通 データ変換装置、ロボット、プログラム及び情報処理方法
CN106863347B (zh) * 2017-03-07 2023-08-18 壹利特机器人科技（常州）有限公司 一种模块化两自由度机器人关节
JP7117827B2 (ja) * 2017-05-18 2022-08-15 川崎重工業株式会社 モータ制御システム、モータ制御システムの制御方法、及びロボットシステム
EP3653347B1 (en) * 2017-07-11 2024-09-11 Panasonic Intellectual Property Management Co., Ltd. Robot control device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03281083A (ja) * 1990-03-29 1991-12-11 Fanuc Ltd Ｃｎｃレーザ加工機の姿勢制御方式
JP2000000785A (ja) * 1998-06-11 2000-01-07 Meidensha Corp マニプレータの制御装置

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JPWO2022025072A1 (https=) 2022-02-03
DE112021002634T5 (de) 2023-03-23
DE112021002634B4 (de) 2025-05-15
JP7392159B2 (ja) 2023-12-05
CN116209547A (zh) 2023-06-02
US20230302639A1 (en) 2023-09-28

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