WO2022102464A1 - ロボット制御方法及びロボット制御装置 - Google Patents

ロボット制御方法及びロボット制御装置 Download PDF

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Publication number
WO2022102464A1
WO2022102464A1 PCT/JP2021/040318 JP2021040318W WO2022102464A1 WO 2022102464 A1 WO2022102464 A1 WO 2022102464A1 JP 2021040318 W JP2021040318 W JP 2021040318W WO 2022102464 A1 WO2022102464 A1 WO 2022102464A1
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WIPO (PCT)
Prior art keywords
motor
compensation current
gravity compensation
gravity
igc
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PCT/JP2021/040318
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English (en)
French (fr)
Japanese (ja)
Inventor
広之 中田
敦実 橋本
良祐 山本
保義 本内
Original Assignee
パナソニックＩｐマネジメント株式会社
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Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN202180057939.XA priority Critical patent/CN116113522A/zh
Priority to JP2022561837A priority patent/JP7442053B2/ja
Publication of WO2022102464A1 publication Critical patent/WO2022102464A1/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

Definitions

  • This disclosure relates to a robot control method and a robot control device.
  • the robot is operated by a torque command signal obtained by adding an integrated value to a proportional value during position control, while a torque command signal obtained by adding a compensation value to a proportional value limited to a torque limit value during flexible control.
  • a robot control device for operating a robot.
  • the robot arm is stretched and does not rotate when a collision force is applied from the output side of the motor, so-called self-lock. It is easy to get into a state where it is applied.
  • the present disclosure has been made in view of this point, and an object thereof is to enable the motor to rotate in a direction in which the collision force is released even when a collision force is applied from the output side of the motor.
  • the first invention is a robot control method for controlling the operation of a robot arm having a plurality of motors, and the gravitational torque ( ⁇ ge) applied to the motor to be compensated based on the rotation angles of the plurality of motors. Based on the step of calculating the gravity compensation current (Igc), the step of calculating the gravity compensation current (Igc) for compensating the gravity torque ( ⁇ ge), the gravity compensation current (Igc), and a predetermined gravity subtraction set value (Igth).
  • the gravity compensation current correction value (Igc4) is calculated based on the gravity compensation current (Igc), the gravity compensation current subtraction value (Igsub), and the vibration sine wave (Igsin).
  • the gravity compensation current (Igc) is a current applied to the motor to compensate the gravity torque ( ⁇ ge) applied to the motor to be compensated.
  • the gravity compensation current (Igc) is subtracted from the gravity compensation current subtraction value (Igsub).
  • the gravitational compensation current (Igc) is added with a vibrating sine wave (Igsin).
  • the motor that has been self-locked and is in the static friction stop state can be vibrated from the input side to put the motor in the dynamic friction state.
  • the motor can be rotated in a direction in which the collision force is released.
  • the third invention is a robot control device for controlling the operation of a robot arm having a plurality of motors, and the gravitational torque ( ⁇ ge) applied to the motor to be compensated based on the rotation angles of the plurality of motors.
  • the first calculation unit that calculates the second calculation unit that calculates the gravity compensation current (Igc) that compensates for the gravity torque ( ⁇ ge), the gravity compensation current (Igc), and a predetermined gravity subtraction set value (Igth).
  • the third calculation unit that calculates the gravity compensation current subtraction value (Igsub), the predetermined vibration sine wave amplitude (Igsa), and the predetermined frequency (Igsf).
  • Gravity compensation current correction value based on the fourth calculation unit that calculates (Igsin), the gravity compensation current (Igc), the gravity compensation current subtraction value (Igsub), and the vibration compensation sine wave (Igsin). It is characterized by having a fifth calculation unit for calculating (Igc4).
  • the gravity compensation current correction value (Igc4) is calculated based on the gravity compensation current (Igc), the gravity compensation current subtraction value (Igsub), and the vibration sine wave (Igsin).
  • the gravity compensation current (Igc) is a current applied to the motor to compensate the gravity torque ( ⁇ ge) applied to the motor to be compensated.
  • the gravity compensation current (Igc) is subtracted from the gravity compensation current subtraction value (Igsub).
  • the gravitational compensation current (Igc) is added with a vibrating sine wave (Igsin).
  • the motor that has been self-locked and is in the static friction stop state can be vibrated from the input side to put the motor in the dynamic friction state.
  • the motor can be rotated in a direction in which the collision force is released.
  • a motor having a hypoid gear is used.
  • the hypoid gear has a ring-shaped gear. This allows the robot cable to be placed through the interior of the ring-shaped gear. Further, even if the motor has a hypoid gear that is easily self-locked, the motor can be rotated in a direction in which the collision force is released.
  • FIG. 1 is a diagram showing a configuration of a robot according to the present embodiment.
  • FIG. 2 is a perspective view showing the configuration of the hypoid gear.
  • FIG. 3 is a perspective view showing the arrangement of the hypoid gear and the cable.
  • FIG. 4 is a block diagram showing the configuration of the robot control device.
  • FIG. 5 is a diagram showing a configuration of a flexible control block.
  • FIG. 6 is a diagram showing a waveform of a gravity compensating current when rotated by 360 ° from the arm side in a flexible control state.
  • FIG. 7 is a diagram showing a waveform of a gravity compensation current subtraction value when rotated by 360 ° from the arm side in a flexible control state.
  • FIG. 8 is a diagram showing a waveform of a vibrating sine wave when rotated by 360 ° from the arm side in a flexible control state.
  • FIG. 9 is a diagram showing a waveform of a gravity compensation current correction value when rotated by 360 ° from the arm side in a flexible control state.
  • FIG. 10 is a diagram showing a waveform of a gravity compensation current when a collision is stopped at a position of an operating angle of 60 ° on the fourth axis in a flexible control state.
  • FIG. 11 is a diagram showing a waveform of a gravity compensation current subtraction value when a collision is stopped at a position of an operating angle of 60 ° on the fourth axis in a flexible control state.
  • FIG. 12 is a diagram showing a waveform of a vibrating sine wave when a collision is stopped at a position of an operating angle of 60 ° on the fourth axis in a flexible control state.
  • FIG. 13 is a diagram showing a waveform of a gravity compensation current correction value when a collision is stopped at a position of an operating angle of 60 ° on the fourth axis in a flexible control state.
  • the vertical articulated robot 1 has a robot arm 2 and a plurality of joint portions J1 to J6.
  • a robot control device 10 is connected to the robot 1.
  • the robot arm 2 is divided into a plurality of parts, and joint parts J1 to J6 are provided at the connecting parts of each part.
  • the joint portions J1 to J6 have a first axis to a sixth axis.
  • Servo motors 3 are connected to the joints J1 to J6 via speed reducers, respectively.
  • the servomotor 3 is driven based on the position command ⁇ com from the robot control device 10.
  • the servomotor 3 controls the operation and posture of the robot arm 2 by rotating the joint portions J1 to J6 by desired amounts.
  • the joints J1 to J3 are three main axes that determine the overall posture of the robot arm 2.
  • the joint portion J1 is a swivel axis that swivels the robot arm 2.
  • the joint portions J4 to J6 are three wrist axes that determine the direction of the tip of the robot arm 2.
  • the joint portion J4 of the RW axis (fourth axis) and the joint portion J6 of the TW axis (sixth axis) include a speed reducer configured by the hypoid gear 5.
  • the hypoid gear 5 has a ring gear 6 and a pinion gear 7.
  • the cable 8 is inserted through the hole in the center of the ring gear 6.
  • the cable 8 is, for example, a welded cable of a welded portion attached to the tip of the robot 1.
  • the pinion gear 7 is connected to the servomotor 3 via a belt or the like.
  • the robot control device 10 has a position control block 12.
  • the position control block 12 constitutes a feedback controller.
  • the position control block 12 generates a current command for making the actual motor rotation angle ⁇ fb follow the motor rotation angle command ⁇ com.
  • the motor rotation angle command ⁇ com and the actual motor rotation angle ⁇ fb are input to the position control block 12.
  • the first current command Icom1 is calculated by performing PID calculation or the like from the motor rotation angle command ⁇ com and the motor rotation angle ⁇ fb.
  • the position control block 12 outputs the first current command Icom1 to the control mode switching block 15.
  • the current control block 13 generates a current command for generating torque in the motor in the direction opposite to that of the motor rotation.
  • the actual motor angular velocity ⁇ fb is input to the current control block 13.
  • the current control block 13 outputs the second current command Icom2 to the control mode switching block 15.
  • the flexible control block 14 generates a current command for performing flexible control following the direction of the collision force.
  • the first current command Icom1 the actual motor rotation angle ⁇ fb, and the other axis motor rotation angle load mass information 29 are input to the flexible control block 14.
  • the flexible control block 14 outputs a third current command Icom3 to the control mode switching block 15.
  • the motor deceleration determination signal Dth, the collision direction flag Dir, and the collision detection signal Dcol are input to the control mode switching block 15.
  • the control mode switching block 15 selects one of the first current command Icom1, the second current command Icom2, and the third current command Icom3 based on the motor deceleration determination signal Dth, the collision direction flag Dir, and the collision detection signal Dcol. Then, it is output as the motor current Im applied to the motor.
  • control mode switching block 15 switches to the flexible control block 14 that follows the direction of the collision force when the motor rotation speed becomes equal to or less than the set value.
  • control mode switching block 15 switches from the position control block 12 to the flexible control block 14 when the motor rotation direction and the collision torque direction are the same axis.
  • the motor current Im is supplied to the motor + actual load 17 shown by the dotted line frame in FIG.
  • the motor torque ⁇ mm obtained by multiplying the motor current Im by the torque constant Kt is generated in the calculation block 18.
  • a torque obtained by subtracting the disturbance torque 20 from the motor torque ⁇ mm is applied to the motor transfer function 21.
  • the disturbance torque 20 is the sum of the friction torque ⁇ , the gravitational torque ⁇ g, the kinetic torque ⁇ dyn (sum of inertial force, centrifugal force, and colioli force), and the collision torque ⁇ dis.
  • the motor transfer function 21 is described using the motor inertia J.
  • the motor transfer function 21 outputs the motor rotation angle ⁇ fb.
  • the motor rotation angle ⁇ fb is detected by an optical or magnetic encoder.
  • the value obtained by multiplying the motor rotation angle ⁇ fb by the reciprocal 1 / Rg of the gear ratio is output as the operating angle ⁇ ax.
  • the collision direction determination block 23 calculates the collision direction flag Dir based on the following conditions.
  • the collision direction flag Dir is set to "1" when the directions of the motor angular velocity ⁇ fb and the collision torque detection value ⁇ disd are opposite to each other, and is set to "0" in other cases.
  • the motor rotation angle ⁇ fb is input to the motor angular velocity detection block 24.
  • the motor angular velocity detection block 24 calculates the motor angular velocity ⁇ fb by differentiating the motor rotation angle ⁇ fb or the like.
  • the collision torque detection value ⁇ disd and the other axis collision torque detection value 28 are input to the collision determination block 25.
  • the collision determination block 25 determines that a collision has occurred when the collision torque detection value ⁇ disd and the other axis collision torque detection value 28 exceed a predetermined collision torque detection threshold even for one axis of the robot arm 2. ..
  • the collision determination block 25 outputs a collision detection signal Dcol to the control mode switching block 15.
  • the angular velocity and the angular acceleration are calculated by time-differentiating the motor rotation angle ⁇ fb and the other axis motor rotation angle load mass information 29.
  • the torque required for the motor is obtained by reverse dynamics calculation under the condition that the collision torque ⁇ dis is not generated by using the information of the robot machine parameters.
  • the collision torque detection block 26 calculates the collision torque detection value ⁇ disd by subtracting the value obtained by multiplying the motor current Im by the torque constant Kt from the torque obtained by the inverse dynamics calculation.
  • the motor angular velocity ⁇ fb is input to the motor deceleration determination block 32.
  • the motor deceleration determination block 32 compares the magnitude of the motor angular velocity ⁇ fb with the set threshold value to confirm the deceleration of the motor. Specifically, if the following conditions are satisfied, it is determined that the motor has been decelerated.
  • the motor deceleration determination block 32 outputs the motor deceleration determination signal Dth to the control mode switching block 15 when the absolute value of the motor angular velocity ⁇ fb becomes smaller than the predetermined deceleration determination threshold value ⁇ th.
  • control mode switching block 15 selects the first current command Icom1 as the motor current Im and applies it to the motor + actual load 17.
  • the control mode switching block 15 switches the control mode based on the information of the collision direction flag Dir shown below when the collision detection signal Dcol is input.
  • the control mode switching block 15 selects the third current command Icom3 as the motor current Im and shifts to the flexible control mode.
  • the motor deceleration determination block 32 outputs the motor deceleration determination signal Dth to the control mode switching block 15.
  • control mode switching block 15 selects the third current command Icom3 as the motor current Im and shifts to the flexible control mode.
  • the control mode switching block 15 shifts to the flexible control mode without shifting from the normal control mode to the current control mode. do. That is, the control mode switching block 15 shifts from the normal control mode to the flexible control mode without applying a reverse torque to the motor to decelerate the motor.
  • the flexible control block 14 realizes flexible control by limiting the current to the first current command Icom1 output from the position control block 12 and adding a gravity compensation current to prevent the robot from falling due to its own weight. do.
  • the motor deceleration determination signal Dth becomes "1"
  • the motor angular velocity ⁇ fb is smaller than the predetermined deceleration determination threshold value ⁇ th. Therefore, the motor has a small inertial energy in a substantially stopped state, and by shifting to the flexible control mode, it is possible to eliminate the distortion caused by the collision in the speed reducer or the like.
  • the motor 3 can be rotated in a direction in which the collision force is released. I made it.
  • the flexible control block 14 has a gravity torque calculation block 101 (first calculation unit).
  • the motor rotation angle ⁇ fb and the other axis motor rotation angle load mass information 29 are input to the gravity torque calculation block 101.
  • the gravity torque calculation block 101 calculates the gravity torque ⁇ ge applied to the motor 3 to be compensated by the dynamics calculation from the motor rotation angle ⁇ fb and the other axis motor rotation angle load mass information 29.
  • the gravity torque calculation block 101 outputs the gravity torque ⁇ ge.
  • the gravitational torque ⁇ ge is input to the calculation block 103 (second calculation unit).
  • the gravity compensation current Igc that compensates for the gravity torque ⁇ ge is calculated.
  • the gravity compensation current Igc is a value obtained by multiplying the gravity torque ⁇ ge by the reciprocal 1 / Kt of the torque constant.
  • the calculation block 103 outputs the gravity compensation current Igc.
  • FIG. 6 shows the waveform of the gravity compensation current Igc when the joint portion J4 of the fourth axis is rotated 360 ° (-180 ° to 180 °) from the arm side (reducer output side) in the flexible control state. ..
  • Gravity compensation current Igc is input to the gravity compensation current subtraction value block 107 (third calculation unit).
  • the gravity compensation current subtraction value block 107 reduces the gravity compensation current Igc for the purpose of alleviating the self-locking state of the motor 3.
  • the gravity compensation current subtraction value block 107 calculates and outputs the gravity compensation current subtraction value Igsub based on the gravity compensation current Igc and the predetermined gravity subtraction set value Igth.
  • the gravity compensation current subtraction value Igc is calculated by the following equation.
  • Igc> Igth (Igsub Igth)
  • the gravity compensation current Igc is smaller than the negative value (-Igth) of the gravity subtraction set value
  • the waveform of the gravity compensation current subtraction value Igsub has a motor current maximum ratio higher than 20% in the gravity compensation current Igc shown in FIG.
  • the shape is such that the peaks and the valleys below -20% are removed.
  • the vibration sine wave current calculation block 109 calculates the vibration sine wave Igsin for shifting the motor in the self-locking state from the static friction stop state to the dynamic friction state.
  • the vibration sine wave current calculation block 109 calculates and outputs the vibration sine wave Igsin based on the predetermined vibration sine wave amplitude Igsa and the predetermined frequency Igsf. Assuming that the elapsed time is t, the oscillating sine wave Igsin can be obtained by the following equation.
  • the calculation block 116 calculates the gravity compensation current correction value Igc4 based on the gravity compensation current Igc, the gravity compensation current subtraction value Igsub, and the vibrating sinusoidal wave Igsin.
  • the gravity compensation current correction value Igc4 is calculated by the following equation.
  • Igc4 Igc-Igsub + Igsin
  • the subtraction value (Igsin-Igsub) is calculated by subtracting the gravity compensation current subtraction value Igsub from the vibrating sine wave Igsin.
  • the calculation block 116 calculates and outputs the gravity compensation current correction value Igc4 by switching the switch Swg and selectively adding the subtraction value (Igsin-Igsub) to the gravity compensation current Igc.
  • the flexibility control block 14 calculates the fourth current command Icom4 at the time of flexibility control by adding the current command limit value Ic1_lim to the gravity compensation current correction value Igc4.
  • the flexible control block 14 outputs the fourth current command Icom4.
  • the flexible control block 14 constitutes a current command correction unit that corrects the current command of the motor 3 based on the gravity compensation current correction value Igc4 during the flexible control.
  • FIG. 10 shows the waveform of the gravity compensation current Igc when the joint portion J4 of the fourth axis is rotated 360 ° (-180 ° to 180 °) from the arm side (reducer output side) in the flexible control state. ..
  • the maximum motor current ratio of the gravity compensation current Igc is 26%.
  • the maximum motor current ratio of the gravity compensation current subtraction value Igsub is 20%.
  • the oscillating sine wave amplitude Igsa is 5%
  • the frequency Igsf is 20 Hz
  • the elapsed time t is 2 seconds
  • the waveform of the oscillating sine wave amplitude Igsa shown in FIG. 12 is obtained.
  • the horizontal axis is the time axis.
  • the waveform of the gravity compensation current correction value Igc4 shown in FIG. 13 can be obtained.
  • the horizontal axis is the time axis.
  • the flexibility of the robot arm 2 is obtained by correcting the current command of the motor 3 based on the gravity compensation current correction value Igc4 during the flexible control. Can be secured to mitigate the tension phenomenon.
  • the motor 3 that has been self-locked and is in the static friction stop state can be vibrated from the input side to bring the motor 3 into the dynamic friction state.
  • the motor 3 can be rotated in a direction in which the collision force is released.
  • the present disclosure is extremely useful and industrially effective because it has a highly practical effect that the motor can be rotated in a direction in which the collision force is released even when the collision force is applied from the output side of the motor. Is highly available.
  • Robot control device Flexible control block (flexible control unit, current command correction unit) 101 Gravity torque calculation block (1st calculation unit) 103 Calculation block (second calculation unit) 107 Gravity compensation current subtraction value block (3rd calculation unit) 109 Excited sine wave current calculation block (4th calculation unit) 116 Calculation block (5th calculation unit) ⁇ ge Gravity Torque Igc Gravity Compensation Current Igth Gravity Subtraction Set Value Igsub Gravity Compensation Current Subtraction Value Igsa Vibration Compensation Sine Wave Amplitude Igsf Frequency Igsin Vibration Compensation Sine Wave Igc4 Gravity Compensation Current Correction Value

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
PCT/JP2021/040318 2020-11-11 2021-11-02 ロボット制御方法及びロボット制御装置 WO2022102464A1 (ja)

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CN202180057939.XA CN116113522A (zh) 2020-11-11 2021-11-02 机器人控制方法以及机器人控制装置
JP2022561837A JP7442053B2 (ja) 2020-11-11 2021-11-02 ロボット制御方法及びロボット制御装置

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61231612A (ja) * 1985-04-05 1986-10-15 Nissan Motor Co Ltd ロボツトの制御装置
JPS61243513A (ja) * 1985-04-22 1986-10-29 Nissan Motor Co Ltd ロボツトの制御装置
JPH05104466A (ja) * 1991-10-18 1993-04-27 Brother Ind Ltd 多関節ロボツトの原点復帰制御装置
JPH10180663A (ja) * 1996-12-19 1998-07-07 Yaskawa Electric Corp ロボットアームの制御装置
JPH1142576A (ja) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd ロボットの制御方法および装置
US20070260356A1 (en) * 2003-05-22 2007-11-08 Abb Ab Control Method for a Robot
JP2019093489A (ja) * 2017-11-24 2019-06-20 ファナック株式会社 ロボットの構造

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61231612A (ja) * 1985-04-05 1986-10-15 Nissan Motor Co Ltd ロボツトの制御装置
JPS61243513A (ja) * 1985-04-22 1986-10-29 Nissan Motor Co Ltd ロボツトの制御装置
JPH05104466A (ja) * 1991-10-18 1993-04-27 Brother Ind Ltd 多関節ロボツトの原点復帰制御装置
JPH10180663A (ja) * 1996-12-19 1998-07-07 Yaskawa Electric Corp ロボットアームの制御装置
JPH1142576A (ja) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd ロボットの制御方法および装置
US20070260356A1 (en) * 2003-05-22 2007-11-08 Abb Ab Control Method for a Robot
JP2019093489A (ja) * 2017-11-24 2019-06-20 ファナック株式会社 ロボットの構造

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JPWO2022102464A1 (zh) 2022-05-19
JP7442053B2 (ja) 2024-03-04

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