WO2022210078A1 - 制御装置 - Google Patents
制御装置 Download PDFInfo
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- WO2022210078A1 WO2022210078A1 PCT/JP2022/013072 JP2022013072W WO2022210078A1 WO 2022210078 A1 WO2022210078 A1 WO 2022210078A1 JP 2022013072 W JP2022013072 W JP 2022013072W WO 2022210078 A1 WO2022210078 A1 WO 2022210078A1
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- 238000003860 storage Methods 0.000 claims abstract description 68
- 230000009466 transformation Effects 0.000 claims abstract description 50
- 238000001514 detection method Methods 0.000 claims abstract description 38
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- 230000005856 abnormality Effects 0.000 claims description 53
- 238000004364 calculation method Methods 0.000 claims description 21
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- 230000001133 acceleration Effects 0.000 description 205
- 239000013598 vector Substances 0.000 description 41
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- 238000012986 modification Methods 0.000 description 3
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- 230000010354 integration Effects 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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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
- 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
- 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
- B25J19/02—Sensing devices
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- 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
- G05B2219/37—Measurements
- G05B2219/37388—Acceleration or deceleration, inertial measurement
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- 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
- G05B2219/40549—Acceleration of end effector
Definitions
- the present invention relates to a control device.
- One aspect of the control device of the present disclosure is a control device that controls a robot on which a sensor is arranged, and includes a sensor coordinate storage unit that stores coordinate system information related to a preset sensor coordinate system of the sensor; a sensor setting storage unit for storing setting information related to communication with the sensor; a sensor data receiving unit for receiving sensor data detected by the sensor based on the setting information; A sensor detected by each axis angle detection unit for detecting an angle of each axis, a forward transformation of the angles of each of the plurality of axes detected by each axis angle detection unit, and a coordinate transformation of the sensor coordinate system.
- a sensor value estimating unit that estimates a value, the sensor data value, and the sensor value estimated by the sensor value estimating unit are compared, and a difference between the sensor data value and the estimated sensor value is determined in advance.
- a sensor value abnormality determination unit that determines that the sensor data reception unit is receiving sensor data from a sensor arranged on another robot when a set threshold value is exceeded.
- One aspect of the control device of the present disclosure is a control device that controls a robot in which a sensor is arranged, and includes a sensor coordinate storage unit that stores coordinate system information regarding a preset sensor coordinate system of the sensor; a sensor setting storage unit for storing setting information related to communication with the sensor; a sensor data receiving unit for receiving sensor data detected by the sensor based on the setting information; and calculating a physical quantity from the sensor data.
- each axis angle detection unit that detects angles of each of a plurality of axes included in the robot, a forward transformation of the angles of each of the plurality of axes detected by each of the axis angle detection units, and Comparing and calculating a sensor physical quantity estimating unit that estimates a physical quantity related to the sensor by coordinate transformation of the sensor coordinate system, the physical quantity calculated from the sensor data, and the physical quantity estimated by the sensor physical quantity estimating unit a sensor value for determining that the sensor data receiving unit is receiving sensor data from a sensor arranged on another robot when a difference between the estimated physical quantity and the estimated physical quantity exceeds a preset threshold value. and an abnormality determination unit.
- One aspect of the control device of the present disclosure is a control device that controls a robot to be controlled in which a sensor is arranged, the sensor coordinates storing coordinate system information about a preset sensor coordinate system of the sensor.
- a storage unit a sensor data receiving unit for receiving sensor data detected by sensors arranged in each of a plurality of robots including the robot to be controlled; and an angle of each of the axes included in the robot to be controlled.
- each axis angle detection unit Detected by the sensor of the robot to be controlled by each axis angle detection unit to detect, the forward transformation of the angle of each of the plurality of axes detected by the each axis angle detection unit, and the coordinate transformation of the sensor coordinate system a sensor value estimating unit for estimating a sensor value; and a sensor value estimated by the sensor value estimating unit by comparing values of sensor data of sensors arranged in each of the plurality of robots, and the sensor estimated by the sensor value estimating unit. and a proper sensor determination unit that determines a sensor having sensor data whose value and difference exceed a preset threshold as a sensor arranged in a robot other than the robot to be controlled.
- One aspect of the control device of the present disclosure is a control device that controls a robot to be controlled on which a sensor is arranged, the sensor coordinate system storing coordinate system information about a preset sensor coordinate system of the sensor.
- a storage unit a sensor data reception unit that receives sensor data detected by sensors arranged on each of a plurality of robots including the robot to be controlled, and a physical quantity obtained from the sensor data of the sensors arranged on each of the plurality of robots.
- a sensor physical quantity calculation unit that calculates the angle of each of the plurality of axes included in the robot to be controlled; each axis angle detection unit that detects the angle of each of the plurality of axes; and a coordinate transformation of the sensor coordinate system to estimate a physical quantity of the sensor of the robot to be controlled by a sensor physical quantity estimating unit; A physical quantity is compared with the physical quantity estimated by the sensor physical quantity estimator, and a sensor having sensor data whose difference from the estimated physical quantity exceeds a preset threshold value is transferred to a robot other than the robot to be controlled. and a suitable sensor determination unit for determining the arranged sensor.
- FIG. 1 is a functional block diagram showing a functional configuration example of a robot system according to a first embodiment
- FIG. 2 is a diagram for explaining a coordinate system in the robot of FIG. 1
- FIG. 2 is a diagram for explaining a coordinate system in the robot of FIG. 1
- FIG. It is a functional block diagram showing an example of functional composition of a control device.
- FIG. 5 is a diagram showing an example of comparison between sensor data values and estimated sensor values
- FIG. 5 is a diagram showing an example of comparison between sensor data values and estimated sensor values
- 4 is a flowchart for explaining abnormality determination processing of a control device;
- FIG. 11 is a functional block diagram showing a functional configuration example of a robot system according to a second embodiment; It is a functional block diagram showing an example of functional composition of a control device. 4 is a flowchart for explaining abnormality determination processing of a control device; FIG. 11 is a functional block diagram showing a functional configuration example of a robot system according to a third embodiment; It is a functional block diagram showing an example of functional composition of a control device.
- FIG. 5 is a diagram showing an example of comparison between sensor data values and estimated sensor values; It is a flowchart explaining the appropriate sensor determination process of a control apparatus. It is a functional block diagram showing an example of functional composition of a control device. It is a flowchart explaining the appropriate sensor determination process of a control apparatus.
- 1 is a functional block diagram showing a functional configuration example of a robot system; FIG.
- a wireless acceleration sensor is exemplified as the sensor.
- the present invention can also be applied to a sensor such as a gyro sensor or an inertial sensor, or to a smart device such as a smart phone including one or more sensors.
- FIG. 1 is a functional block diagram showing a functional configuration example of the robot system according to the first embodiment.
- the robot system 1 includes n robots 10(1) to 10(n), n controllers 20(1) to 20(n), and a radio receiver 30 (n is an integer of 2 or more).
- the robots 10(1)-10(n), the controllers 20(1)-20(n), and the wireless receiver 30 may be directly connected to each other via a connection interface (not shown).
- the robots 10(1) to 10(n) and the control devices 20(1) to 20(n) may be interconnected via a network such as a LAN (Local Area Network).
- LAN Local Area Network
- robots 10(1) to 10(n) and the control devices 20(1) to 20(n) may be provided with a communication unit (not shown) for mutual communication through such connection.
- robots 10(1) to 10(n) are collectively referred to as “robots 10" when there is no need to distinguish them individually. Further, when it is not necessary to distinguish between the control devices 20(1) to 20(n) individually, they are collectively referred to as the "control device 20".
- the robot 10 is a 6-axis vertical multi-joint robot having six joint axes 11(1) to 11(6) and joint axes 11(1) to 11(6). and arm portions 12 connected by each.
- the robot 10 moves the arm portion 12 and the like by driving servo motors (not shown) arranged on the joint shafts 11(1) to 11(6) based on a drive command from the control device 20. drive the member.
- An end effector 13 such as a welding gun, a gripping hand, or a laser irradiation device is attached to the tip of the movable member of the robot 10, for example, the tip of the joint shaft 11 (6).
- a wireless acceleration sensor 101 is installed on the end effector 13 .
- the robot 10 is a 6-axis vertical articulated robot, it may be a vertical articulated robot other than 6-axis, a horizontal articulated robot, a parallel link robot, or the like.
- FIG. 2A and 2B are diagrams for explaining the coordinate system in the robot 10 of FIG. 1.
- the robot 10 has a robot reference point 14 and a robot coordinate system ⁇ r centered on the robot reference point 14, as shown in FIG. 2A.
- the wireless acceleration sensor 101 also has a sensor reference point 111 and a sensor coordinate system ⁇ s centered on the sensor reference point 111 .
- the robot 10 has a robot tip point 15 and a mechanical interface coordinate system ⁇ m centered on the robot tip point 15 at the flange at the tip of the joint shaft 11 (6).
- the positional relationship between the mechanical interface coordinate system ⁇ m and the sensor coordinate system ⁇ s is defined by a vector (x, y, z) from the origin of the mechanical interface coordinate system ⁇ m to the origin of the sensor coordinate system ⁇ s in the mechanical interface coordinate system ⁇ m, and a mechanical It can be defined using six elements of rotation angles (w, p, r) that define the orientation of the sensor coordinate system ⁇ s by rotation about each axis of the interface coordinate system ⁇ m. Then, the vector (x, y, z) and the rotation angle (w, p, r) can be obtained using a known technique (eg, JP-A-2017-74647).
- the control device 20 uses vectors (x, y, z) and rotation angles (w, p, r) to move the robot tip point 15 of the joint axis 11 (6) to the origin of the sensor coordinate system ⁇ s.
- the position of the wireless acceleration sensor 101 in the robot coordinate system ⁇ r can be calculated from the coordinates and angles described in the robot operation program.
- the wireless acceleration sensor 101 is, for example, a three-dimensional acceleration sensor that periodically detects acceleration for each XYZ axis of the sensor coordinate system ⁇ s at the tip of the movable member associated with the motion of the robot 10 at predetermined sampling times.
- the wireless acceleration sensor 101 has a clock unit (not shown), and acquires time information output from the clock unit as the detected time each time acceleration is detected.
- the wireless acceleration sensor 101 wirelessly transmits a sensor signal including, for example, the detected acceleration of each axis and time information to the wireless receiver 30 .
- the wireless acceleration sensor 101 wirelessly transmits the sensor signal of the detected acceleration and time information to the wireless receiver 30
- the wireless acceleration sensor 101 may be connected to the control device 20 by wire and transmit the sensor signal to the control device 20 . .
- the wireless acceleration sensor 101 is not limited to an acceleration sensor, and may be a gyro sensor, an inertial sensor, a force sensor, a laser tracker, a vision sensor, a motion capture sensor, or the like. Also, the wireless acceleration sensor 101 may be a smart device such as a smartphone including multiple sensors such as acceleration sensors.
- the wireless receiver 30 is, for example, a WiFi (registered trademark) router or the like, receives a sensor signal from the wireless acceleration sensor 101 , and outputs the received sensor signal to the control device 20 .
- the communication standard for wireless communication is not limited to WiFi (registered trademark), and may be one using radio waves such as Bluetooth (registered trademark), or one using infrared communication. It is preferable that the radio receiver 30 uses a module conforming to the communication standard.
- FIG. 3 is a functional block diagram showing a functional configuration example of the control device 20.
- the control device 20 according to the present embodiment is connected to a teaching operation panel 25, and includes a sensor coordinate storage unit 201, a sensor setting storage unit 202, an axis angle detection unit 203, a sensor value estimation unit 204, It includes a sensor data reception unit 205 and a sensor value abnormality determination unit 206 .
- the teaching console 25 also includes a user notification section 251 and a user input section 252 .
- the control device 20 includes an arithmetic processing device (not shown) such as a CPU (Central Processing Unit) in order to realize the operation of the functional blocks shown in FIG.
- the control device 20 also includes an auxiliary storage device (not shown) such as a ROM (Read Only Memory) or HDD (Hard Disk Drive) storing various control programs, and a temporary A main storage device (not shown) such as a RAM (Random Access Memory) for storing necessary data is provided.
- the arithmetic processing unit reads the OS and application software from the auxiliary storage device, develops the read OS and application software in the main storage device, and performs arithmetic processing based on the OS and application software. .
- the control device 20 controls each piece of hardware based on this calculation result. Thereby, the processing by the functional blocks in FIG. 3 is realized. That is, the control device 20 can be realized by cooperation of hardware and software.
- the sensor coordinate storage unit 201 is, for example, a memory such as a RAM, and stores the sensor coordinate system ⁇ s of the wireless acceleration sensor 101 preset based on the user's input operation via the user input unit 252 of the teaching operation panel 25, which will be described later. store coordinate system information about Specifically, the sensor coordinate storage unit 201 stores a vector (x, y , z) and the rotation angles (w, p, r) that define the direction of the sensor coordinate system ⁇ s by rotation about each axis of the mechanical interface coordinate system ⁇ m are stored as coordinate system information.
- the sensor setting storage unit 202 is, for example, a memory such as a RAM, and stores setting information regarding communication with the wireless acceleration sensor 101 based on an input operation by a user via a user input unit 252 of the teaching operation panel 25, which will be described later.
- the sensor setting storage unit 202 stores, as setting information, a communication address (for example, IP address, MAC address, etc.) of the wireless acceleration sensor 101 to be communicated with.
- Each axis angle detection unit 203 detects each of the joint axes 11(1) to 11(6) by using, for example, an encoder (not shown) arranged on each of the joint axes 11(1) to 11(6) of the robot 10. Detect angles. Each axis angle detection unit 203 outputs the detected angle of each of the joint axes 11(1) to 11(6) to the sensor value estimation unit 204 .
- the sensor value estimating unit 204 performs forward conversion of the angles of the joint axes 11(1) to 11(6) detected by the respective axis angle detecting unit 203, and coordinate conversion of the sensor coordinate system ⁇ s, so that the wireless acceleration sensor 101 is attached. A sensor value detected by the wireless acceleration sensor 101 at the determined position is estimated. Specifically, the sensor value estimating unit 204 performs forward transformation using the angles of the joint axes 11(1) to 11(6) detected by the respective axis angle detecting unit 203, thereby obtaining , calculate the position and orientation of the mechanical interface coordinate system ⁇ m.
- the sensor value estimation unit 204 uses the coordinate system information of the vector (x, y, z) and the rotation angle (w, p, r) stored in the sensor coordinate storage unit 201 to calculate the radio acceleration in the robot coordinate system ⁇ r. A position where the sensor 101 is attached is calculated. The sensor value estimating unit 204 calculates the acceleration of each axis of the robot coordinate system ⁇ r by differentiating the calculated time-series data of the position with respect to time. Acceleration of each axis of the system ⁇ s is converted into a sensor value and estimated.
- the sensor value estimating unit 204 subtracts the gravitational acceleration component from the estimated sensor value of the acceleration in the sensor coordinate system ⁇ s, and outputs the subtracted sensor value to the sensor value abnormality determining unit 206 . do.
- the sensor value estimation unit 204 may output the sensor value of the estimated acceleration of the sensor coordinate system ⁇ s to the sensor value abnormality determination unit 206 without subtracting the gravitational acceleration.
- the sensor data reception unit 205 receives sensor data detected by the wireless acceleration sensor 101 based on setting information stored in the sensor setting storage unit 202 . Specifically, the sensor data receiving unit 205 performs pairing with the wireless acceleration sensor 101 based on the communication address of the setting information stored in the sensor setting storage unit 202 . For example, the sensor data receiving unit 205 receives a sensor signal including the communication address of the wireless acceleration sensor 101 paired in the header of the sensor signal among the sensor signals received via the wireless receiver 30 . The sensor data reception unit 205 outputs the acceleration of each axis of the sensor coordinate system ⁇ s included in the received sensor signal to the sensor value abnormality determination unit 206 as sensor data. When outputting the sensor data to the sensor value abnormality determining unit 206, the sensor data receiving unit 205 may remove noise using a low-pass filter (not shown) before outputting the sensor data.
- a low-pass filter not shown
- the sensor value abnormality determination unit 206 compares the sensor data value from the sensor data reception unit 205 and the sensor value estimated by the sensor value estimation unit 204 for each axis of the sensor coordinate system ⁇ s.
- the sensor value abnormality determination unit 206 detects the difference between the sensor data value for each axis and the estimated sensor value, and if the maximum difference exceeds a preset threshold (for example, “2 m/s 2 ”), the sensor It is determined that the data receiving unit 205 has received sensor data from the wireless acceleration sensor 101 arranged on another robot 10 .
- the sensor value abnormality determination unit 206 outputs the determination result to the user notification unit 251 of the teaching operation panel 25, which will be described later.
- 4A and 4B are diagrams showing an example of comparison between sensor data values and estimated sensor values.
- FIG. 4A shows a normal case in which the difference between the value of the sensor data in the X-axis direction of the sensor coordinate system ⁇ s and the estimated sensor value during robot operation is equal to or less than the threshold.
- FIG. 4B shows an abnormal case in which the difference between the sensor data value in the X-axis direction of the sensor coordinate system ⁇ s and the estimated sensor value exceeds the threshold when the robot is operating.
- the sensor value abnormality determination unit 206 calculates the difference between the sensor data value and the estimated sensor value for each axis of the sensor coordinate system ⁇ s, and compares the calculated difference with a preset threshold value. It is not limited to this.
- the sensor value abnormality determination unit 206 determines the size of a vector, which is the value of the sensor data on each axis of the sensor coordinate system ⁇ s, and the size of the vector, which is the sensor value estimated on each axis of the sensor coordinate system ⁇ s. A difference may be calculated and the calculated difference may be compared with a threshold value. Alternatively, by using a predetermined function with the acceleration of each axis of the sensor coordinate system ⁇ s as a variable, the sensor value abnormality determination unit 206 inputs the values of the sensor data of each axis of the sensor coordinate system ⁇ s to the predetermined function. and a value calculated by inputting the sensor values estimated on each axis of the sensor coordinate system ⁇ s into a predetermined function, and comparing the calculated difference with the threshold. may
- the user notification unit 251 outputs an alert notifying that the sensor data value is abnormal based on the determination result of the sensor value abnormality determination unit 206 . Specifically, when the value of the sensor data is abnormal, the user notification section 251 displays an alert notifying of the abnormality on the display section such as a liquid crystal display included in the teaching operation panel 25 . Note that the user notification unit 251 may output the setting information set in the sensor setting storage unit 202 and the value of the sensor data received by the sensor data reception unit 205 together with the alert. By doing so, the user can confirm whether or not the setting information stored in the sensor setting storage unit 202 is incorrect, whether or not the wireless acceleration sensor 101 is out of order, and the like.
- the user can reset the correct setting information via the user input section 252 of the teaching operation panel 25, which will be described later. Further, when the wireless acceleration sensor 101 is out of order, the user can replace the wireless acceleration sensor 101 with a new wireless acceleration sensor 101 to quickly deal with the abnormality of the sensor value.
- the user notification unit 251 is arranged on the teaching operation panel 25 , but may be arranged on the control device 20 .
- the user input unit 252 is, for example, operation keys, a touch panel, or the like arranged on the teaching operation panel 25, and receives input such as the setting of the sensor coordinate system ⁇ s and the communication address of the wireless acceleration sensor 101 from the user. User input unit 252 outputs the received input to control device 20 . Although the user input unit 252 is arranged on the teaching operation panel 25 , it may be arranged on the control device 20 .
- FIG. 5 is a flowchart for explaining the abnormality determination processing of the control device 20. As shown in FIG. The flow shown here is executed each time the user sets the sensor coordinate system ⁇ s of the wireless acceleration sensor 101 .
- step S1 the user input unit 252 generates a vector (x, y, z) from the origin of the mechanical interface coordinate system ⁇ m to the origin of the sensor coordinate system ⁇ s of the wireless acceleration sensor 101 and a mechanical Rotation angles (w, p, r) that define the direction of the sensor coordinate system ⁇ s by rotating the interface coordinate system ⁇ m around each axis are set as coordinate system information and stored in the sensor coordinate storage unit 201 .
- the user input unit 252 sets the communication address of the wireless acceleration sensor 101 as setting information according to the user's input operation, and stores it in the sensor setting storage unit 202 .
- step S2 the wireless acceleration sensor 101 starts measuring the acceleration of each axis of the sensor coordinate system ⁇ s at the start of learning control, and the sensor data receiving unit 205 detects sensor coordinates measured via the wireless receiver 30.
- a sensor signal including the acceleration of each axis of the system ⁇ s is received, and the received acceleration of each axis of the sensor coordinate system ⁇ s is obtained as sensor data.
- the sensor value estimating unit 204 determines the angle of each of the joint axes 11(1) to 11(6) before the robot 10 moves (when the robot 10 is stationary) detected by the respective axis angle detecting unit 203.
- the sensor values of each axis of the sensor coordinate system ⁇ s at the position where the wireless acceleration sensor 101 is attached are estimated by the orientation of the robot 10 obtained from the forward transformation and the coordinate transformation of the sensor coordinate system ⁇ s.
- the sensor value estimating unit 204 preferably estimates the sensor value (gravitational acceleration) before the robot 10 moves (when the robot 10 is stationary) regardless of whether the motion program is executed.
- step S4 the sensor value abnormality determination unit 206 determines whether or not the difference between the sensor data value acquired in step S2 and the sensor value estimated in step S3 is equal to or less than a threshold on all axes of the sensor coordinate system ⁇ s. judge. If the difference between the sensor data value and the estimated sensor value is equal to or less than the threshold on all axes of the sensor coordinate system ⁇ s, the process moves to step S6. On the other hand, if the difference between the sensor data value and the estimated sensor value is not equal to or less than the threshold on all axes of the sensor coordinate system ⁇ s, the process proceeds to step S5.
- step S5 the sensor value abnormality determination unit 206 outputs the sensor data abnormality determination result to the user notification unit 251, and the user notification unit 251 displays an alert on the display unit (not shown) of the teaching operation panel 25. . Then, the process returns to step S1.
- step S6 the sensor value estimating unit 204 detects the position of the robot 10 from the forward transformation of the angles of the joint axes 11(1) to 11(6) during operation of the robot 10 detected by the respective axis angle detecting unit 203. Then, the sensor values of each axis of the sensor coordinate system ⁇ s at the position where the wireless acceleration sensor 101 is attached are estimated by the orientation and the coordinate conversion of the sensor coordinate system ⁇ s.
- the motion of the robot 10 may be a motion in an actual work, or may be a preset predetermined motion such as a translational motion with respect to the X-axis and the Y-axis of the robot coordinate system ⁇ r.
- step S7 the sensor value abnormality determination unit 206 determines whether the difference between the sensor data value acquired by the sensor data reception unit 205 and the sensor value estimated in step S6 is equal to or less than a threshold on all axes of the sensor coordinate system ⁇ s. determine whether or not If the difference between the sensor data value and the estimated sensor value is equal to or less than the threshold on all axes of the sensor coordinate system ⁇ s, the process proceeds to step S8. On the other hand, if the difference between the sensor data value and the estimated sensor value is not equal to or less than the threshold on all axes of the sensor coordinate system ⁇ s, the process proceeds to step S5.
- step S8 the control device 20 (sensor value abnormality determination unit 206) determines that the sensor value is normal when there is no abnormality in the sensor value, and continues to control the robot 10 according to the operation program based on learning control.
- the control device 20 changes the setting of the communication address of the wireless acceleration sensor 101 to prevent the robot from operating while the wireless acceleration sensor 101 is incorrectly connected. be able to.
- the control device 20 detects an abnormality in the sensor data by comparing the value of the sensor data and the estimated sensor value before and during the operation of the robot 10, and alerts the detected abnormality to the user. to notify.
- the control device 20 can reduce unnecessary man-hours for preventing continuation of control of the robot 10 while the setting of the wireless acceleration sensor 101 is erroneous. It is possible to prevent uncontrolled control (for example, an operation in which vibration diverges, etc.).
- the first embodiment has been described above.
- the control device 20 controls the position and orientation of the robot 10 obtained from the forward transformation of the angles of the joint axes 11(1) to 11(6) of the robot 10, and the wireless acceleration by the coordinate transformation of the sensor coordinate system ⁇ s.
- a sensor value on each axis of the sensor coordinate system ⁇ s at the position of the sensor 101 is estimated, and the difference between the value of the sensor data detected by the wireless acceleration sensor 101 and the estimated sensor value is calculated on all axes of the sensor coordinate system ⁇ s
- the user is notified of an abnormality in the sensor data (wrong connection of the wireless acceleration sensor 101) by determining whether or not it is equal to or less than the threshold.
- the control device 20A determines the position and orientation of the robot 10 obtained from the forward transformation of the angles of the joint axes 11(1) to 11(6) of the robot 10, and the sensor coordinate system ⁇ s.
- the movement vector of the movement distance and the movement direction of the wireless acceleration sensor 101 in the robot coordinate system ⁇ r is estimated as a physical quantity, and the movement of the wireless acceleration sensor 101 in the robot coordinate system ⁇ r is calculated from the sensor data received by the sensor data receiving unit. It is determined whether all the components of the difference between the movement vector of the physical quantity calculated from the sensor data and the movement vector of the physical quantity estimated from the sensor data are equal to or less than a threshold, It differs from the first embodiment.
- the control device 20A according to the second embodiment can prevent the robot from operating while the sensor is connected incorrectly.
- a second embodiment will be described below.
- FIG. 6 is a functional block diagram showing a functional configuration example of the robot system according to the second embodiment. Elements having functions similar to those of the robot system 1 shown in FIG. As shown in FIG. 6, the robot system 1A includes n robots 10(1) to 10(n), n controllers 20A(1) to 20A(n), and a radio receiver 30. Hereinafter, when there is no need to distinguish between the controllers 20A(1) to 20A(n) individually, they are collectively referred to as the "controller 20A.”
- the robot 10, wireless acceleration sensor 101, and wireless receiver 30 have the same configurations as the robot 10, wireless acceleration sensor 101, and wireless receiver 30 of the first embodiment.
- FIG. 7 is a functional block diagram showing a functional configuration example of the control device 20A.
- the control device 20A is connected to a teaching operation panel 25, and includes a sensor coordinate storage unit 201, a sensor setting storage unit 202, each axis angle detection unit 203, a sensor data reception unit 205, and a sensor value abnormality determination unit. 206 a , a sensor physical quantity estimation unit 207 , and a sensor physical quantity calculation unit 208 .
- the teaching console 25 also includes a user notification section 251 and a user input section 252 .
- the sensor coordinate storage unit 201, the sensor setting storage unit 202, the axis angle detection unit 203, and the sensor data reception unit 205 are similar to the sensor coordinate storage unit 201, the sensor setting storage unit 202, and the axis angle detection unit 203 of the first embodiment. , and a function equivalent to that of the sensor data receiving unit 205 . Also, the user notification unit 251 and the user input unit 252 have functions equivalent to those of the user notification unit 251 and the user input unit 252 of the first embodiment.
- a sensor physical quantity estimating unit 207 obtains a physical quantity related to the wireless acceleration sensor 101 by forward transformation of the angles of the joint axes 11(1) to 11(6) detected by each axis angle detecting unit 203 and coordinate transformation of the sensor coordinate system ⁇ s. to estimate Specifically, the sensor physical quantity estimating unit 207, for example, uses the angles of the joint axes 11(1) to 11(6) detected by the respective axis angle detecting unit 203 to perform a forward transformation to obtain the robot coordinate system Calculate the position and orientation of the mechanical interface coordinate system ⁇ m in ⁇ r.
- the sensor physical quantity estimating unit 207 uses the vector (x, y, z) and the rotation angle (w, p, r) stored in the sensor coordinate storage unit 201 to set the wireless acceleration sensor 101 in the robot coordinate system ⁇ r.
- a movement vector consisting of the movement distance and the movement direction of the determined position is estimated as a physical quantity.
- a sensor physical quantity calculation unit 208 calculates a physical quantity from sensor data of acceleration detected by the wireless acceleration sensor 101 . Specifically, the sensor physical quantity calculation unit 208 performs second-order integration over time on the acceleration time-series data of the sensor data received from the sensor data reception unit 205 to obtain the movement vector of the wireless acceleration sensor 101 in the robot coordinate system ⁇ r. is calculated as a physical quantity.
- the sensor value abnormality determination unit 206 a compares the motion vector, which is the physical quantity calculated by the sensor physical quantity calculation unit 208 , with the motion vector, which is the physical quantity estimated by the sensor physical quantity estimation unit 207 .
- a preset threshold value for example, “1 mm”.
- the sensor value abnormality determination unit 206a calculates the difference between the magnitude of the movement vector calculated by the sensor physical quantity calculation unit 208 and the magnitude of the movement vector estimated by the sensor physical quantity estimation unit 207, and calculates The difference may be compared with a threshold.
- FIG. 8 is a flowchart for explaining the abnormality determination processing of the control device 20A.
- the flow shown here is executed each time the user sets the sensor coordinate system ⁇ s of the wireless acceleration sensor 101 .
- the processes of steps S1, S2, and S8 are the same as the processes of steps S1, S2, and S8 of the first embodiment shown in FIG. .
- step S3a the sensor physical quantity estimating unit 207 determines the angle of each of the joint axes 11(1) to 11(6) before the robot 10 moves (when the robot 10 is stationary) detected by the axis angle detecting unit 203.
- the posture of the robot 10 obtained from the forward transformation and the movement vector of the position where the wireless acceleration sensor 101 is attached by the coordinate transformation of the sensor coordinate system ⁇ s are estimated as physical quantities.
- step S4a the sensor value abnormality determination unit 206a combines the physical quantity of the movement vector of the position of the wireless acceleration sensor 101 calculated by the sensor physical quantity calculation unit 208 using the sensor data acquired in step S2 with the physical quantity estimated in step S3a. It is determined whether or not all the components of the difference between the physical quantity and the difference are equal to or less than the threshold value. If all components of the difference are equal to or less than the threshold, the process moves to step S6a. On the other hand, if all components of the difference are not equal to or less than the threshold, the process moves to step S5a.
- step S5a the sensor value abnormality determination unit 206a outputs the physical quantity abnormality determination result to the user notification unit 251, and the user notification unit 251 displays an alert on the display unit (not shown) of the teaching operation panel 25. Then, the process returns to step S1.
- step S6a the sensor physical quantity estimator 207 detects the position of the robot 10 from the forward transformation of the angles of the joint axes 11(1) to 11(6) during motion of the robot 10 detected by the axis angle detector 203. Then, the movement vector of the position where the wireless acceleration sensor 101 is attached is estimated as a physical quantity by the orientation and the coordinate conversion of the sensor coordinate system ⁇ s.
- step S7a the sensor value abnormality determination unit 206a determines that all components of the difference between the physical quantity of the movement vector calculated by the sensor physical quantity calculation unit 208 and the physical quantity of the movement vector estimated in step S6a are equal to or less than the threshold. Determine whether or not If all components of the difference are equal to or less than the threshold, the process moves to step S8. On the other hand, if all components of the difference are not equal to or less than the threshold, the process moves to step S5a.
- the control device 20A changes the setting of the communication address of the wireless acceleration sensor 101, thereby preventing the robot 10 from operating with the wireless acceleration sensor 101 connected incorrectly. can be prevented.
- the control device 20A detects an abnormality in the sensor data by comparing the physical quantity calculated from the sensor data and the estimated physical quantity before operating the robot 10 and during the operation of the robot 10, and issues an alert for the detected abnormality. Notify users.
- the control device 20A can reduce unnecessary man-hours for preventing the continuation of control of the robot 10 while the setting of the wireless acceleration sensor 101 is incorrect, and the robot 10 can predict the robot 10 due to the setting error of the wireless acceleration sensor 101. It is possible to prevent uncontrolled control (for example, an operation in which vibration diverges, etc.).
- the second embodiment has been described above.
- control device 20B according to the third embodiment differs from the first embodiment in the following points.
- the control device 20B according to the third embodiment receives sensor data detected by the wireless acceleration sensors 101 arranged in each of the plurality of robots 10 including the robot 10 to be controlled.
- Second embodiment The control device 20B according to the embodiment converts the value of the sensor data of the wireless acceleration sensor 101 of each robot 10, the forward transformation of the angle of each axis of the robot 10 to be controlled, and the wireless acceleration estimated by the coordinate transformation of the sensor coordinate system.
- a sensor value at the position of the sensor 101 is compared, and a sensor whose difference from the estimated value exceeds a preset threshold value is determined as a sensor arranged on the robot 10 other than the robot 10 to be controlled. Accordingly, the control device 20B according to the third embodiment can prevent the robot from operating in a state where the sensor connection is incorrect.
- a third embodiment will be described below.
- FIG. 9 is a functional block diagram showing a functional configuration example of the robot system according to the third embodiment. Elements having functions similar to those of the robot system 1 shown in FIG. As shown in FIG. 9, the robot system 1B includes n robots 10(1) to 10(n), n controllers 20B(1) to 20B(n), and a radio receiver 30. Hereinafter, when there is no need to distinguish between the controllers 20B(1) to 20B(n), they will be collectively referred to as the "controller 20B".
- the robot 10, wireless acceleration sensor 101, and wireless receiver 30 have the same configurations as the robot 10, wireless acceleration sensor 101, and wireless receiver 30 of the first embodiment.
- FIG. 10 is a functional block diagram showing a functional configuration example of the control device 20B(1).
- FIG. 10 shows an example of the functional configuration of the control device 20B(1), the control devices 20B(2) to 20B(n) are the same as the control device 20B(1).
- a control device 20B(1) is connected to a teaching operation panel 25, and includes a sensor coordinate storage unit 201, a sensor setting storage unit 202, an axis angle detection unit 203, a sensor value estimation unit 204, sensor data It includes a receiver 205 b and a proper sensor determination unit 209 .
- the teaching console 25 also includes a user notification section 251 and a user input section 252 .
- the sensor coordinate storage unit 201, the sensor setting storage unit 202, the axis angle detection unit 203, and the sensor value estimation unit 204 are similar to the sensor coordinate storage unit 201, the sensor setting storage unit 202, and the axis angle detection unit 203 of the first embodiment. , and a function equivalent to that of the sensor value estimation unit 204 . Also, the user notification unit 251 and the user input unit 252 have functions equivalent to those of the user notification unit 251 and the user input unit 252 of the first embodiment.
- the sensor data receiving unit 205b receives the sensor signal including the acceleration detected by the wireless acceleration sensor 101 placed on the robot 10(1) to be controlled, and also the wireless sensors placed on each of the robots 10(2) to 10(n). A sensor signal including acceleration detected by the acceleration sensor 101 is received. That is, the wireless acceleration sensor 101 arranged in each robot 10 may transmit the sensor signal by multicast, for example. In this case, the sensor data receiving unit 205b does not have to refer to the setting information in the sensor setting storage unit 202.
- the sensor data reception unit 205b outputs the acceleration of each axis of the sensor coordinate system ⁇ s included in the received sensor signal of each wireless acceleration sensor 101 to the appropriate sensor determination unit 209 as sensor data.
- noise may be removed by a low-pass filter (not shown) before output.
- the appropriate sensor determination unit 209 receives sensor data values of the wireless acceleration sensors 101 of the robots 10(1) to 10(n) and sensor values estimated by the sensor value estimation unit 204 from the sensor data reception unit 205b. Comparison is made for each axis of the sensor coordinate system ⁇ s. The appropriate sensor determination unit 209 determines in advance the maximum difference among the differences for each axis between the sensor data value of the wireless acceleration sensor 101 of each of the robots 10(1) to 10(n) and the estimated sensor value. The wireless acceleration sensor 101 whose sensor data exceeds the threshold (for example, “2 m/s 2 ”) is determined to be an inappropriate sensor placed on a robot 10 other than the robot 10(1) to be controlled.
- the threshold for example, “2 m/s 2 ”
- the appropriate sensor determination unit 209 determines that the wireless acceleration sensor 101 whose sensor data has the maximum difference within a preset threshold value (for example, “2 m/s 2 ”) is installed in the robot 10(1) to be controlled. It is determined that the sensor is a proper one.
- the proper sensor determination section 209 outputs the determination result to the user notification section 251 of the teaching operation panel 25 .
- the user input unit 252 sets the communication address of the appropriate wireless acceleration sensor 101 as the setting information according to the input operation by the user based on the display of the user notification unit 251, and stores it in the sensor setting storage unit 202. You may do so.
- FIG. 11 is a diagram illustrating an example of comparison between sensor data values and estimated sensor values. Note that in FIG.
- the appropriate sensor determination unit 209 calculates the difference between the sensor data value and the estimated sensor value for each axis of the sensor coordinate system ⁇ s, and compares the calculated difference with a preset threshold value. is not limited to For example, the appropriate sensor determination unit 209 determines the difference between the magnitude of the vector, which is the value of the sensor data on each axis of the sensor coordinate system ⁇ s, and the magnitude of the vector, which is the sensor value estimated on each axis of the sensor coordinate system ⁇ s.
- the appropriate sensor determination unit 209 inputs the value of the sensor data of each axis of the sensor coordinate system ⁇ s into the predetermined function. Calculate the difference between the calculated value and the value calculated by inputting the sensor values estimated on each axis of the sensor coordinate system ⁇ s into a predetermined function, and compare the calculated difference with a threshold value. good too.
- FIG. 12 is a flowchart for explaining the appropriate sensor determination process of the control device 20B. The flow shown here is executed each time the user sets the sensor coordinate system ⁇ s of the wireless acceleration sensor 101 .
- step S11 the user input unit 252 generates a vector (x, y, z) from the origin of the mechanical interface coordinate system ⁇ m to the origin of the sensor coordinate system ⁇ s of the wireless acceleration sensor 101 and a mechanical Rotation angles (w, p, r) that define the direction of the sensor coordinate system ⁇ s by rotating the interface coordinate system ⁇ m around each axis are set as coordinate system information and stored in the sensor coordinate storage unit 201 .
- step S12 the wireless acceleration sensor 101 of each of the robots 10(1) to 10(n) starts measuring the acceleration of each axis of the sensor coordinate system ⁇ s at the start of learning control, and the sensor data receiving unit 205b
- Each sensor signal including the acceleration of each axis of the sensor coordinate system ⁇ s measured by the wireless acceleration sensor 101 of each robot 10 including the robot 10(1) to be controlled is received via the wireless receiver 30, and the received sensor
- the acceleration of each axis of the sensor coordinate system ⁇ s for each signal is acquired as sensor data.
- step S13 similarly to step S3 in the first embodiment, the sensor value estimating unit 204 determines whether the robot 10(1) detected by each axis angle detecting unit 203 operates before the robot 10(1) operates. ) at rest), the posture of the robot 10(1) obtained from the forward transformation of the angles of each of the joint axes 11(1) to 11(6), and the wireless acceleration sensor 101 attached by the coordinate transformation of the sensor coordinate system ⁇ s. Estimate the sensor value of each axis of the sensor coordinate system ⁇ s at the position. In step S13, sensor value estimating unit 204 calculates the sensor value (gravitational acceleration) before robot 10(1) moves (when robot 10(1) is stationary) regardless of whether or not the operation program is executed. Estimates are preferred.
- step S14 the appropriate sensor determination unit 209 determines that the difference between the value of the sensor data of the wireless acceleration sensor 101 of each robot 10 acquired in step S12 and the sensor value estimated in step S13 is the value of all of the sensor coordinate system ⁇ s. Determine whether there is a suitable wireless accelerometer 101 that is equal to or less than the threshold on the axis. If there is a suitable wireless acceleration sensor 101, the process moves to step S16. On the other hand, if there is no appropriate wireless acceleration sensor 101, the process proceeds to step S15.
- step S15 the appropriate sensor determination unit 209 outputs to the user notification unit 251 a determination result indicating that there is no appropriate wireless acceleration sensor 101, and the user notification unit 251 displays an alert on the display unit (not shown) of the teaching operation panel 25. ). Then, the process returns to step S11.
- the sensor value estimating unit 204 detects the angles of the joint axes 11(1) to 11(6) during the operation of the robot 10(1) detected by the axis angle detecting unit 203. 10(1) and the coordinate transformation of the sensor coordinate system ⁇ s, the sensor values of each axis of the sensor coordinate system ⁇ s at the position where the wireless acceleration sensor 101 is attached are estimated.
- the motion of the robot 10(1) may be a motion in an actual work, or may be a preset predetermined motion such as a translational motion with respect to the X-axis or the Y-axis of the robot coordinate system ⁇ r.
- step S17 the appropriate sensor determination unit 209 determines the value of the sensor data of the wireless acceleration sensor 101 of each robot 10 including the controlled robot 10(1) acquired by the sensor data reception unit 205b and the sensor data value estimated in step S16. It is determined whether or not there is an appropriate wireless acceleration sensor 101 whose difference from the sensor value is equal to or less than the threshold on all axes of the sensor coordinate system ⁇ s. If there is a suitable wireless acceleration sensor 101, the process moves to step S18. On the other hand, if there is no suitable wireless acceleration sensor 101, the process proceeds to step S15.
- step S18 the user input unit 252 sets the communication address of the appropriate wireless acceleration sensor 101 as setting information according to the user's input operation, stores it in the sensor setting storage unit 202, and sets the appropriate wireless acceleration sensor 101. pair with. Then, the control device 20B(1) continues to control the robot 10 according to the motion program based on the learning control.
- the difference between the sensor data value of the wireless acceleration sensor 101 arranged in each robot 10 and the estimated sensor value By pairing with an appropriate wireless acceleration sensor 101 that is equal to or less than the threshold value in , that is, with the wireless acceleration sensor 101 arranged in the robot 10 to be controlled, it is possible to prevent the robot from operating in a state where the wireless acceleration sensor 101 is incorrectly connected. You can switch the connection settings arbitrarily.
- the control device 20B compares the sensor data value of the wireless acceleration sensor 101 arranged in each robot 10 with the estimated sensor value before operating the robot 10 and during the operation of the robot 10 to obtain an appropriate value.
- the presence or absence of the wireless acceleration sensor 101 is determined, and if there is no appropriate wireless acceleration sensor 101, an alert is sent to the user.
- the control device 20B can reduce unnecessary man-hours for preventing continuation of control of the robot 10 while an inappropriate wireless acceleration sensor 101 is set. It is possible to prevent unexpected control (for example, operation in which vibration diverges, etc.).
- the third embodiment has been described above.
- the controller 20B according to the fourth embodiment differs from the first embodiment in the following points.
- the control device 20B according to the fourth embodiment receives sensor data detected by the wireless acceleration sensors 101 arranged in each of the plurality of robots 10 including the robot 10 to be controlled.
- the control device 20B according to the embodiment estimates the physical quantity calculated from the sensor data of the wireless acceleration sensor 101 of each robot 10, the forward transformation of the angle of each axis of the robot 10 to be controlled, and the coordinate transformation of the sensor coordinate system. and the estimated physical quantity, and a sensor whose difference from the estimated physical quantity exceeds a preset threshold value is determined to be the sensor arranged on the robot 10 other than the robot 10 to be controlled.
- the control device 20B according to the embodiment can prevent the robot from operating while the sensor is connected incorrectly.
- a fourth embodiment will be described below.
- the robot system according to the fourth embodiment is the same as the robot system 1B of FIG. 9, and elements having functions similar to those of the robot system 1B are denoted by the same reference numerals, and detailed description thereof will be omitted.
- the robot 10, wireless acceleration sensor 101, and wireless receiver 30 have the same configurations as the robot 10, wireless acceleration sensor 101, and wireless receiver 30 of the third embodiment.
- FIG. 13 is a functional block diagram showing a functional configuration example of the control device 20B(1).
- FIG. 13 shows a functional configuration example of the control device 20B(1), the control devices 20B(2) to 20B(n) are similar to the control device 20B(1).
- a control device 20B(1) is connected to a teaching operation panel 25, and includes a sensor coordinate storage unit 201, a sensor setting storage unit 202, an axis angle detection unit 203, a sensor data reception unit 205b, and a sensor physical quantity. It includes an estimation unit 207, a sensor physical quantity calculation unit 208b, and a proper sensor determination unit 209b.
- the teaching console 25 also includes a user notification section 251 and a user input section 252 .
- the sensor coordinate storage unit 201, the sensor setting storage unit 202, and the axis angle detection unit 203 have functions equivalent to those of the sensor coordinate storage unit 201, the sensor setting storage unit 202, and the axis angle detection unit 203 of the first embodiment. have.
- the sensor physical quantity estimation unit 207 has the same function as the sensor physical quantity estimation unit 207 of the second embodiment.
- the sensor data receiving unit 205b has the same function as the sensor data receiving unit 205b of the third embodiment.
- the user notification unit 251 and the user input unit 252 have functions equivalent to those of the user notification unit 251 and the user input unit 252 of the first embodiment.
- the sensor physical quantity calculation unit 208b calculates a physical quantity from acceleration sensor data detected by the wireless acceleration sensors 101 arranged in each robot 10 including the controlled robot 10(1). Specifically, the sensor physical quantity calculation unit 208b double-integrates the acceleration time-series data of the sensor data of each wireless acceleration sensor 101 received from the sensor data reception unit 205b, thereby obtaining the wireless acceleration in the robot coordinate system ⁇ r. A movement vector of the acceleration sensor 101 is calculated as a physical quantity.
- the appropriate sensor determination unit 209b compares the movement vector of each wireless acceleration sensor 101, which is the physical quantity calculated by the sensor physical quantity calculation unit 208b, with the movement vector, which is the physical quantity estimated by the sensor physical quantity estimation unit 207.
- the appropriate sensor determination unit 209b determines the maximum difference component among the XYZ components of the difference between the movement vector calculated for each wireless acceleration sensor 101 and the estimated movement vector as a preset threshold value (for example, "1 mm”). It is determined that the wireless acceleration sensor 101 with the sensor data exceeding .
- the appropriate sensor determination unit 209b determines whether the wireless acceleration sensor 101 whose sensor data has the maximum difference component within a preset threshold value (for example, “1 mm”) is placed on the robot 10(1) to be controlled.
- the proper sensor determination section 209 b outputs the determination result to the user notification section 251 of the teaching operation panel 25 .
- the user input unit 252 sets the communication address of the appropriate wireless acceleration sensor 101 as the setting information according to the input operation by the user based on the display of the user notification unit 251, and stores it in the sensor setting storage unit 202. You may do so.
- FIG. 14 is a flowchart for explaining the appropriate sensor determination process of the control device 20B. The flow shown here is executed each time the user sets the sensor coordinate system ⁇ s of the wireless acceleration sensor 101 .
- the processes of steps S11, S12, S15, and S18 are the same as the processes of steps S11, S12, S15, and S18 of the third embodiment shown in FIG. and the explanation is omitted.
- step S13a the sensor physical quantity estimating unit 207 calculates the joint axes 11(1) to 11( 6) Estimate the posture of the robot 10(1) obtained from the forward transformation of each angle and the movement vector of the position where the wireless acceleration sensor 101 is attached by the coordinate transformation of the sensor coordinate system ⁇ s as physical quantities.
- step S14a the appropriate sensor determination unit 209b uses the sensor data of the wireless acceleration sensors 101 of each of the robots 10 including the control target robot 10(1) acquired in step S12 to calculate the sensor physical quantity calculation unit 208b. It is determined whether or not there is an appropriate wireless acceleration sensor 101 in which all components of the difference between the physical quantity of the movement vector of the position of each wireless acceleration sensor 101 and the physical quantity estimated in step S13a are equal to or less than the threshold. judge. If there is a suitable wireless acceleration sensor 101, the process moves to step S16a. On the other hand, if there is no appropriate wireless acceleration sensor 101, the process proceeds to step S15.
- step S16a the sensor physical quantity estimating unit 207 detects the angles of the joint axes 11(1) to 11(6) during the operation of the robot 10(1) detected by the respective axis angle detecting unit 203.
- the robot 10(1) and the coordinate transformation of the sensor coordinate system ⁇ s, the movement vector of the position where the wireless acceleration sensor 101 is attached is estimated as a physical quantity.
- step S17a the appropriate sensor determination unit 209b determines all of the difference between the physical quantity of the movement vector of each wireless acceleration sensor 101 calculated by the sensor physical quantity calculation unit 208b and the physical quantity of the movement vector estimated in step S16a. It is determined whether or not there is an appropriate wireless acceleration sensor 101 whose component of is equal to or less than the threshold. If there is a suitable wireless acceleration sensor 101, the process moves to step S18. On the other hand, if there is no appropriate wireless acceleration sensor 101, the process proceeds to step S15.
- the difference between the physical quantity calculated using the sensor data of the wireless acceleration sensor 101 arranged in each robot 10 and the estimated physical quantity is By pairing with an appropriate wireless acceleration sensor 101 that is equal to or less than the threshold value, that is, with the wireless acceleration sensor 101 arranged in the robot 10 to be controlled, it is possible to prevent the robot 10 from operating in a state where the wireless acceleration sensor 101 is incorrectly connected. You can switch the connection settings arbitrarily.
- the control device 20B controls the physical quantity calculated using the sensor data of the wireless acceleration sensor 101 arranged in each robot 10 and the estimated physical quantity before operating the robot 10 and during the operation of the robot 10.
- the presence or absence of a suitable wireless acceleration sensor 101 is determined from the comparison, and if there is no suitable wireless acceleration sensor 101, an alert is sent to the user.
- the control device 20B can reduce unnecessary man-hours for preventing continuation of control of the robot 10 while an inappropriate wireless acceleration sensor 101 is set. It is possible to prevent unexpected control (for example, operation in which vibration diverges, etc.).
- the fourth embodiment has been described above.
- control device 20 (20A, 20B) is not limited to the above-described embodiments, and modifications, improvements, etc., can be made within a range that can achieve the purpose. include.
- the senor is the wireless acceleration sensor 101, but it is not limited to this.
- a gyro sensor may be arranged on the robot 10 as a sensor.
- the sensor value detected by the gyro sensor is angular velocity.
- the control device 20 calculates the position and orientation of the mechanical interface coordinate system ⁇ m in the robot coordinate system ⁇ r by performing forward transformation using the angles of the detected joint axes 11(1) to 11(6). Then, the angular velocity sensor value may be estimated from the posture change of the robot 10 at that time, and the physical quantity of the movement distance and direction (movement vector) of the gyro sensor position may be estimated from the posture change of the robot 10 .
- an inertial sensor may be arranged in the robot 10 as a sensor.
- the control device 20 can operate in the same manner as the wireless acceleration sensor 101 or the gyro sensor described above.
- a force sensor may be arranged on the robot 10 as a sensor. In this case, the control device 20 may estimate a physical quantity other than the movement vector, for example, a force vector of the magnitude and direction of the force detected by the force sensor from the internal data of the robot, as a physical quantity by simulation.
- a laser tracker may be arranged on the robot 10 as a sensor.
- the controller 20 estimates the motion trajectory (position) by forward transformation using each axis angle of the robot internal data and coordinate transformation of the sensor coordinate system ⁇ s.
- a motion capture sensor may be arranged on the robot 10 instead of the laser tracker. In this case, the controller 20 can operate in the same way as in the laser tracker.
- a vision sensor may be arranged in the robot 10 as a sensor. For example, when a tool attached to the robot 10 moves on a plane, the vision sensor attached to the tool continuously captures images of the plane. A physical quantity of movement distance can be calculated. Also, the control device 20 can estimate the movement distance from the robot internal data. Also, a combination of two or more sensors such as the wireless acceleration sensor 101 and the above-described gyro sensor may be arranged in the robot 10, and a smart device such as a smart phone including one or more sensors such as the wireless acceleration sensor 101 and the gyro sensor. may be arranged on the robot 10 as sensors.
- the wireless acceleration sensor 101 and the control devices 20 and 20A arranged in the robot 10 are connected via the wireless receiver 30. Communicated, but not limited to.
- the robot system 1 uses wireless receivers 31(1) to 31(n) that receive only sensor signals from wireless acceleration sensors 101 that are arranged in each robot 10 and paired. Therefore, the wireless acceleration sensor 101 and the control devices 20 and 20A may communicate with each other.
- FIG. 15 is a functional block diagram showing a functional configuration example of the robot system. Elements having functions similar to those of the robot system 1 shown in FIG.
- the wireless acceleration sensor 101 and the wireless receiver 31 are paired for each individual device, the setting for the wireless acceleration sensor 101 by the user, that is, the sensor setting storage unit 202 becomes unnecessary, and the control devices 20 and 20A are not required. can easily switch the pair of the robot 10 and the wireless acceleration sensor 101 simply by changing the connection with the wireless receiver 31 .
- control devices 20, 20A, and 20B in the first to fourth embodiments can be realized by hardware, software, or a combination thereof.
- “implemented by software” means implemented by a computer reading and executing a program.
- Non-transitory computer-readable media include various types of tangible storage media.
- Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible discs, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Read Only Memory), CD- R, CD-R/W, semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM).
- the program may also be supplied to the computer on various types of transitory computer readable medium. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can deliver the program to the computer via wired communication channels, such as wires and optical fibers, or wireless communication channels.
- steps of writing a program recorded on a recording medium include not only processes that are executed chronologically in order, but also processes that are executed in parallel or individually, even if they are not necessarily processed chronologically. is also included.
- control device of the present disclosure can take various embodiments having the following configurations.
- the control device 20 of the present disclosure is a control device that controls the robot 10 in which the wireless acceleration sensor 101 is arranged, and stores coordinate system information regarding the preset sensor coordinate system ⁇ s of the wireless acceleration sensor 101.
- each axis angle detection part 203 for detecting the angle of each of the plurality of joint axes 11(1) to 11(6) included in the robot 10, and the plurality of joint axes detected by each axis angle detection part 203 a sensor value estimating unit 204 for estimating the sensor value detected by the wireless acceleration sensor 101 by the forward transformation of each angle of 11(1) to 11(6) and the coordinate transformation of the sensor coordinate system ⁇ s; the value of the sensor data;
- the sensor value estimated by the sensor value estimating unit 204 is compared, and if the difference between the sensor data value and the estimated sensor value exceeds a preset threshold, the sensor data receiving unit 205 and a sensor value abnormality determination unit 206 that determines that sensor data from the arranged wireless acceleration sensor 101 is received.
- this control device 20 it is possible to prevent the robot 10 from operating while the wireless acceleration sensor 101 is incorrectly connected.
- the control device 20A of the present disclosure is a control device that controls the robot 10 in which the wireless acceleration sensor 101 is arranged, and stores coordinate system information regarding the preset sensor coordinate system ⁇ s of the wireless acceleration sensor 101.
- each axis angle detection unit 203 that detects the angle of each of the joint axes 11(1) to 11(6) included in the robot, and each axis angle a sensor physical quantity estimating unit 207 for estimating a physical quantity related to the wireless acceleration sensor 101 by forward transformation of the angles of the joint axes 11(1) to 11(6) detected by the detection unit 203 and coordinate transformation of the sensor coordinate system ⁇ s;
- the physical quantity calculated from the sensor data is compared with the physical quantity estimated by the sensor physical quantity estimating unit 207, and if the difference between the calculated physical quantity and the estimated physical quantity exceeds a preset threshold, the sensor data receiving unit and a sensor value abnormality determination unit 206a that determines that the robot 205 is receiving sensor data from a sensor arranged on another robot.
- this control device 20A the same effect as (1) can be obtained.
- the sensor value abnormality determination unit 206, 206a detects the sensor from the wireless acceleration sensor 101 arranged in the other robot 10.
- a user notification unit 251 that outputs an alert when it is determined that data is received may be provided. By doing so, the control devices 20 and 20A can notify the user of the connection error of the wireless acceleration sensor 101 .
- the user notification unit 251 sends an alert along with the setting information set in the sensor setting storage unit 202 and the sensor data received by the sensor data receiving unit 205. can be output. By doing so, the user can confirm whether or not the setting information stored in the sensor setting storage unit 202 is incorrect, whether or not the wireless acceleration sensor 101 is out of order, and the like.
- control device 20, 20A according to any one of (1) to (4), two or more sensors measuring different physical quantities may be arranged on the robot. By doing so, the controllers 20 and 20A can more accurately detect an abnormality in the sensor data.
- control device 20, 20A according to any one of (1) to (4), a smart device including one or more sensors may be arranged on the robot 10 as a sensor. By doing so, the control devices 20 and 20A can achieve the same effect as (5).
- the control device 20B of the present disclosure is a control device that controls the robot 10 to be controlled in which the wireless acceleration sensor 101 is arranged, and coordinate system information regarding the preset sensor coordinate system ⁇ s of the wireless acceleration sensor 101 a sensor coordinate storage unit 201 for storing the robot 10 to be controlled, a sensor data receiving unit 205b for receiving sensor data detected by the wireless acceleration sensors 101 arranged in each of the plurality of robots 10 including the robot 10 to be controlled, and the robot to be controlled
- Axis angle detection unit 203 for detecting the angle of each of the joint axes 11(1) to 11(6) included in 10, and the joint axes 11(1) to 11(6) detected by each axis angle detection unit 203
- a sensor value estimating unit 204 for estimating the sensor value detected by the wireless acceleration sensor 101 of the robot 10 to be controlled by forward transformation of each angle and coordinate transformation of the sensor coordinate system ⁇ s; The value of the sensor data of the wireless acceleration sensor 101 is compared with the sensor value estimated by the sensor value estimation unit 204, and the wireless acceleration sensor 101 of
- the control device 20B of the present disclosure is a control device that controls the robot 10 to be controlled in which the wireless acceleration sensor 101 is arranged, and coordinate system information regarding the preset sensor coordinate system ⁇ s of the wireless acceleration sensor 101 a sensor coordinate storage unit 201 that stores the , a sensor data receiving unit 205b that receives sensor data detected by the wireless acceleration sensors 101 arranged in each of the plurality of robots 10 including the robot 10 to be controlled, and the plurality of robots 10 A sensor physical quantity calculation unit 208b that calculates a physical quantity from the sensor data of the wireless acceleration sensor 101 arranged in each, and each detecting the angle of each of the joint axes 11(1) to 11(6) included in the robot 10 to be controlled.
- Axis angle detection unit 203 forward conversion of angles of joint axes 11(1) to 11(6) detected by each axis angle detection unit 203, and coordinate conversion of sensor coordinate system ⁇ s
- a sensor physical quantity estimation unit 207 for estimating a physical quantity related to the wireless acceleration sensor 101; , and determines that the wireless acceleration sensor 101 having sensor data whose difference from the estimated physical quantity exceeds a preset threshold value is a sensor arranged on the robot 10 other than the robot 10 to be controlled. And prepare. According to this control device 20B, the same effect as (1) can be obtained.
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Abstract
Description
そのような課題に対し、振動を除去したい箇所や高精度軌跡を実現したい箇所に加速度センサを取り付け、ロボット動作中の振動を加速度センサによって計測し、学習制御を行うことで振動を低減する方法が提案されている。例えば、特許文献1参照。
また、センサの接続方式が有線による場合、センサケーブルの取りまわしの煩雑さから、無線化した加速度センサをロボットに取り付け、ロボットの振動を抑制する方法が提案されている。例えば、特許文献2参照。
本実施形態の構成について図面を用いて詳細に説明する。ここでは、センサとして無線加速度センサの場合を例示する。なお、本発明は、ジャイロセンサや慣性センサ等のセンサの場合や、1以上のセンサを含むスマートフォン等のスマートデバイスをセンサとして用いる場合に対しても適用可能である。
図1に示すように、ロボットシステム1は、n台のロボット10(1)~10(n)、n台の制御装置20(1)~20(n)、及び無線受信機30を有する(nは2以上の整数)。
ロボット10(1)~10(n)、制御装置20(1)~20(n)、及び無線受信機30は、図示しない接続インタフェースを介して互いに直接接続されてもよい。なお、ロボット10(1)~10(n)と、制御装置20(1)~20(n)とは、LAN(Local Area Network)等のネットワークを介して相互に接続されていてもよい。この場合、ロボット10(1)~10(n)と、制御装置20(1)~20(n)とは、かかる接続によって相互に通信を行うための図示しない通信部を備えてもよい。
なお、以下、ロボット10(1)~10(n)のそれぞれを個々に区別する必要がない場合、これらをまとめて「ロボット10」という。また、制御装置20(1)~20(n)のそれぞれを個々に区別する必要がない場合、これらをまとめて「制御装置20」という。
ロボット10は、例えば、図1に示すように、6軸の垂直多関節ロボットであり、6つの関節軸11(1)~11(6)と、関節軸11(1)~11(6)の各々により連結されるアーム部12と、を有する。ロボット10は、制御装置20からの駆動指令に基づいて、関節軸11(1)~11(6)の各々に配置される図示しないサーボモータの各々を駆動することにより、アーム部12等の可動部材を駆動する。また、ロボット10の可動部材の先端部、例えば、関節軸11(6)の先端部には、例えば、溶接ガン、握持ハンド、レーザ照射装置等のエンドエフェクタ13が取り付けられる。そして、エンドエフェクタ13には、無線加速度センサ101が設置される。
ロボット10は、図2Aに示すように、ロボット基準点14と、ロボット基準点14を中心とするロボット座標系Σrと、を有する。また、無線加速度センサ101は、センサ基準点111と、センサ基準点111を中心とするセンサ座標系Σsと、を有する。
また、図2Bに示すように、ロボット10は、関節軸11(6)の先端のフランジにおいて、ロボット先端点15と、ロボット先端点15を中心とするメカニカルインタフェース座標系Σmと、を有する。
メカニカルインタフェース座標系Σmとセンサ座標系Σsとの位置関係は、メカニカルインタフェース座標系Σmにおいて、メカニカルインタフェース座標系Σmの原点からセンサ座標系Σsの原点へのベクトル(x,y,z)、及びメカニカルインタフェース座標系Σmの各軸回りの回転によってセンサ座標系Σsの方向を定義する回転角(w,p,r)の6個の要素を用いて定義することができる。そして、ベクトル(x,y,z)及び回転角(w,p,r)は、公知の手法(例えば、特開2017-74647号公報)を用いて求めることができる。
これにより、後述する制御装置20は、ベクトル(x,y,z)及び回転角(w,p,r)を用いて、関節軸11(6)のロボット先端点15からセンサ座標系Σsの原点までの距離を計算することで、ロボットの動作プログラムに記述された座標及び角度からロボット座標系Σrにおける無線加速度センサ101の位置を算出することができる。
なお、無線加速度センサ101は、検出した加速度及び時刻情報のセンサ信号を、無線受信機30に無線で送信したが、制御装置20と有線で接続されセンサ信号を制御装置20に送信してもよい。
また、無線加速度センサ101は、加速度センサに限定されず、ジャイロセンサ、慣性センサ、力センサ、レーザトラッカ、ビジョンセンサ、又はモーションキャプチャセンサ等でもよい。また、無線加速度センサ101は、加速度センサ等の複数のセンサを含むスマートフォン等のスマートデバイスでもよい。
無線受信機30は、例えば、WiFi(登録商標)ルータ等であり、無線加速度センサ101からのセンサ信号を受信し、受信したセンサ信号を制御装置20に出力する。
なお、無線通信の通信規格はWiFi(登録商標)に限定されず、Bluetooth(登録商標)等の電波を利用したものでもよく、赤外線通信を利用したものでもよい。そして、無線受信機30は、通信規格に応じたモジュールを使用することが好ましい。
制御装置20は、無線加速度センサ101により検出された加速度を用いた学習制御を行うことにより、動作中にロボット10のアーム部12に発生する振動を低減するように、動作プログラムに基づいてロボット10に対して駆動指令を出力し、ロボット10の動作を制御する制御装置(「ロボットコントローラ」とも呼ばれる)である。
図3は、制御装置20の機能的構成例を示す機能ブロック図である。
図3に示すように、本実施形態に係る制御装置20は、教示操作盤25が接続され、センサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、センサ値推定部204、センサデータ受信部205、及びセンサ値異常判定部206を含んで構成される。また、教示操作盤25は、ユーザ通知部251、及びユーザ入力部252を含む。
なお、制御装置20は、図3の機能ブロックの動作を実現するために、CPU(Central Processing Unit)等の図示しない演算処理装置を備える。また、制御装置20は、各種の制御用プログラムを格納したROM(Read Only Memory)やHDD(Hard Disk Drive)等の図示しない補助記憶装置や、演算処理装置がプログラムを実行する上で一時的に必要とされるデータを格納するためのRAM(Random Access Memory)といった図示しない主記憶装置を備える。
具体的には、センサ座標記憶部201は、無線加速度センサ101の位置及び姿勢を算出するのに必要となる、メカニカルインタフェース座標系Σmの原点からセンサ座標系Σsの原点へのベクトル(x,y,z)、及びメカニカルインタフェース座標系Σmの各軸回りの回転によってセンサ座標系Σsの方向を定義する回転角(w,p,r)を、座標系情報として記憶する。
具体的には、センサ設定記憶部202は、通信対象となる無線加速度センサ101が有する通信アドレス(例えば、IPアドレスやMACアドレス等)を、設定情報として記憶する。
各軸角度検出部203は、検出した関節軸11(1)~11(6)それぞれの角度をセンサ値推定部204に出力する。
具体的には、センサ値推定部204は、各軸角度検出部203により検出された関節軸11(1)~11(6)それぞれの角度を用いて順変換することにより、ロボット座標系Σrにおける、メカニカルインタフェース座標系Σmの位置及び姿勢を算出する。センサ値推定部204は、センサ座標記憶部201に記憶されたベクトル(x,y,z)、及び回転角(w,p,r)の座標系情報を用いて、ロボット座標系Σrにおける無線加速度センサ101が取り付けられた位置を算出する。センサ値推定部204は、算出した位置の時系列データを時間で2階微分することによりロボット座標系Σrの各軸の加速度を算出し、算出した加速度をメカニカルインタフェース座標系Σmを介してセンサ座標系Σsの各軸の加速度のセンサ値に変換し推定する。そして、センサ値推定部204は、ロボット10が動作している場合、推定したセンサ座標系Σsの加速度のセンサ値から重力加速度の成分を差し引き、差し引いたセンサ値をセンサ値異常判定部206に出力する。
なお、センサ値推定部204は、ロボット10が静止している場合、重力加速度を差し引くことなく、推定したセンサ座標系Σsの加速度のセンサ値をセンサ値異常判定部206に出力してもよい。
具体的には、センサデータ受信部205は、センサ設定記憶部202に記憶された設定情報の通信アドレスに基づいて、無線加速度センサ101とペアリングを行う。例えば、センサデータ受信部205は、無線受信機30を介して受信するセンサ信号のうち、センサ信号のヘッダにペアリングした無線加速度センサ101の通信アドレスを含むセンサ信号を受信する。センサデータ受信部205は、受信したセンサ信号に含まれるセンサ座標系Σsの各軸の加速度を、センサデータとしてセンサ値異常判定部206に出力する。
なお、センサデータ受信部205は、センサデータをセンサ値異常判定部206に出力するとき、ローパスフィルタ(図示しない)によりノイズを除去して出力するようにしてもよい。
図4A及び図4Bは、センサデータの値と推定されたセンサ値との比較の一例を示す図である。なお、図4Aは、例えば、ロボット動作時におけるセンサ座標系ΣsのX軸方向のセンサデータの値と推定されたセンサ値との差が閾値以下の正常な場合を示す。また、図4Bは、ロボット動作時におけるセンサ座標系ΣsのX軸方向のセンサデータの値と推定されたセンサ値との差が閾値を超える異常な場合を示す。
なお、センサ値異常判定部206は、センサ座標系Σsの軸毎にセンサデータの値と推定されたセンサ値との差を算出し、算出した差と予め設定された閾値とを比較したが、これに限定されない。例えば、センサ値異常判定部206は、センサ座標系Σsの各軸のセンサデータの値であるベクトルの大きさと、センサ座標系Σsの各軸で推定されたセンサ値であるベクトルの大きさと、の差を算出し、算出した差と閾値とを比較してもよい。
あるいは、センサ座標系Σsの各軸の加速度を変数とする所定の関数を用いて、センサ値異常判定部206は、センサ座標系Σsの各軸のセンサデータの値を所定の関数に入力することで算出される値と、センサ座標系Σsの各軸で推定されたセンサ値を所定の関数に入力することで算出される値と、の差を算出し、算出した差と閾値とを比較してもよい。
具体的には、ユーザ通知部251は、センサデータの値が異常の場合、当該異常を通知するアラートを教示操作盤25に含まれる液晶ディスプレイ等の表示部に表示する。
なお、ユーザ通知部251は、アラートとともに、センサ設定記憶部202に設定されている設定情報、及びセンサデータ受信部205により受信されたセンサデータの値を出力してもよい。
そうすることで、ユーザは、センサ設定記憶部202に記憶されている設定情報が間違っているか否か、無線加速度センサ101が故障しているか否か等を確認することができる。設定情報が間違っている場合、ユーザは、後述する教示操作盤25のユーザ入力部252を介して、正しい設定情報を再設定することができる。また、無線加速度センサ101が故障している場合、ユーザは、新しい無線加速度センサ101に交換することで、センサ値の異常に迅速に対応することができる。
なお、ユーザ通知部251は、教示操作盤25に配置されたが、制御装置20に配置されてもよい。
なお、ユーザ入力部252は、教示操作盤25に配置されたが、制御装置20に配置されてもよい。
次に、図5を参照しながら、制御装置20の異常判定処理の流れを説明する。
図5は、制御装置20の異常判定処理について説明するフローチャートである。ここで示すフローは、ユーザにより無線加速度センサ101のセンサ座標系Σsの設定が行われる度に実行される。
なお、ステップS3では、動作プログラムの実行の有無にかかわらず、センサ値推定部204は、ロボット10が動作する前(ロボット10の静止時)におけるセンサ値(重力加速度)を推定することが好ましい。
なお、ロボット10の動作とは、実際の作業における動作でもよく、ロボット座標系ΣrのX軸やY軸に対する並進動作等の予め設定された所定の動作でもよい。
また、制御装置20は、ロボット10を動作させる前とロボット10の動作中とに、センサデータの値と推定したセンサ値との比較からセンサデータの異常を検出し、検出した異常のアラートをユーザに通知する。これにより、制御装置20は、無線加速度センサ101の設定が間違ったままロボット10の制御を続行することを防止するための余計な工数を削減でき、無線加速度センサ101の設定間違いによるロボット10の予期しない制御(例えば、振動が発散する動作等)を防止できる。
以上、第1実施形態について説明した。
次に、第2実施形態について説明する。第1実施形態では、制御装置20は、ロボット10の関節軸11(1)~11(6)の角度の順変換から求まるロボット10の位置及び姿勢、及びセンサ座標系Σsの座標変換により無線加速度センサ101の位置におけるセンサ座標系Σsの各軸のセンサ値を推定し、無線加速度センサ101により検出されたセンサデータの値と推定されたセンサ値との差がセンサ座標系Σsの全ての軸において閾値以下か否かを判定することで、センサデータの異常(無線加速度センサ101の接続間違い)をユーザに通知した。これに対して、第2実施形態では、制御装置20Aは、ロボット10の関節軸11(1)~11(6)の角度の順変換から求まるロボット10の位置及び姿勢、及びセンサ座標系Σsの座標変換により、ロボット座標系Σrにおける無線加速度センサ101の移動距離及び移動方向の移動ベクトルを物理量として推定するとともに、センサデータ受信部が受信したセンサデータからロボット座標系Σrにおける無線加速度センサ101の移動距離及び移動方向の移動ベクトルを物理量として算出し、センサデータから算出された物理量の移動ベクトルと推定された物理量の移動ベクトルとの差の全ての成分が閾値以下か否かを判定する点が、第1実施形態と相違する。
これにより、第2実施形態に係る制御装置20Aは、センサの接続間違いの状態でロボットが稼働することを未然に防ぐことができる。
以下、第2実施形態について説明する。
図6に示すように、ロボットシステム1Aは、n台のロボット10(1)~10(n)、n台の制御装置20A(1)~20A(n)、及び無線受信機30を有する。
以下、制御装置20A(1)~20A(n)のそれぞれを個々に区別する必要がない場合、これらをまとめて「制御装置20A」という。
図7は、制御装置20Aの機能的構成例を示す機能ブロック図である。
図7に示すように、制御装置20Aは、教示操作盤25が接続され、センサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、センサデータ受信部205、センサ値異常判定部206a、センサ物理量推定部207、及びセンサ物理量演算部208を含んで構成される。また、教示操作盤25は、ユーザ通知部251、及びユーザ入力部252を含む。
センサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、及びセンサデータ受信部205は、第1実施形態のセンサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、及びセンサデータ受信部205と同等の機能を有する。
また、ユーザ通知部251、及びユーザ入力部252は、第1実施形態のユーザ通知部251、及びユーザ入力部252と同等の機能を有する。
具体的には、センサ物理量推定部207は、例えば、各軸角度検出部203により検出された関節軸11(1)~11(6)それぞれの角度を用いて順変換することにより、ロボット座標系Σrにおける、メカニカルインタフェース座標系Σmの位置及び姿勢を算出する。センサ物理量推定部207は、センサ座標記憶部201に記憶されたベクトル(x,y,z)、及び回転角(w,p,r)を用いて、ロボット座標系Σrにおける無線加速度センサ101が取り付けられた位置の移動距離及び移動方向からなる移動ベクトルを、物理量として推定する。
具体的には、センサ物理量演算部208は、センサデータ受信部205から受信したセンサデータの加速度の時系列データを時間で2階積分することで、ロボット座標系Σrにおける無線加速度センサ101の移動ベクトルを、物理量として算出する。
なお、センサ値異常判定部206aは、例えば、センサ物理量演算部208により算出された移動ベクトルの大きさと、センサ物理量推定部207により推定された移動ベクトルの大きさと、の差を算出し、算出した差と閾値とを比較してもよい。
次に、図8を参照しながら、制御装置20Aの異常判定処理の流れを説明する。
図8は、制御装置20Aの異常判定処理について説明するフローチャートである。ここで示すフローは、ユーザにより無線加速度センサ101のセンサ座標系Σsの設定が行われる度に実行される。
なお、図8に示す異常判定処理において、ステップS1、ステップS2、ステップS8の処理は、図5の第1実施形態のステップS1、ステップS2、ステップS8の処理と同様であり、説明は省略する。
また、制御装置20Aは、ロボット10を動作させる前とロボット10の動作中とに、センサデータから算出した物理量と推定した物理量との比較からセンサデータの異常を検出し、検出した異常のアラートをユーザに通知する。これにより、制御装置20Aは、無線加速度センサ101の設定が間違ったままロボット10の制御を続行することを防止するための余計な工数を削減でき、無線加速度センサ101の設定間違いによるロボット10の予期しない制御(例えば、振動が発散する動作等)を防止できる。
以上、第2実施形態について説明した。
次に、第3実施形態について説明する。なお、第3実施形態に係る制御装置20Bは、第1実施形態と以下の点で相違する。
(1)第3実施形態に係る制御装置20Bは、制御対象のロボット10を含む複数のロボット10それぞれに配置された無線加速度センサ101により検出されたセンサデータを受信する点
(2)第3実施形態に係る制御装置20Bは、各ロボット10の無線加速度センサ101のセンサデータの値と、制御対象のロボット10の各軸の角度の順変換、及びセンサ座標系の座標変換により推定された無線加速度センサ101の位置におけるセンサ値と、を比較し、推定された値との差が予め設定された閾値を超えるセンサを、制御対象のロボット10以外のロボット10に配置されたセンサと判定する点
これにより、第3実施形態に係る制御装置20Bは、センサの接続間違いの状態でロボットが稼働することを未然に防ぐことができる。
以下、第3実施形態について説明する。
図9に示すように、ロボットシステム1Bは、n台のロボット10(1)~10(n)、n台の制御装置20B(1)~20B(n)、及び無線受信機30を有する。
以下、制御装置20B(1)~20B(n)のそれぞれを個々に区別する必要がない場合、これらをまとめて「制御装置20B」という。
図10は、制御装置20B(1)の機能的構成例を示す機能ブロック図である。なお、図10では、制御装置20B(1)の機能的構成例を示すが、制御装置20B(2)~20B(n)についても制御装置20B(1)と同様である。
図10に示すように、制御装置20B(1)は、教示操作盤25が接続され、センサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、センサ値推定部204、センサデータ受信部205b、及び適正センサ判定部209を含んで構成される。また、教示操作盤25は、ユーザ通知部251、及びユーザ入力部252を含む。
センサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、及びセンサ値推定部204は、第1実施形態のセンサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、及びセンサ値推定部204と同等の機能を有する。
また、ユーザ通知部251、及びユーザ入力部252は、第1実施形態のユーザ通知部251、及びユーザ入力部252と同等の機能を有する。
センサデータ受信部205bは、受信した各無線加速度センサ101のセンサ信号に含まれるセンサ座標系Σsの各軸の加速度を、センサデータとして適正センサ判定部209に出力する。なお、センサデータ受信部205bは、各無線加速度センサ101のセンサデータを適正センサ判定部209に出力するとき、ローパスフィルタ(図示しない)によりノイズを除去して出力するようにしてもよい。
一方、適正センサ判定部209は、最大の差が予め設定された閾値(例えば「2m/s2」等)以内のセンサデータの無線加速度センサ101について、制御対象のロボット10(1)に配置された適正なセンサと判定する。適正センサ判定部209は、判定結果を教示操作盤25のユーザ通知部251に出力する。この場合、ユーザ入力部252は、ユーザ通知部251の表示に基づきユーザによる入力操作に応じて、適正な無線加速度センサ101が有する通信アドレスを設定情報として設定し、センサ設定記憶部202に記憶するようにしてもよい。
図11は、センサデータの値と推定されたセンサ値との比較の一例を示す図である。なお、図11では、例えば、ロボット動作時におけるロボット10(1)~10(3)それぞれに配置された無線加速度センサ101により検出されたセンサ座標系ΣsのX軸方向のセンサデータの値と推定されたセンサ値とを示す。
なお、適正センサ判定部209は、センサ座標系Σsの軸毎にセンサデータの値と推定されたセンサ値との差を算出し、算出した差と予め設定された閾値とを比較したが、これに限定されない。例えば、適正センサ判定部209は、センサ座標系Σsの各軸のセンサデータの値であるベクトルの大きさと、センサ座標系Σsの各軸で推定されたセンサ値であるベクトルの大きさと、の差を算出し、算出した差と閾値とを比較してもよい。
あるいは、センサ座標系Σsの各軸の加速度を変数とする所定の関数を用いて、適正センサ判定部209は、センサ座標系Σsの各軸のセンサデータの値を所定の関数に入力することで算出される値と、センサ座標系Σsの各軸で推定されたセンサ値を所定の関数に入力することで算出される値と、の差を算出し、算出した差と閾値とを比較してもよい。
次に、図12を参照しながら、制御装置20Bの適正センサ判定処理の流れを説明する。なお、以下では、制御装置20B(1)の適正センサ判定処理について説明するが、制御装置20B(2)~20B(n)についても制御装置20B(1)の場合と同様であり、説明は省略する。
図12は、制御装置20Bの適正センサ判定処理について説明するフローチャートである。ここで示すフローは、ユーザにより無線加速度センサ101のセンサ座標系Σsの設定が行われる度に実行される。
なお、ステップS13では、動作プログラムの実行の有無にかかわらず、センサ値推定部204は、ロボット10(1)が動作する前(ロボット10(1)の静止時)におけるセンサ値(重力加速度)を推定することが好ましい。
なお、ロボット10(1)の動作とは、実際の作業における動作でもよく、ロボット座標系ΣrのX軸やY軸に対する並進動作等の予め設定された所定の動作でもよい。
また、制御装置20Bは、ロボット10を動作させる前とロボット10の動作中とに、各ロボット10に配置された無線加速度センサ101のセンサデータの値と推定されたセンサ値との比較から適正な無線加速度センサ101の有無を判定し、適正な無線加速度センサ101がない場合、アラートをユーザに通知する。これにより、制御装置20Bは、適正でない無線加速度センサ101が設定されたままロボット10の制御を続行することを防止するための余計な工数を削減でき、無線加速度センサ101の設定間違いによるロボット10の予期しない制御(例えば、振動が発散する動作等)を防止できる。
以上、第3実施形態について説明した。
次に、第4実施形態について説明する。なお、第4実施形態に係る制御装置20Bは、第1実施形態と以下の点で相違する。
(1)第4実施形態に係る制御装置20Bは、制御対象のロボット10を含む複数のロボット10それぞれに配置された無線加速度センサ101により検出されたセンサデータを受信する点
(2)第4実施形態に係る制御装置20Bは、各ロボット10の無線加速度センサ101のセンサデータから算出された物理量と、制御対象のロボット10の各軸の角度の順変換、及びセンサ座標系の座標変換により推定された物理量と、を比較し、推定された物理量との差が予め設定された閾値を超えるセンサを、制御対象のロボット10以外のロボット10に配置されたセンサと判定する点
これにより、第4実施形態に係る制御装置20Bは、センサの接続間違いの状態でロボットが稼働することを未然に防ぐことができる。
以下、第4実施形態について説明する。
図13は、制御装置20B(1)の機能的構成例を示す機能ブロック図である。なお、図13では、制御装置20B(1)の機能的構成例を示すが、制御装置20B(2)~20B(n)についても制御装置20B(1)と同様である。
図13に示すように、制御装置20B(1)は、教示操作盤25が接続され、センサ座標記憶部201、センサ設定記憶部202、各軸角度検出部203、センサデータ受信部205b、センサ物理量推定部207、センサ物理量演算部208b、及び適正センサ判定部209bを含んで構成される。また、教示操作盤25は、ユーザ通知部251、及びユーザ入力部252を含む。
センサ座標記憶部201、センサ設定記憶部202、及び各軸角度検出部203は、第1実施形態のセンサ座標記憶部201、センサ設定記憶部202、及び各軸角度検出部203と同等の機能を有する。
また、センサ物理量推定部207は、第2実施形態のセンサ物理量推定部207と同等の機能を有する。
また、センサデータ受信部205bは、第3実施形態のセンサデータ受信部205bと同等の機能を有する。
また、ユーザ通知部251、及びユーザ入力部252は、第1実施形態のユーザ通知部251、及びユーザ入力部252と同等の機能を有する。
具体的には、センサ物理量演算部208bは、センサデータ受信部205bから受信した無線加速度センサ101毎のセンサデータの加速度の時系列データを時間で2階積分することで、ロボット座標系Σrにおける無線加速度センサ101の移動ベクトルを、物理量として算出する。
一方、適正センサ判定部209bは、最大の差の成分が予め設定された閾値(例えば「1mm」等)以内のセンサデータの無線加速度センサ101について、制御対象のロボット10(1)に配置された適正なセンサと判定する。適正センサ判定部209bは、判定結果を教示操作盤25のユーザ通知部251に出力する。この場合、ユーザ入力部252は、ユーザ通知部251の表示に基づきユーザによる入力操作に応じて、適正な無線加速度センサ101が有する通信アドレスを設定情報として設定し、センサ設定記憶部202に記憶するようにしてもよい。
次に、図14を参照しながら、制御装置20Bの適正センサ判定処理の流れを説明する。なお、以下では、制御装置20B(1)の適正センサ判定処理について説明するが、制御装置20B(2)~20B(n)についても制御装置20B(1)の場合と同様であり、説明は省略する。
図14は、制御装置20Bの適正センサ判定処理について説明するフローチャートである。ここで示すフローは、ユーザにより無線加速度センサ101のセンサ座標系Σsの設定が行われる度に実行される。
なお、図14に示す適正センサ判定処理において、ステップS11、ステップS12、ステップS15、ステップS18の処理は、図12の第3実施形態のステップS11、ステップS12、ステップS15、ステップS18の処理と同様であり、説明は省略する。
また、制御装置20Bは、ロボット10を動作させる前とロボット10の動作中とに、各ロボット10に配置された無線加速度センサ101のセンサデータを用いて算出された物理量と推定された物理量との比較から適正な無線加速度センサ101の有無を判定し、適正な無線加速度センサ101がない場合、アラートをユーザに通知する。これにより、制御装置20Bは、適正でない無線加速度センサ101が設定されたままロボット10の制御を続行することを防止するための余計な工数を削減でき、無線加速度センサ101の設定間違いによるロボット10の予期しない制御(例えば、振動が発散する動作等)を防止できる。
以上、第4実施形態について説明した。
上述の第1実施形態から第4実施形態では、センサは、無線加速度センサ101としたが、これに限定されない。例えば、センサとして、ジャイロセンサがロボット10に配置されてもよい。この場合、ジャイロセンサが検出するセンサ値は角速度である。一方、制御装置20は、検出された関節軸11(1)~11(6)それぞれの角度を用いて順変換することにより、ロボット座標系Σrにおける、メカニカルインタフェース座標系Σmの位置及び姿勢を算出し、その時のロボット10の姿勢変化から角速度のセンサ値を推定してもよく、ロボット10の姿勢変化からジャイロセンサの位置の移動距離及び方向(移動ベクトル)の物理量を推定してもよい。
また、センサとして、力センサがロボット10に配置されてもよい。この場合、制御装置20は、移動ベクトルとは別の物理量である、例えばロボット内部データから力センサが検出する力の大きさ及び方向の力ベクトルを物理量としてシミュレーションで推定するようにしてもよい。
なお、レーザトラッカの代わりに、モーションキャプチャセンサがロボット10に配置されてもよい。この場合、制御装置20は、レーザトラッカの場合と同様に動作することができる。
また、無線加速度センサ101や上述のジャイロセンサ等の2以上のセンサの組み合わせが、ロボット10に配置されてもよく、無線加速度センサ101やジャイロセンサ等の1以上のセンサを含むスマートフォン等のスマートデバイスがセンサとして、ロボット10に配置されてもよい。
また例えば、第1実施形態及び第2実施形態では、ロボットシステム1、1Aでは、ロボット10それぞれに配置された無線加速度センサ101と、制御装置20、20Aと、は、無線受信機30を介して通信を行ったが、これに限定されない。例えば、図16に示すように、ロボットシステム1は、ロボット10それぞれに配置されペアリングされた無線加速度センサ101からのセンサ信号のみを受信する無線受信機31(1)~31(n)を用いて、無線加速度センサ101と、制御装置20、20Aと、が通信を行ってもよい。
図15は、ロボットシステムの機能的構成例を示す機能ブロック図である。なお、図1のロボットシステム1の要素と同様の機能を有する要素については、同じ符号を付し、詳細な説明は省略する。
換言すれば、無線加速度センサ101と無線受信機31のペアリングが個体毎に行われているため、ユーザによる無線加速度センサ101に対する設定、すなわちセンサ設定記憶部202が不要となり、制御装置20、20Aは、無線受信機31との繋ぎ変えをするだけで、ロボット10と無線加速度センサ101とのペアを容易に切り替えることができる。
この制御装置20によれば、無線加速度センサ101の接続間違いの状態でロボット10が稼働することを未然に防ぐことができる。
この制御装置20Aによれば、(1)と同様の効果を奏することができる。
そうすることで、制御装置20、20Aは、無線加速度センサ101の接続間違いをユーザに通知することができる。
そうすることで、ユーザは、センサ設定記憶部202に記憶されている設定情報が間違っているか否か、無線加速度センサ101が故障しているか否か等を確認することができる。
そうすることで、制御装置20、20Aは、より精度よくセンサデータの異常を検出することができる。
そうすることで、制御装置20、20Aは、(5)と同様の効果を奏することができる。
この制御装置20Bによれば、(1)と同様の効果を奏することができる。
この制御装置20Bによれば、(1)と同様の効果を奏することができる。
10(1)~10(n) ロボット
20、20A、20B 制御装置
201 センサ座標記憶部
202 センサ設定記憶部
203 各軸角度検出部
204 センサ値推定部
205、205b センサデータ受信部
206、206a センサ値異常判定部
207 センサ物理量推定部
208、208b センサ物理量演算部
209、209b 適正センサ判定部
30、31(1)~31(n) 無線受信機
101 無線加速度センサ
Claims (8)
- センサが配置されたロボットを制御する制御装置であって、
予め設定された前記センサのセンサ座標系に関する座標系情報を記憶するセンサ座標記憶部と、
前記センサとの間の通信に関する設定情報を記憶するセンサ設定記憶部と、
前記設定情報に基づいて前記センサにより検出されたセンサデータを受信するセンサデータ受信部と、
前記ロボットに含まれる複数の軸それぞれの角度を検出する各軸角度検出部と、
前記各軸角度検出部により検出された前記複数の軸それぞれの角度の順変換、及び前記センサ座標系の座標変換により前記センサが検出するセンサ値を推定するセンサ値推定部と、
前記センサデータの値と、前記センサ値推定部により推定されたセンサ値と、を比較し、前記センサデータの値と推定された前記センサ値と差が予め設定された閾値を超える場合、前記センサデータ受信部が他のロボットに配置されたセンサからのセンサデータを受信していると判定するセンサ値異常判定部と、
を備える制御装置。 - センサが配置されたロボットを制御する制御装置であって、
予め設定された前記センサのセンサ座標系に関する座標系情報を記憶するセンサ座標記憶部と、
前記センサとの間の通信に関する設定情報を記憶するセンサ設定記憶部と、
前記設定情報に基づいて前記センサにより検出されたセンサデータを受信するセンサデータ受信部と、
前記センサデータから物理量を算出するセンサ物理量演算部と、
前記ロボットに含まれる複数の軸それぞれの角度を検出する各軸角度検出部と、
前記各軸角度検出部により検出された前記複数の軸それぞれの角度の順変換、及び前記センサ座標系の座標変換により前記センサに関する物理量を推定するセンサ物理量推定部と、
前記センサデータから算出された前記物理量と、前記センサ物理量推定部により推定された前記物理量と、を比較し、算出された前記物理量と推定された前記物理量と差が予め設定された閾値を超える場合、前記センサデータ受信部が他のロボットに配置されたセンサからのセンサデータを受信していると判定するセンサ値異常判定部と、
を備える制御装置。 - 前記センサ値異常判定部により前記センサデータ受信部が他のロボットに配置されたセンサからのセンサデータを受信していると判定された場合、アラートを出力するユーザ通知部を備える、請求項1又は請求項2に記載の制御装置。
- 前記ユーザ通知部は、前記アラートとともに、前記センサ設定記憶部に設定されている前記設定情報、及び前記センサデータ受信部により受信された前記センサデータの値を出力する、請求項3に記載の制御装置。
- 計測する物理量が互いに異なる2以上のセンサが前記ロボットに配置される、請求項1から請求項4のいずれか1項に記載の制御装置。
- 1以上のセンサを含むスマートデバイスを前記センサとして前記ロボットに配置される、請求項1から請求項4のいずれか1項に記載の制御装置。
- センサが配置された制御対象のロボットを制御する制御装置であって、
予め設定された前記センサのセンサ座標系に関する座標系情報を記憶するセンサ座標記憶部と、
前記制御対象のロボットを含む複数のロボットそれぞれに配置されたセンサにより検出されたセンサデータを受信するセンサデータ受信部と、
前記制御対象のロボットに含まれる複数の軸それぞれの角度を検出する各軸角度検出部と、
前記各軸角度検出部により検出された前記複数の軸それぞれの角度の順変換、及び前記センサ座標系の座標変換により前記制御対象のロボットの前記センサが検出するセンサ値を推定するセンサ値推定部と、
前記複数のロボットそれぞれに配置されたセンサのセンサデータの値と、前記センサ値推定部により推定されたセンサ値と、を比較し、推定された前記センサ値と差が予め設定された閾値を超えるセンサデータのセンサを、前記制御対象のロボット以外のロボットに配置されたセンサと判定する適正センサ判定部と、
を備える制御装置。 - センサが配置された制御対象のロボットを制御する制御装置であって、
予め設定された前記センサのセンサ座標系に関する座標系情報を記憶するセンサ座標記憶部と、
前記制御対象のロボットを含む複数のロボットそれぞれに配置されたセンサにより検出されたセンサデータを受信するセンサデータ受信部と、
前記複数のロボットそれぞれに配置されたセンサのセンサデータから物理量を算出するセンサ物理量演算部と、
前記制御対象のロボットに含まれる複数の軸それぞれの角度を検出する各軸角度検出部と、
前記各軸角度検出部により検出された前記複数の軸それぞれの角度の順変換、及び前記センサ座標系の座標変換により前記制御対象のロボットの前記センサに関する物理量を推定するセンサ物理量推定部と、
前記複数のロボットそれぞれに配置されたセンサのセンサデータから算出された前記物理量と、前記センサ物理量推定部により推定された前記物理量と、を比較し、推定された前記物理量と差が予め設定された閾値を超えるセンサデータのセンサを、前記制御対象のロボット以外のロボットに配置されたセンサと判定する適正センサ判定部と、
を備える制御装置。
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JP2011224727A (ja) * | 2010-04-20 | 2011-11-10 | Fanuc Ltd | ロボットシステム |
JP2014014897A (ja) * | 2012-07-09 | 2014-01-30 | Fanuc Ltd | 制振制御ロボットシステム |
JP2017135961A (ja) * | 2016-01-31 | 2017-08-03 | 貴司 徳田 | モーターモジュールシステム |
JP2018118353A (ja) * | 2017-01-26 | 2018-08-02 | ファナック株式会社 | 学習制御機能を備えた制御システム及び制御方法 |
WO2020012983A1 (ja) * | 2018-07-13 | 2020-01-16 | ソニー株式会社 | 制御装置、制御方法、およびプログラム |
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JP2011161562A (ja) | 2010-02-09 | 2011-08-25 | Yaskawa Electric Corp | 無線伝送装置とそれを用いたロボットの振動抑制制御装置およびロボット制御装置 |
JP4850956B2 (ja) | 2010-02-19 | 2012-01-11 | ファナック株式会社 | 学習制御機能を備えたロボット |
JP6174654B2 (ja) | 2015-10-15 | 2017-08-02 | ファナック株式会社 | センサの位置と向きを算出する機能を備えたロボットシステム |
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JP2011224727A (ja) * | 2010-04-20 | 2011-11-10 | Fanuc Ltd | ロボットシステム |
JP2014014897A (ja) * | 2012-07-09 | 2014-01-30 | Fanuc Ltd | 制振制御ロボットシステム |
JP2017135961A (ja) * | 2016-01-31 | 2017-08-03 | 貴司 徳田 | モーターモジュールシステム |
JP2018118353A (ja) * | 2017-01-26 | 2018-08-02 | ファナック株式会社 | 学習制御機能を備えた制御システム及び制御方法 |
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