WO2022154021A1 - ロボットのジョイントのすき間検出装置及びすき間検出方法 - Google Patents
ロボットのジョイントのすき間検出装置及びすき間検出方法 Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 238000004088 simulation Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims abstract description 20
- 238000000513 principal component analysis Methods 0.000 claims description 15
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- 238000004519 manufacturing process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000012795 verification Methods 0.000 description 5
- 238000007476 Maximum Likelihood Methods 0.000 description 4
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- 238000012933 kinetic analysis Methods 0.000 description 2
- 238000010187 selection method Methods 0.000 description 2
- 238000000342 Monte Carlo simulation Methods 0.000 description 1
- 238000013477 bayesian statistics method Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
-
- 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
- B25J19/06—Safety 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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40235—Parallel robot, structure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40515—Integration of simulation and planning
Definitions
- the present invention relates to a device and a method for detecting a gap in a robot joint.
- a parallel link robot having a delta type parallel link mechanism having a function of three-dimensionally positioning a movable part equipped with an end effector is known.
- the delta type parallel link robot includes a foundation portion, a movable portion, and a drive link and a passive link connecting the foundation portion and the movable portion.
- three pairs of drive links and passive links are provided, and the movable part can be moved with three degrees of freedom (X, Y, Z) by individually controlling the operation of each pair.
- the passive link and the drive link and the passive link and the movable part are connected by a ball joint having three degrees of freedom, and the ball joint can be classified into a separate type and an integrated type.
- a sensor for detecting the inclination of the end plate, which is the final output of the parallel link robot is provided, and the ball joint is based on the output value of the sensor. Examples thereof include a parallel link robot that detects that the connection between links has been released at at least one of a plurality of connection points of the links according to the above (see, for example, Patent Document 1).
- a detection device that forms an internal passage that opens on the surface of the ball head of the ball joint and determines whether or not the ball joint is disconnected based on the detected value of the pressure in the internal passage is well known (for example, See Patent Document 2).
- the integrated ball joint has a link ball structure in which the ball and the housing are integrated so that the housing and the ball are not easily separated, for example.
- a robot's motion trajectory in which the ball and the housing collide with each other in the target joint and the ball and the housing slide in another joint.
- a device and a method for determining the presence or absence of an abnormal gap in the target joint based on the magnitude of the torque fluctuation when the robot is driven along this motion trajectory are well known (for example, Patent Documents 3 and 4). reference).
- Japanese Unexamined Patent Publication No. 2017-056507 Japanese Unexamined Patent Publication No. 2017-013160
- Japanese Unexamined Patent Publication No. 2019-136838 Japanese Unexamined Patent Publication No. 2020-142353
- the housing and the ball are not easily separated even if a collision or the like occurs due to the mechanical connection.
- a gap may occur between the ball and the housing, which may worsen the positioning accuracy of the moving parts of the robot and increase vibration. .. Due to the deterioration of positioning accuracy and the increase of vibration, it becomes difficult for the robot to perform handling work, assembly work, etc. normally, which may lead to serious problems such as a decrease in production efficiency and a stoppage of the production process. Therefore, if there is an abnormality in the gap of the link ball portion, it is desired to know the abnormal state at an early stage.
- the conventional method of detecting the disconnection of the ball joint it is difficult to detect that the gap between the ball and the housing (socket) has increased in the ball joint having a structure in which the connection cannot be easily disconnected. ..
- the size of the gap is about 0.1 to 0.2 mm, it is considered to be abnormal, and it is extremely difficult to detect such a minute gap with a sensor or the like.
- the robot operation performed to identify the joint having an abnormal gap may be a special one different from the normal production operation, etc., and such a special robot operation is performed between the robot and peripheral devices. It may be difficult to realize due to the interference of the robot and the restrictions of the layout including the robot. Therefore, a method that can determine an abnormal gap even in normal production operation is desired.
- One aspect of the present disclosure is in a robot having a drive link driven by a motor, a plurality of passive links driven by the operation of the drive link, and a plurality of pairs connected to the plurality of passive links.
- a gap detection device that detects the amount of first gap between pairs of even pairs of pairs connected to the passive link, and the motor when the robot is actually operated along an arbitrary motion trajectory.
- An arbitrary second gap amount is set between the measuring unit that measures the driving torque or the current value of the above and the paired even elements of the plurality of pairs, and a simulation is performed in which the robot is operated along the same motion trajectory as the motion trajectory.
- the simulation unit that estimates the drive torque or current value of the motor, the first feature amount that represents the fluctuation of the value related to the drive torque or current value measured by the measurement unit, and the drive torque or current estimated by the simulation unit.
- An index related to the first gap amount is calculated based on the feature amount calculation unit that calculates the second feature amount representing the fluctuation of the value with respect to the value, the first feature amount, the second feature amount, and the second gap amount. It is a gap detection device having a gap calculation unit.
- Another aspect of the present disclosure is a robot having a drive link driven by a motor, a plurality of passive links driven by the operation of the drive link, and a plurality of pairs connected to the plurality of passive links.
- the robot In the gap detecting method for detecting the first gap amount between the paired elements of the paired even connected to the passive link, the robot is actually operated along an arbitrary motion trajectory.
- a simulation is performed in which the drive torque or current value of the motor is measured, an arbitrary second gap amount is set between the plurality of pairs of even pairs, and the robot is operated along the same motion trajectory as the motion trajectory.
- a gap detection method including calculating a second feature amount and calculating an index relating to the first gap amount based on the first feature amount, the second feature amount, and the second gap amount.
- a first link driven by a motor a second link connected to the first link, and one or more pairs connected to the second link.
- a robot having An arbitrary second gap amount is set between the measuring unit that measures the first output value of the motor and the pair of even pairs of the plurality of pairs, and the robot is operated based on the motion trajectory.
- the first gap is based on the simulation unit that executes a simulation and estimates the second output value of the motor, the fluctuation of the first output value, the fluctuation of the second output value, and the second gap amount. It is a gap detection device having a gap calculation unit for calculating an amount.
- the present disclosure it is possible to easily and accurately identify a gap in each kinematic pair (joint) of a robot and determine whether the gap is abnormal. Further, such identification and determination can be performed in any movement of the robot, and are not restricted by the layout of the robot or the like.
- FIG. 1 is a diagram showing a schematic configuration of a gap detection device according to a preferred embodiment of the present disclosure and a delta type parallel link robot which is an example of a structure to which the gap detection device can be applied.
- the parallel link robot (hereinafter, also simply referred to as a robot) 10 includes a foundation portion 12, a movable portion 14 arranged apart from the foundation portion 12 (usually below the foundation portion 12), and the foundation portion 12 and the movable portion 14.
- Motors 18a to 18c such as servomotors (three in the illustrated example) are provided in the same number as the parts, and an end effector such as a robot hand can be attached to the movable part 14.
- the link portion 16a is a pair of (two) passive links (end joint links) 22a that connect the drive link 20a connected to the foundation portion 12 and the drive link (proximal phalanx link) 20a and the movable portion 14 and extend in parallel with each other.
- the drive link (first link) 20a and the passive link (second link) 22a are connected by a pair of (two) first joints 24a.
- the movable portion 14 and the passive link 22a are connected by a pair of (two) second joints 26a.
- both the first and second joints (pairs) are configured as ball joints (spherical bearings).
- FIG. 2 is a partially enlarged view showing the structure (link ball structure) of each ball joint (here, ball joint 24a or 26a) of the robot 10.
- the ball joint 24a or 26a has a ball (convex surface portion) 28 and a housing (concave surface portion) 30 for accommodating the ball 28 as pair elements (joint elements) described later, and is between the ball 28 and the housing 30.
- the liner 32 is arranged.
- the robot 10 has a first ball joint 24a on the drive link side (upper side) of the passive links. It has a restraint plate 34a provided by connecting between the housings of the above.
- link portions 16b and 16c can have the same configuration as the link portion 16a, reference codes having only the tails changed are added to the corresponding components (for example, the elements corresponding to the passive link 22a). Is assigned a reference code 22b or 22c), and detailed description thereof will be omitted.
- a control device 36 that controls the operation of the robot 10 is connected to the parallel link robot 10.
- the gap detection device 38 that detects the actual gap (first gap amount) of the ball joint is the drive torque or current value of the motors 18a to 18c when the robot 10 is actually operated along an arbitrary operation trajectory.
- An arbitrary second gap amount is set between a measurement unit 44 such as a torque sensor or an electric current meter that measures the current, and a plurality of pairs of even pairs, and the robot 10 is operated along the same motion trajectory as the above arbitrary motion trajectory.
- the simulation unit 40 that performs simulation and estimates the drive torque or current value of the motors 18a to 18c, the first feature amount that represents the fluctuation of the value related to the drive torque or current value measured by the measurement unit 44, and the simulation unit 40
- a mathematical model that associates the feature amount calculation unit 46 that calculates the second feature amount that represents the fluctuation of the value related to the estimated drive torque or current value with the first feature amount, the second feature amount, the first gap amount, and the second gap amount. (Described later) is created, and has a gap calculation unit 42 for calculating an index related to the first gap amount based on the mathematical model.
- the gap detection device 38 may optionally have a determination unit 48 for determining a kinematic pair gap in which the index related to the first kinematic gap amount exceeds a predetermined reference value among a plurality of kinematic pairs as an abnormality.
- the detection device 38 functions as an abnormality detection device that detects whether or not each kinematic pair has an abnormality (excessive) gap.
- the robot control device 36 is configured to generate an operation command for operating the robot 10 and control each axis (motor) of the robot 10 based on the operation command.
- the gap detection device 38 includes a storage unit 50 such as a memory for storing measurement data and feature quantities, an output unit 52 for outputting the above-mentioned simulation results and determination results so that the operator can recognize them, and an operator. It may further have an input unit 53 such as a keyboard or a touch panel so that various settings, data input, and the like can be performed.
- Specific examples of the output unit 52 include a display capable of displaying the simulation result and the judgment result, a speaker that outputs the simulation result and the judgment result as voice, and a speaker that is portable to the operator and the friction state of the joint is abnormal. Examples thereof include a vibrator that vibrates when it is determined that there is an abnormal gap. The operator can receive the output from the output unit 52 and repair or replace the abnormal joint.
- the gap detection device 38 can be realized as an arithmetic processing device such as a personal computer (PC) having a processor, a memory, or the like, which is connected to the robot control device 36.
- PC personal computer
- the gap detection device 38 is shown as a device separate from the robot control device 36 in FIG. 1, it can also be incorporated in the control device 36 in the form of a processor or a memory. Further, it is also possible to have a device such as a PC carry out a part of the gap detection function and the robot control device 36 to carry out another function.
- FIG. 3 is a diagram showing a structural model of the parallel link robot 10 of FIG.
- the parallel link robot 10 has a closed loop type link structure including three rotary drive units (motors) and twelve passive pairs (here, ball joints).
- the balls 28 slide with respect to the liner 32 at each joint as the robot 10 operates.
- the liner 32 is made of resin or the like in order to suppress the frictional resistance at this time as much as possible. Made from low friction material.
- a gap air gap
- problems such as deterioration of the positioning accuracy of the robot 10 and an increase in vibration accompanying the robot operation may occur. Therefore, in this embodiment, by performing dynamic analysis, the gap in each joint is identified for any robot movement, and further, it is determined whether the gap is an abnormal value.
- FIG. 4 is a flowchart showing an example of processing in the gap detection device 38 according to the first embodiment.
- the robot 10 of the actual machine that wants to detect the (abnormal) gap is driven along an arbitrary operation trajectory.
- one or more robot motion trajectories used to identify the kinematic pair gap are given.
- the orbit is determined by the symbol m ′ .
- the arbitrary operation trajectory includes, for example, a production operation in a factory.
- a feature selection method using only principal component analysis is shown, but by combining signal processing methods such as Fourier transform and wavelet transform, and various feature selection methods belonging to the machine learning field, It is expected that the accuracy of mathematical models will be improved. For example, by extracting only a specific frequency region in which the kinematic pair gap is likely to be affected by the Fourier transform or the wavelet transform, it is possible to eliminate other error factors and improve the accuracy of the model. In addition, by extracting a specific frequency region, the data dimension can be reduced. By performing the above-mentioned principal component analysis on the extracted specific frequency domain data, the data dimension is further reduced.
- step S9 a mathematical model that associates the feature amount of the drive torque obtained for the dynamic analysis and the actual measurement with the size of the kinematic pair is constructed as shown in the following equation (3).
- step S10 the kinematic pair gap is identified by solving the constructed mathematical model, and more specifically, by obtaining the maximum likelihood estimation solution of the constructed mathematical model (S10).
- the mathematical model constructed in this embodiment contains two types of error terms, it is difficult to calculate an exact solution as in the matrix calculation of the least squares method. Therefore, as an example, consider deriving an approximate value of the maximum likelihood estimation solution by Bayesian estimation using the MCMC method, which is a kind of Monte Carlo method.
- the parameters of a probabilistic model are estimated as random variables based on the concept of Bayesian statistics.
- the maximum likelihood estimation solution for the kinematic pair gap can be obtained.
- the gap amount is obtained by the probability distribution, the certainty of the estimated gap amount can be known.
- the maximum likelihood estimation solution thus obtained is used as an estimated value of the kinematic pair gap (an index relating to the first gap amount).
- step S11 an abnormality in the gap is detected from the estimated size of the gap. Specifically, the estimated value of the gap is compared with a predetermined reference value considered to be abnormal, and if the estimated value is equal to or larger than the reference value, the gap is determined to be abnormal. In this way, in this embodiment, in addition to being able to quantitatively estimate the kinematic pair amount of each kinematic pair, it is possible to automatically determine an abnormal kinematic pair (having an excessive kinematic pair).
- FIG. 7 is a flowchart showing an example of processing in the gap detection device 38 according to the second embodiment.
- the points different from those of the first embodiment will be described, and the points that may be the same as those of the first embodiment will be omitted.
- step S5 that is, the procedure of simulation (dynamic analysis) when the parallel link robot 10 having a gap in a specific sphere pair even is operated along a certain trajectory
- the analysis is performed in consideration of some sphere-to-even gaps among the 12 sphere pairs of the parallel link robot 10.
- Consideration of Rotational Pairs and Gap Sphere pairs other than target sphere pairs shall behave ideally, and therefore rotation kinematic pairs and gaps of sphere pairs other than target sphere pairs are not considered.
- the viscoelasticity of the contact between the paired elements it is assumed that all the links are rigid bodies, and the mass model of the mechanism of the parallel link robot as shown in FIG. 9 is considered.
- the target trajectory of the output section for example, the movable plate 14 shown in FIG. 1 to be operated by the robot is set (S51).
- the sphere-to-even number to which an arbitrary gap should be set and the size of the sphere-to-even gap are set (S52).
- the equation of motion is derived for the sphere-to-even combination in which the gap is set (S53).
- the equation of motion is solved using an ordinary differential equation solver or the like to obtain a numerical solution of the driving torque (S54). This enables dynamic analysis to obtain the drive torque.
- Lankarani's model which considers energy loss, is used in Hertz's elastic contact theory as a contact model that expresses the separation, collision, and slip of paired pairs. It is desirable to use a kinematic pair contact model suitable for the kinematic pair state and material.
- the calculated torque method which is frequently used in industrial robots, is used as the control law of the actuator.
- FIG. 12 shows the combination of kinematic pair gaps in which kinetic analysis and actual machine measurement were performed.
- the radial gaps of the pairs used were 0.00 mm, 0.14 mm, and 0.15 mm (measured values).
- 0 is the radial gap of 0.00 mm
- A is the radial gap of 0.14 mm
- B represents that the radius gap is 0.15 mm, respectively.
- the condition that the number of sphere pairs with an excessive gap (0.14 mm, 0.15 mm) is zero (case 1), the condition that there is one (case 2-13), and the condition that there are two (case 2-13). 14-43) is set. Further, in order to reduce the scale of the experiment, only the excessive gap in 6 sphere pairs (corresponding to ball joints 26a to 26c in FIG. 1) located in the output node is considered out of 12 sphere pairs.
- the measurement was carried out using the ideal sphere kinematic pair with a measured gap of 0.00 mm in the actual machine measurement, and the ideal sphere kinematic pair condition in the dynamic analysis. Numerical calculation was carried out in. For 0.14 mm and 0.15 mm, numerical calculations were performed using these values in the dynamic analysis.
- Table 2 collectively shows the coordinates of the start and end points of the plurality of orbits actually generated. In all orbits, the same deformed trapezoidal curve was used for the acceleration waveform in the direction of motion of the output node.
- FIG. 14 shows an acceleration waveform in the motion direction of the output node.
- FIG. 17 is a flowchart showing an example of the verification procedure. In this verification, the kinematic pair gap is repeatedly identified while randomly changing the combination of data used.
- the determination is made using the drive torque as the output value of the motor, but the time derivative value of the drive torque may be used instead.
- the value related to the drive torque here, the drive torque or the time derivative value thereof
- the value related to the current value for example, the current value or the time derivative value thereof
- the drive torque is usually proportional to the current value, the same processing as described above can be applied when the value related to the current value is used.
- the first gap amount is identified by using the feature amount representing the fluctuation of the output value of the motor, but the fluctuation data itself can be used instead of the feature amount.
- the parallel link robot has been described as a robot to which the gap detection device and the gap detection method according to the present disclosure can be applied, but the application target is not limited to this.
- Other suitable examples to which the gap detection device and the gap detection method according to the present disclosure can be applied include a 6-axis vertical articulated robot having no closed-loop link mechanism, and schematically shown in FIG. 19 or FIG. Such robots have at least a partial closed-loop linkage.
- FIG. 19 represents a robot 84 having a planar link mechanism including one drive joint 80 and three passive joints 82, so that a load can be applied to the tip.
- FIG. 20 shows a robot 90 having a 5-node link mechanism including two drive joints 86 and three passive joints 88, and can be used as a positioning device or the like. Similar to the parallel link robot shown in FIG. 1, these robots also have a drive link driven by a motor, a plurality of passive links driven by the operation of the drive link, and a plurality of passive links connected to each of the plurality of passive links. Since it has a kinematic pair, it is possible to identify and detect a joint (passive kinematic pair) having an abnormal gap as described above.
- the spherical joint has been described as a kinematic pair (joint) to which the gap detection device and the gap detection method according to the present disclosure can be applied, but the application target is not limited to this.
- the gap detection device and the gap detection method can be applied to, for example, a hinge structure (rotary joint) having one degree of freedom.
- the rotary joint has a substantially cylindrical member (convex surface portion) as a kinematic pair. It has a substantially cylindrical member (concave surface portion) that fits into the columnar member.
- the gap detection device and the gap detection method according to the present disclosure can be similarly applied.
- a program for causing the gap detection device to execute the above processing can be stored in the storage unit of the device or another storage device.
- the program can also be provided as a non-transient recording medium (CD-ROM, USB memory, etc.) that can be read by a computer on which the program is recorded.
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Abstract
Description
本開示のさらなる他の態様は、モータによって駆動可能な第1のリンクと、前記第1のリンクに接続された第2のリンクと、前記第2のリンクに連結された1つ以上の対偶と、を有するロボットにおいて、前記第2のリンクに連結された対偶が有する対偶素の間の第1すき間量を検出するすき間検出装置であって、前記ロボットを任意の動作軌道に沿って実際に動作させたときの、前記モータの第1の出力値を計測する計測部と、前記複数の対偶の対偶素間に任意の第2すき間量を設定し、前記動作軌道に基づいて前記ロボットを動作させるシミュレーションを実施し、前記モータの第2の出力値を推定するシミュレーション部と、前記第1の出力値の変動、前記第2の出力値の変動及び前記第2すき間量に基づいて前記第1すき間量を算出するすき間算出部と、を有する、すき間検出装置である。
図4は、第1実施例に係るすき間検出装置38における処理の一例を示すフローチャートである。先ずステップS1において、(異常な)すき間を検出したい実機のロボット10を、任意の動作軌道に沿って駆動させる。具体的には、対偶すき間の同定に用いられる、1つ又は複数のロボット動作軌道が与えられる。ここで軌道は、記号m′によって判別するものとする。また任意の動作軌道とは、例えば工場での生産動作が挙げられる。
図7は、第2実施例に係るすき間検出装置38における処理の一例を示すフローチャートである。ここでは第1実施例と異なる点のみについて説明し、第1実施例と同様でよい点については説明を省略する。
図8を参照して、ステップS5の詳細、すなわち特定の球対偶にすき間を有するパラレルリンクロボット10を、ある軌道に沿って動作させたときのシミュレーション(動力学解析)の手順を説明する。ここではパラレルリンクロボット10が有する12個の球対偶のうち、一部の球対偶のすき間を考慮して解析を実施する。回転対偶、及びすき間を考慮する対象球対偶以外の球対偶は理想的に挙動するものとし、故に回転対偶、及び対象球対偶以外の球対偶のすき間は考慮しない。対偶素間の接触の粘弾性を除いて、全てのリンクは剛体であると仮定し、図9に示すようなパラレルリンクロボットの機構の質量モデルを考える。
本開示に係る対偶すき間の同定の妥当性を検証するために、実機ロボットによる駆動トルク測定実験を実施した。ここでは、複数の対偶すき間及び軌道における条件で、実機測定と動力学解析をそれぞれ予め実施しておき、得られたデータを組み合わせて使うものとする。
12 基礎部
14 可動部
16a リンク部
18a モータ
20a 駆動リンク
22a 受動リンク
24a、26a ボールジョイント(球面軸受)
28 ボール
30 ハウジング
32 ライナー
34a 拘束プレート
36 制御装置
38 すき間検出装置
40 シミュレーション部
42 すき間算出部
44 計測部
46 特徴量算出部
48 判定部
50 記憶部
52 出力部
53 入力部
80、86 駆動関節
82、88 受動関節
84 平行リンク型ロボット
90 5節リンク型ロボット
Claims (10)
- モータによって駆動する駆動リンクと、
前記駆動リンクの動作に伴って従動する複数の受動リンクと、
前記複数の受動リンクにそれぞれ連結される複数の対偶と、を有するロボットにおいて、前記受動リンクに連結された対偶が有する対偶素の間の第1すき間量を検出するすき間検出装置であって、
前記ロボットを任意の動作軌道に沿って実際に動作させたときの、前記モータの駆動トルク又は電流値を計測する計測部と、
前記複数の対偶の対偶素間に任意の第2すき間量を設定し、前記動作軌道と同じ動作軌道に沿って前記ロボットを動作させるシミュレーションを実施し、前記モータの駆動トルク又は電流値を推定するシミュレーション部と、
前記計測部が計測した駆動トルク又は電流値に関する値の変動を表す第1特徴量、及び前記シミュレーション部が推定した駆動トルク又は電流値に関する値の変動を表す第2特徴量を算出する特徴量算出部と、
前記第1特徴量、前記第2特徴量及び前記第2すき間量に基づいて前記第1すき間量に関する指標を算出するすき間算出部と、
を有する、すき間検出装置。 - 前記すき間算出部は、前記第1特徴量、前記第2特徴量、前記第1すき間量及び前記第2すき間量を関連付ける数理モデルを作成し、該数理モデルに基づいて、前記第1すき間量に関する指標を算出する、請求項1に記載のすき間検出装置。
- 前記数理モデルは確率モデルである、請求項2に記載のすき間検出装置。
- 前記すき間算出部は、前記確率モデルに関する確率分布に基づいて前記第1すき間量に関する指標を算出する、請求項3に記載のすき間検出装置。
- 前記特徴量算出部は、主成分分析によって前記第1特徴量及び前記第2特徴量を算出する、請求項1~4のいずれか1項に記載のすき間検出装置。
- 前記すき間算出部は、前記ロボットの動作軌道が変化する時刻の前後で時間区間を分割し、前記計測部は、分割した時間区間のそれぞれにおいて、同じ動作軌道を用いて駆動トルク又は電流値を計測し、前記すき間算出部は、分割した全ての時間区間におけるすき間の変化量を同定し、これらの変化量を加算することで、前記第1すき間量に関する指標を算出する、請求項1~5のいずれか1項に記載のすき間検出装置。
- 前記複数の対偶のうち、前記第1すき間量に関する指標が所定の基準値以上である対偶のすき間を異常と判定する判定部をさらに有する、請求項1~6のいずれか1項に記載のすき間検出装置。
- 前記駆動リンク及び前記受動リンクは、少なくとも1つの閉ループ型リンクを構成する、請求項1~7のいずれか1項に記載のすき間検出装置。
- モータによって駆動する駆動リンクと、
前記駆動リンクの動作に伴って従動する複数の受動リンクと、
前記複数の受動リンクにそれぞれ連結される複数の対偶と、を有するロボットにおいて、前記受動リンクに連結された対偶が有する対偶素の間の第1すき間量を検出するすき間検出方法であって、
前記ロボットを任意の動作軌道に沿って実際に動作させたときの、前記モータの駆動トルク又は電流値を計測することと、
前記複数の対偶の対偶素間に任意の第2すき間量を設定し、前記動作軌道と同じ動作軌道に沿って前記ロボットを動作させるシミュレーションを実施し、前記モータの駆動トルク又は電流値を推定することと、
計測された駆動トルク又は電流値に関する値の変動を表す第1特徴量、及び推定された駆動トルク又は電流値に関する値の変動を表す第2特徴量を算出することと、
前記第1特徴量、前記第2特徴量及び前記第2すき間量に基づいて前記第1すき間量に関する指標を算出することと、
を含む、すき間検出方法。 - モータによって駆動可能な第1のリンクと、
前記第1のリンクに接続された第2のリンクと、
前記第2のリンクに連結された1つ以上の対偶と、を有するロボットにおいて、前記第2のリンクに連結された対偶が有する対偶素の間の第1すき間量を検出するすき間検出装置であって、
前記ロボットを任意の動作軌道に沿って実際に動作させたときの、前記モータの第1の出力値を計測する計測部と、
前記複数の対偶の対偶素間に任意の第2すき間量を設定し、前記動作軌道に基づいて前記ロボットを動作させるシミュレーションを実施し、前記モータの第2の出力値を推定するシミュレーション部と、
前記第1の出力値の変動、前記第2の出力値の変動及び前記第2すき間量に基づいて前記第1すき間量を算出するすき間算出部と、
を有する、すき間検出装置。
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JPH07100782A (ja) * | 1993-09-30 | 1995-04-18 | Toyota Motor Corp | 産業用ロボットの寿命推定方法及び寿命推定装置 |
JP2017217709A (ja) * | 2016-06-03 | 2017-12-14 | ファナック株式会社 | パラレルリンクロボットの関節部の異常検出装置及び異常検出方法 |
JP2019136838A (ja) * | 2018-02-14 | 2019-08-22 | ファナック株式会社 | ロボットのジョイントの異常検出装置及び異常検出方法 |
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JPH03242714A (ja) * | 1990-02-21 | 1991-10-29 | Hitachi Ltd | 機構解析シミュレータ及びサーボ制御系応答解析シミュレータ |
JPH07100782A (ja) * | 1993-09-30 | 1995-04-18 | Toyota Motor Corp | 産業用ロボットの寿命推定方法及び寿命推定装置 |
JP2017217709A (ja) * | 2016-06-03 | 2017-12-14 | ファナック株式会社 | パラレルリンクロボットの関節部の異常検出装置及び異常検出方法 |
JP2019136838A (ja) * | 2018-02-14 | 2019-08-22 | ファナック株式会社 | ロボットのジョイントの異常検出装置及び異常検出方法 |
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