WO2022230200A1 - ロボット制御装置 - Google Patents
ロボット制御装置 Download PDFInfo
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- WO2022230200A1 WO2022230200A1 PCT/JP2021/017273 JP2021017273W WO2022230200A1 WO 2022230200 A1 WO2022230200 A1 WO 2022230200A1 JP 2021017273 W JP2021017273 W JP 2021017273W WO 2022230200 A1 WO2022230200 A1 WO 2022230200A1
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- tool
- measured value
- robot
- sensor
- measurement value
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- 210000000707 wrist Anatomy 0.000 claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 22
- 230000005484 gravity Effects 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
-
- 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
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39058—Sensor, calibration of sensor, potentiometer
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39529—Force, torque sensor in wrist, end effector
Definitions
- This disclosure relates to a robot control device.
- a robot equipped with a force sensor is known to be controlled based on the force and moment detected by the force sensor (see Patent Document 1, for example).
- the force and moment detected by the force sensor are affected by the rigidity of the tool such as the hand attached to the tip of the robot's wrist by the user, the weight of the work to be handled, and the posture of the tool. Therefore, since the sensor output cannot be calibrated in consideration of the rigidity of the tool attached by the user at the shipping stage of the robot, it is desired that the user can easily calibrate the sensor output at the site.
- One aspect of the present disclosure is a robot control device that controls a robot equipped with a sensor capable of measuring force, wherein a first tool having a known mass and center of gravity position is arranged at the tip of the wrist of the robot, and the A first measured value measured by the sensor when the wrist is caused to perform a specific motion, and a second tool having a known mass and center of gravity position is arranged and the wrist is caused to perform the specific motion, the A measured value acquisition unit that acquires a second measured value measured by a sensor, a measured value storage unit that stores the first measured value and the second measured value acquired by the measured value acquisition unit, and an unknown a correction unit that corrects the measured value by the sensor based on the first measured value and the second measured value stored in the measured value storage unit when the mass tool is placed. It is a control device.
- FIG. 1 is an overall configuration diagram showing a robot system including a robot control device according to an embodiment of the present disclosure
- FIG. FIG. 2 is a diagram for explaining the movement of the wrist of the robot for correcting the measurement value of the force sensor by the robot control device of FIG. 1
- 2 is a block diagram showing the robot controller of FIG. 1;
- the robot system 100 includes, as shown in FIG. 1, a robot 50 equipped with a force sensor (sensor) 51 and a robot control device 1 according to this embodiment.
- the force sensor 51 is, for example, a six-axis sensor capable of detecting the magnitude of forces acting in three mutually orthogonal axial directions and the magnitude of moments acting around the three axes.
- the force sensor 51 is, for example, fixed between a flange 53 at the tip of the wrist 52 of the robot 50 and a tool 200 attached to the tip of the wrist 52, as shown in FIG.
- the tool 200 is, for example, a hand having two or more fingers that open and close and capable of gripping the workpiece W between the fingers.
- the hand 200 has a known mass and center-of-gravity position, and the mass and the center-of-gravity position do not change greatly by opening and closing the fingers 210 . position changes.
- the wrist 52 of the robot 50 is a triaxial wrist unit comprising a first wrist element 52a, a second wrist element 52b and a third wrist element 52c, as shown in FIGS.
- the first wrist element 52 a is supported at the tip of the arm 54 so as to be rotatable around the first axis A, which is the longitudinal axis of the arm 54 .
- the second wrist element 52b is rotatably supported by the first wrist element 52a about a second axis B perpendicular to the first axis A.
- the third wrist element 52c includes a flange 53 supported on the second wrist element 52b for rotation about a third axis C perpendicular to the second axis B and intersecting the first axis A.
- the robot control device 1 includes at least one processor and memory.
- the memory stores an operation program that is executed when acquiring data for correcting the force sensor 51 .
- the robot control device 1 acquires the force measured by the force sensor 51 while the robot 50 is performing a specific motion according to the motion program stored in the memory. It has an acquisition unit 2 and a storage unit (measurement value storage unit) 3 that stores the acquired force.
- the robot control device 1 corrects the measurement value of the force sensor 51 when the hand 200 grips the workpiece W of unknown mass, and corrects the measurement value of the workpiece W is provided with a correction unit 4 for calculating the mass of Furthermore, the robot control device 1 includes a control section 5 that controls the robot 50 based on the mass of the workpiece W calculated by the correction section 4 .
- the specific action is, for example, the action of rotating the second wrist element 52b around the second axis (axis) B arranged substantially horizontally, with the third axis C directed vertically downward as a reference.
- the measurement value acquiring unit 2 sets the flange 53 of the third wrist element 52c to a predetermined angle ⁇ about the third axis C, and rotates the second wrist element 52b about the second axis B while performing a specific operation.
- the force measured by the force sensor 51 is acquired at predetermined angular intervals of the inclination angle ⁇ , for example, at intervals of 5°. Then, each time the angle ⁇ of the third wrist element 52c about the third axis C is changed by a predetermined angular interval, for example, by 5°, the specific operation is repeated.
- the user prepares a workpiece W whose mass is known, and repeats the same specific operation as when the workpiece W is not gripped while the hand 200 is gripping the workpiece W.
- the work W it is preferable to prepare a work W having a mass larger than that of the work W to be handled in the actual work.
- the position of the center of gravity of the hand 200 including the work W changes between when the work W is gripped and when the work W is not gripped. That is, the measured value (first measured value) of the force sensor 51 when the hand (first tool) 200 is arranged at the first center-of-gravity position without gripping the workpiece W and the Then, the measured value acquiring unit 2 acquires the measured value (second measured value) of the force sensor 51 when the hand (second tool) 200 is arranged at the second center-of-gravity position. Then, the acquired first measured value and second measured value are stored in the storage unit 3 in association with the same posture of the wrist 52 .
- the force sensor 51 Measured values Fb 11 and Fb 12 are acquired. Further, in a state in which a workpiece W having a known mass Gb is gripped , the force sensor 51 detects the Measured values Fb 21 and Fb 22 are acquired.
- the obtained measured value F is associated with the weight G of the workpiece W, the angle ⁇ about the second axis B, and the rotation angle ⁇ about the third axis C, (Ga, ⁇ 1 , ⁇ 1 , Fa 11 ), (Ga, ⁇ 1 , ⁇ 2 , Fa 12 ), (Ga, ⁇ 2 , ⁇ 1 , Fa 21 ), (Ga, ⁇ 2 , ⁇ 2 , Fa 22 ), (Gb, ⁇ 1 , ⁇ 1 , Fb 11 ), (Gb, ⁇ 1 , ⁇ 2 , Fb 12 ), (Gb, ⁇ 2 , ⁇ 1 , Fb 21 ), (Gb, ⁇ 2 , ⁇ 2 , Fb 22 ), ⁇ is stored in the storage unit 3.
- the mass and center-of-gravity position of the hand 200 including the workpiece W are obtained from the information on the mass Gc and the center-of-gravity position of the workpiece W and the known mass and center-of-gravity position information of the hand 200. can be calculated.
- the user attaches the tool 200 to be actually used to the robot 50 and controls the robot 50 in two states in which the center-of-gravity position of the tool 200 is different. is caused to perform a specific operation to acquire and store the measured value by the force sensor 51 .
- the force sensor 51 can be detected based on the stored measured value. can be corrected to calculate a more realistic center-of-gravity position of the tool 200 .
- the tool is the hand 200 and the mass of the work W to be gripped by the hand 200 is unknown in the actual work
- the work W of known weight is used and the force sensor 51 measures the value of the work W before the work.
- the unknown mass can be obtained with high accuracy.
- the bending of the robot 50 based on the obtained weight of the workpiece W can be corrected with high accuracy, and the hand 200 can be positioned with high accuracy.
- the hand 200 has a single known mass by realizing two states in which the center-of-gravity position of the hand 200 is different: a state in which a workpiece W of known mass is gripped and a state in which the workpiece W is not gripped. It is sufficient to prepare the workpiece W. Also, a large mass difference between the workpieces W that realize the two states can be easily ensured.
- the width of the inclination angle ⁇ about the second axis B and the width of the rotation angle ⁇ about the third axis C are set to 5°, but instead of this, they are set to arbitrary angle widths. You may By setting a smaller width, the accuracy of correction improves, but the amount of data that the user obtains in advance increases, so there is no need to set the width smaller than necessary.
- the output fluctuation of the force sensor 51 due to the environmental temperature fluctuation may also be corrected.
- the robot control device 1 must have a temperature sensor for measuring the environmental temperature T, and the information to be stored is as follows.
- the output of the temperature sensor is input to the measured value acquisition section 2 .
- the force is discretely applied to the inclination angle ⁇ about the second axis B, the rotation angle ⁇ about the third axis C, and the environmental temperature T.
- Measured values of the sensor 51 were acquired in advance and a database was constructed. In the actual work, the unknown mass of the workpiece W determined from the measured values of the force sensor 51 was corrected by linearly interpolating the measured values in the configured database.
- a calculation formula for obtaining the mass of the workpiece W from the measured value of the force sensor 51 may be constructed.
- a learning function may be used to obtain the calculation formula. In this case, a reasonable amount of data collection is required to obtain an accurate calculation formula.
- the calculation formula may be re-identified periodically in order to cope with aging. Also, instead of measuring the environmental temperature T, the temperature of the force sensor 51 may be measured.
- the hand 200 capable of gripping the work W has been exemplified as a tool. You may apply to the robot provided with arbitrary tools.
- robot control device 2 measurement value acquisition unit 3 storage unit (measurement value storage unit) 4 correction unit 50 robot 51 force sensor (sensor) 52 wrist 200 hand (first tool, second tool) B Second axis (axis) W work
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
ロボットシステム100は、図1に示されるように、力センサ(センサ)51を搭載したロボット50と、本実施形態に係るロボット制御装置1とを備えている。
力センサ51は、例えば、図1に示されるように、ロボット50の手首52先端のフランジ53と、手首52先端に取り付けられるツール200との間に固定されている。
ハンド200は、既知の質量および重心位置を有し、指210の開閉によって質量および重心位置の大きな変化はないが、指210間にワークWを把持することによって、ワークWを含めた質量および重心位置が変化する。
既知の重量Gaを有するワークWを把持した状態(ワークWを把持しない場合はGa=0)において、第2軸線B回りの傾斜角度θ=θ1、第3軸線C回りの回転角度β=β1,β2において、力センサ51による計測値Fa11,Fa12を取得する。また、既知の重量Gaを有するワークWを把持した状態において、第2軸線B回りの傾斜角度θ=θ2、第3軸線C回りの回転角度β=β1,β2において、力センサ51による計測値Fa21,Fa22を取得する。β2=β1+5°、θ2=θ1+5°である。
(Ga,θ1,β1,Fa11)、
(Ga,θ1,β2,Fa12)、
(Ga,θ2,β1,Fa21)、
(Ga,θ2,β2,Fa22)、
(Gb,θ1,β1,Fb11)、
(Gb,θ1,β2,Fb12)、
(Gb,θ2,β1,Fb21)、
(Gb,θ2,β2,Fb22)、
・・・
が記憶部3に記憶される。
すなわち、第2軸線B回りの傾斜角度θ=θ3(θ1≦θ3<θ2)、第3軸線C回りの回転角度β=β3(β1≦β3<β2)の場合の、力センサ51による計測値がFcである場合に、補正部4は、力センサ51の出力値Fcを以下の式(1)により補正した質量Gcを出力する。
この場合には、例えば、環境温度T=T1において上記と同様の計測を行う。また、例えば、環境温度T=T2において、既知の重量Gaを有するワークWを把持して、第2軸線B回りの傾斜角度θ=θ1、第3軸線C回りの回転角度β=β1において、力センサ51による計測値Fc11を取得しておく。
(Ga,T1,θ1,β1,Fa11)、
(Ga,T1,θ1,β2,Fa12)、
(Ga,T1,θ2,β1,Fa21)、
(Ga,T1,θ2,β2,Fa22)、
(Gb,T1,θ1,β1,Fb11)、
(Gb,T1,θ1,β2,Fb12)、
(Gb,T1,θ2,β1,Fb21)、
(Gb,T1,θ2,β2,Fb22)、
(Ga,T2,θ1,β1,Fc11)、
・・・
実際の作業を行う際の環境温度はT=T3(T1≦T3<T2)である。
すなわち、第2軸線B回りの傾斜角度θ=θ3(θ1≦θ3<θ2)、第1軸線A回りの回転角度β=β3(β1≦β3<β2)の場合の、力センサ51の出力値がFcである場合に、補正部4は、力センサ51の出力値Fcを上記の式(1)により補正した質量Gcを出力する。
また、環境温度Tを測定することに代えて、力センサ51の温度を測定してもよい。
2 計測値取得部
3 記憶部(計測値記憶部)
4 補正部
50 ロボット
51 力センサ(センサ)
52 手首
200 ハンド(第1ツール、第2ツール)
B 第2軸線(軸線)
W ワーク
Claims (4)
- 力を計測可能なセンサを搭載したロボットを制御するロボット制御装置であって、
前記ロボットの手首先端に、既知の質量および重心位置を有する第1ツールを配置して前記手首に特定動作を行わせたときに前記センサにより計測される第1計測値と、既知の質量および重心位置を有する第2ツールを配置して前記手首に前記特定動作を行わせたときに前記センサにより計測される第2計測値とを取得する計測値取得部と、
該計測値取得部により取得された前記第1計測値および前記第2計測値を記憶する計測値記憶部と、
未知の質量のツールが配置されたときに、前記計測値記憶部に記憶されている前記第1計測値と前記第2計測値とに基づいて、前記センサによる計測値を補正する補正部とを備えるロボット制御装置。 - 前記第1ツールが、ワークを把持していない状態のハンドであり、
前記第2ツールが、既知の質量の前記ワークを把持した状態の前記第1ツールである請求項1に記載のロボット制御装置。 - 前記第2ツールが、前記重心位置を変化させた前記第1ツールである請求項1に記載のロボット制御装置。
- 前記特定動作が、略水平に配置された軸線回りに前記第1ツールおよび前記第2ツールを回転させ、
前記第1計測値および前記第2計測値が、前記軸線回りの所定角度毎に取得される請求項1または請求項2に記載のロボット制御装置。
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PCT/JP2021/017273 WO2022230200A1 (ja) | 2021-04-30 | 2021-04-30 | ロボット制御装置 |
CN202180097423.8A CN117203025A (zh) | 2021-04-30 | 2021-04-30 | 机器人控制装置 |
US18/547,723 US20240227202A9 (en) | 2021-04-30 | 2021-04-30 | Robot control device |
JP2023517024A JPWO2022230200A1 (ja) | 2021-04-30 | 2021-04-30 | |
DE112021007097.5T DE112021007097T5 (de) | 2021-04-30 | 2021-04-30 | Robotersteuervorrichtung |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62237335A (ja) * | 1986-04-09 | 1987-10-17 | Hitachi Ltd | 力センサの変換行列をキヤリブレ−シヨンする方法及び装置 |
JP2002028883A (ja) * | 2000-07-14 | 2002-01-29 | Sony Corp | キャリブレーション装置および検査装置 |
JP2013052486A (ja) * | 2011-09-06 | 2013-03-21 | Seiko Epson Corp | ロボットおよびロボット制御方法 |
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JP6003312B2 (ja) | 2012-07-10 | 2016-10-05 | セイコーエプソン株式会社 | ロボットシステム |
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2021
- 2021-04-30 DE DE112021007097.5T patent/DE112021007097T5/de active Pending
- 2021-04-30 CN CN202180097423.8A patent/CN117203025A/zh active Pending
- 2021-04-30 JP JP2023517024A patent/JPWO2022230200A1/ja active Pending
- 2021-04-30 US US18/547,723 patent/US20240227202A9/en active Pending
- 2021-04-30 WO PCT/JP2021/017273 patent/WO2022230200A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62237335A (ja) * | 1986-04-09 | 1987-10-17 | Hitachi Ltd | 力センサの変換行列をキヤリブレ−シヨンする方法及び装置 |
JP2002028883A (ja) * | 2000-07-14 | 2002-01-29 | Sony Corp | キャリブレーション装置および検査装置 |
JP2013052486A (ja) * | 2011-09-06 | 2013-03-21 | Seiko Epson Corp | ロボットおよびロボット制御方法 |
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DE112021007097T5 (de) | 2024-04-04 |
US20240131725A1 (en) | 2024-04-25 |
US20240227202A9 (en) | 2024-07-11 |
JPWO2022230200A1 (ja) | 2022-11-03 |
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