WO2023047591A1 - 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置 - Google Patents

機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置 Download PDF

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Publication number
WO2023047591A1
WO2023047591A1 PCT/JP2021/035409 JP2021035409W WO2023047591A1 WO 2023047591 A1 WO2023047591 A1 WO 2023047591A1 JP 2021035409 W JP2021035409 W JP 2021035409W WO 2023047591 A1 WO2023047591 A1 WO 2023047591A1
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WIPO (PCT)
Prior art keywords
robot
coordinate system
state
reference coordinate
calibration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/035409
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English (en)
French (fr)
Japanese (ja)
Inventor
悦来 王
康広 内藤
邦彦 原田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
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Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to US18/686,870 priority Critical patent/US20240375284A1/en
Priority to PCT/JP2021/035409 priority patent/WO2023047591A1/ja
Priority to JP2023549306A priority patent/JP7680553B2/ja
Priority to CN202180102497.6A priority patent/CN118043174A/zh
Priority to DE112021007764.3T priority patent/DE112021007764T5/de
Priority to TW111132697A priority patent/TW202314413A/zh
Publication of WO2023047591A1 publication Critical patent/WO2023047591A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment

Definitions

  • the present invention relates to a calibration device for calibrating mechanism error parameters and a determination device for determining the necessity of calibration of mechanism error parameters.
  • the position and orientation of the robot should preferably match the position and orientation defined in the motion program. However, after replacing the robot, the robot may not reach the desired position and orientation due to errors in the installed position of the robot, individual differences in the robot, and the like. After replacing the robot, it is known to measure the position of the origin of the base coordinate system set in the robot or to calculate the deviation of the position of the base coordinate system with a visual sensor. Then, it is known to modify the operation program for driving the robot based on the detection result (for example, Japanese Patent No. 6603289 and Japanese Patent Application Laid-Open No. 2019-14011).
  • the position and posture of the robot are affected by manufacturing errors in the components when manufacturing the robot and by gravity when driving the robot.
  • the manufacturing error of the constituent members includes errors in arm lengths between joint shafts, errors in gear ratios of reduction gears, and the like. Items that cause such errors can be set as mechanical error parameters of the robot, and values can be set for each mechanical error parameter.
  • the controller can accurately control the position and orientation of the robot by driving the robot using the mechanism error parameters.
  • the robot can be controlled to achieve the desired position and posture with respect to the command values of the motion program.
  • the robot is driven for a long period of time, there are cases where the accuracy of controlling the robot deteriorates due to wear of components of the robot or the like. For this reason, robot components such as motors, reduction gears, or arms may be replaced. In this case, it is difficult to match the position reached by the robot after the replacement of the component with the position reached by the robot before the replacement of the component.
  • Errors in the robot's position and posture can be corrected by teaching the position and posture again after replacing the component or the robot.
  • the teaching work of the robot takes time and the productivity of the robot apparatus deteriorates.
  • the teaching work takes a long time.
  • when correcting the teaching position of the program if there is a teaching point for which the teaching position has not been corrected, there is a risk that the robot will be driven with poor accuracy or that it will interfere with peripheral devices.
  • a first aspect of the present disclosure is a calibration device that calibrates mechanism error parameters for adjusting control of a robot based on a motion program.
  • the calibration device includes a position acquisition unit that acquires the position of the robot in the reference coordinate system.
  • the calibration device includes a parameter calculator that calculates mechanism error parameters based on the position of the robot in the reference coordinate system.
  • the parameter calculation unit calculates the position of the robot in the reference coordinate system in the first state when the robot is driven by the command value of the operation program, in the second state after the first state.
  • Mechanism error parameters are calculated so that the positions of the robots in the reference coordinate system match.
  • a second aspect of the present disclosure is a determination device that determines whether or not it is necessary to calibrate a mechanism error parameter for adjusting control of a robot based on an operation program.
  • the determination device includes a position acquisition unit that acquires the position of the robot in the reference coordinate system.
  • the determination device includes a maintenance determination unit that evaluates the accuracy of the position of the robot with respect to the command value of the operation program.
  • the maintenance determination unit determines the mechanism error based on the position of the robot in the reference coordinate system in the first state and the current position of the robot in the reference coordinate system. Determine if parameter calibration is required.
  • a calibration device that can easily calibrate the mechanism error parameters of a robot and a determination device that determines whether it is necessary to calibrate the mechanism error parameters.
  • FIG. 1 is a perspective view of a robot system in an embodiment
  • FIG. 1 is a perspective view of a robot device, a three-dimensional measuring device, and an auxiliary member in a first state
  • FIG. 1 is a block diagram of a robot device and a three-dimensional measuring device
  • FIG. 4 is a flow chart of first control of the calibration device in the embodiment
  • FIG. 10 is a perspective view of the robot device, three-dimensional measuring device, and auxiliary member in a second state
  • FIG. 4 is a flow chart of second control of the calibration device
  • FIG. 1 is a perspective view of a robot device, a three-dimensional measuring device, and an auxiliary member in a first state
  • FIG. 3 is a flow chart of third control of the calibration device
  • FIG. 10 is a perspective view of the robot device, three-dimensional measuring device, and auxiliary member in a second state
  • 4 is a flow chart of fourth control of the calibration device
  • 4 is a flow chart of control of a maintenance determination unit of the
  • FIG. 1 A calibration device and a determination device according to an embodiment will be described with reference to FIGS. 1 to 11.
  • FIG. The calibration device of this embodiment calibrates mechanism error parameters for adjusting the motion of a robot based on a motion program. Further, the determination device of this embodiment determines whether or not there is a need to calibrate the mechanism error parameter.
  • FIG. 1 is a perspective view of the robot system according to this embodiment.
  • the robot system of the present embodiment performs spot welding using three robot devices 5, 6, and 7.
  • Each robot device 5, 6, 7 includes a welding gun 2 as a working tool and a robot 1 that changes the position and posture of the welding gun 2.
  • FIG. A workpiece to be welded is transported to an area surrounded by robot devices 5, 6, and 7. As shown in FIG. For example, a car body as a suspended work is transported by a transporter. Spot welding is performed by robot devices 5, 6, and 7.
  • Fig. 2 shows a perspective view of the robot device, three-dimensional measuring device, and auxiliary members.
  • the robot device 5 will be taken up as an example and explained.
  • Robot devices 6 and 7 have the same configuration as robot device 5 .
  • the robot 1 of this embodiment is an articulated robot including a plurality of joints.
  • the robot 1 includes a base portion 14 fixed to an installation surface and a swivel base 13 rotatably supported by the base portion 14 .
  • Robot 1 includes upper arm 11 and lower arm 12 .
  • the lower arm 12 is supported to rotate with respect to the swivel base 13 .
  • Upper arm 11 is supported for rotation with respect to lower arm 12 .
  • the upper arm 11 rotates around a rotation axis parallel to the direction in which the upper arm 11 extends.
  • Robot 1 includes a wrist 15 rotatably supported on upper arm 11 .
  • Wrist 15 also includes a flange 16 that rotates.
  • a welding gun 2 is fixed to the flange 16 .
  • the robot of this embodiment has six drive axes, it is not limited to this form. A robot whose position and posture can be changed by any mechanism can be employed.
  • the work tool of the present embodiment is a welding gun for performing spot welding, it is not limited to this form.
  • a worker can select a work tool according to the work to be performed by the robot device. For example, a work tool for conveying a work or a work tool for applying adhesive can be employed.
  • a base coordinate system 71 is set in the robot device 5 of the present embodiment.
  • the origin of the base coordinate system 71 is arranged on the base portion 14 of the robot 1 .
  • the base coordinate system 71 is a coordinate system in which the position of the origin is fixed to the robot and the directions of the coordinate axes are fixed. Even if the position and orientation of the robot 1 change, the position and orientation of the base coordinate system 71 do not change.
  • the base coordinate system 71 has, as coordinate axes, an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other.
  • the W axis is set as a coordinate axis around the X axis.
  • a P-axis is set as a coordinate axis around the Y-axis.
  • An R-axis is set as a coordinate axis around the Z-axis.
  • a tool coordinate system having an origin set at an arbitrary position on the work tool is set in the robot device 5 .
  • the origin of the tool coordinate system is set at the tool tip point, which is the tip of the fixed electrode of welding gun 2 .
  • a tool coordinate system is a coordinate system that changes position and orientation with the work tool.
  • the position of the robot 1 corresponds to the position of the origin of the tool coordinate system in the base coordinate system 71 .
  • the posture of the robot 1 corresponds to the orientation of the tool coordinate system with respect to the base coordinate system 71 .
  • the position and orientation of the robot 1 can be represented by coordinate values of the base coordinate system 71 .
  • FIG. 3 shows a block diagram of the robot device and the three-dimensional measuring device according to this embodiment.
  • robot 1 includes a robot driving device that changes the position and posture of robot 1 .
  • the robot drive includes robot drive motors 22 that drive components such as upper arm 11 , lower arm 12 and wrist 15 .
  • the welding gun 2 is provided with a welding gun driving device that drives the welding gun 2.
  • the welding gun driving device includes an electrode driving motor 21 that drives the movable electrode of welding gun 2 .
  • the movable electrode is moved with respect to the fixed electrode by driving the electrode driving motor 21 . By moving the movable electrode, spot welding can be performed with the workpiece sandwiched between the fixed electrode and the movable electrode.
  • the robot device 5 includes a control device 4 that controls the robot 1 and the welding gun 2, and a teaching operation panel 37 for the operator to operate the control device 4.
  • the control device 4 includes an arithmetic processing device (computer) having a CPU (Central Processing Unit) as a processor.
  • the control device 4 has a RAM (Random Access Memory), a ROM (Read Only Memory), etc. connected to the CPU via a bus.
  • the teaching operation panel 37 includes an input section 38 for inputting information regarding the robot 1 and the welding gun 2.
  • the input unit 38 is composed of a keyboard, a dial, and the like.
  • the operator can input an operation program, set values of variables, judgment values of variables, and the like to the control device 4 from the input unit 38 .
  • the teaching operation panel 37 includes a display section 39 that displays information regarding the robot 1 and welding gun 2 .
  • a pre-created operation program 46 is input to the control device 4 in order to control the robot 1 and the welding gun 2 .
  • the operator can set the teaching point of the robot 1 by operating the teaching operation panel 37 to drive the robot 1 .
  • the control device 4 can generate an operation program 46 for driving the robot 1 and the welding gun 2 based on the teaching points.
  • the control device 4 includes a storage section 42 that stores information regarding control of the robot 1 and welding gun 2 .
  • the storage unit 42 can be configured by a non-temporary storage medium capable of storing information.
  • the storage unit 42 can be configured with a storage medium such as a volatile memory, a nonvolatile memory, a magnetic storage medium, or an optical storage medium.
  • a processor functioning as the operation control unit 43 is formed so as to be able to read information stored in the storage unit 42 .
  • the operating program 46 is stored in the storage unit 42 .
  • the robot device 5 automatically performs work based on the operation program 46 .
  • the control device 4 includes a motion control section 43 that sends motion commands to the robot 1 and welding gun 2 .
  • the motion control unit 43 sends motion commands for driving the robot 1 to the robot driving unit 45 based on the motion program 46 .
  • Robot drive section 45 includes an electrical circuit that drives robot drive motor 22 .
  • the robot driving section 45 supplies electricity to the robot driving motor 22 based on the operation command.
  • the operation control section 43 sends an operation command for driving the welding gun 2 to the welding gun driving section 44 .
  • Welding gun drive section 44 includes an electric circuit that supplies electricity to the electrodes and drives electrode drive motor 21 .
  • the welding gun driving section 44 supplies electricity to the electrodes and the electrode driving motor 21 based on the operation command.
  • the robot 1 includes a state detector for detecting the state of the robot 1 including the position and posture of the robot 1.
  • the state detector in this embodiment includes a rotational position detector 19 attached to a robot drive motor 22 corresponding to a drive shaft such as an arm.
  • the rotational position detector 19 is composed of an encoder or the like that detects the rotational angle of the robot drive motor 22 .
  • the position and orientation of the robot are detected based on the outputs of multiple rotational position detectors 19 .
  • the motion control unit 43 controls the robot 1 so that it assumes the position and posture specified in the motion program 46 .
  • the motion control unit 43 controls the rotation angle of the robot drive motor 22 based on inverse kinematics.
  • the work tool can be controlled to the desired position and attitude by controlling the robot 1 so that the tool coordinate system has the desired position and attitude.
  • the actual position and orientation of the robot may deviate from the position and orientation specified by the operation program 46 due to manufacturing errors in the components of the robot, assembly errors when assembling the robot, the effects of gravity, and the like.
  • a plurality of mechanism error parameters 49 for adjusting control of the robot 1 are set separately from the operation program 46 .
  • a plurality of mechanical error parameters 49 are stored in the storage unit 42 .
  • the mechanism error parameters 49 include arbitrary parameters that cause positional and attitude errors that occur when the robot 1 is driven.
  • Mechanism error parameters 49 include the length of the link between each drive shaft, the position of each drive shaft, the gear ratio error caused by the backlash occurring in the reducer of each drive shaft, and the effect of gravity. It contains parameters such as variables related to the elastic deformation of links deformed by .
  • mechanism error parameters include DH parameters and DH parameter errors.
  • DH Densavit Hartenberg
  • a coordinate system is set for each drive axis, and the position and orientation of the robot can be expressed based on the relationship between the coordinate systems of the drive axes.
  • DH parameters are parameters in the DH method.
  • DH parameters include link length.
  • the mechanism error parameter includes the spring constant related to the torque around the drive shaft.
  • a spring constant is a parameter related to the amount of deflection with respect to torque.
  • the mechanism error parameter includes an error in the gear ratio of the speed reducer.
  • the mechanism error parameter includes an error in the position of the origin of the base coordinate system 71 . An error in the position of the origin of the base coordinate system is determined by an error in the rotation angle or pulse value output by the rotation position detector 19, or the like.
  • Such mechanism error parameters can be set when the robot 1 is shipped, depending on where the robot 1 is installed.
  • the motion program 46 defines the position and posture of the robot 1 by the coordinate values of the base coordinate system 71 .
  • the motion control unit 43 calculates the rotation angle of the robot drive motor 22 so that the position and posture of the robot 1 set in the motion program 46 are achieved based on inverse kinematics.
  • the motion control unit 43 acquires the mechanism error parameter 49 stored in the storage unit 42 .
  • the motion control unit 43 calculates motion commands for the robot drive motors 22 based on the respective mechanism error parameters. By executing this control, the position and orientation of the robot can be brought closer to the position and orientation designated by the motion program 46 .
  • the robot system of the present embodiment includes a three-dimensional measuring device 8 for accurately measuring the position and orientation of the robot 1.
  • the three-dimensional measuring device 8 in this embodiment is a laser tracker that oscillates laser light and receives the laser light reflected by reflectors 67a and 67b.
  • the three-dimensional measuring device 8 includes a laser head 63 that oscillates laser light.
  • the laser head 63 has an oscillating portion 81 that oscillates laser light and a light receiving portion 82 that receives the laser light reflected by the reflectors 67a and 67b.
  • the light receiving section 82 is arranged inside the laser head 63 .
  • the three-dimensional measuring instrument 8 in this embodiment includes a rotating device 64 that changes the orientation of the laser head 63 .
  • the rotating device 64 includes a measuring device drive motor 84 that changes the orientation of the laser head 63 .
  • a rotational position detector 85 such as an encoder is attached to the measuring device driving motor 84 in order to detect the rotation angle of the measuring device driving motor 84 .
  • the rotating device 64 of this embodiment rotates the laser head 63 around a horizontally extending rotating shaft and a vertically extending rotating shaft.
  • the rotating device 64 is supported by a tripod 65 . In this way, the three-dimensional measuring device 8 can oscillate laser light in any direction by being driven by the rotating device 64 .
  • the three-dimensional measuring instrument 8 includes an arithmetic processing unit having a CPU as a processor, a RAM, and the like.
  • the arithmetic processing unit of the three-dimensional measuring device 8 includes a position calculator 83 that calculates the positions of the reflectors 67a and 67b.
  • the position calculator 83 corresponds to a processor driven according to a predetermined program.
  • the position calculator 83 of this embodiment calculates the distance from the three-dimensional measuring device 8 to the reflectors 67a and 67b from the phase difference between the oscillated laser beam and the received laser beam.
  • a measuring device coordinate system 73 is set in the three-dimensional measuring device 8 of the present embodiment.
  • the measuring instrument coordinate system 73 can be set at any position by the operator.
  • the origin of the measuring device coordinate system 73 can be set at any position inside the three-dimensional measuring device 8 .
  • the origin of the measuring instrument coordinate system 73 can be located at the tip of the laser light source located inside the laser head 63 .
  • the measuring instrument coordinate system 73 includes coordinate axes having mutually orthogonal X-, Y-, and Z-axes.
  • the direction of the measuring device coordinate system 73 can be set to any direction.
  • the measuring instrument coordinate system 73 is a coordinate system in which the position of the origin is fixed and the directions of the coordinate axes are fixed. Even if the orientation of the laser head 63 changes, the position and orientation of the measuring instrument coordinate system 73 do not change.
  • the reflectors 67a and 67b of the present embodiment are spherical.
  • the reflectors 67a and 67b are formed so as to reflect the laser light in the same direction as the incident laser light.
  • the reflectors 67a, 67b are fixed at desired positions by restraining bands, magnets, or the like.
  • the rotation device 64 of the three-dimensional measuring device 8 adjusts the direction of the laser head 63 so that the laser light returns to the laser head 63 after being reflected by the reflectors 67a and 67b.
  • the operator can manually drive the rotating device 64 to adjust the orientation of the laser head 63 .
  • the three-dimensional measuring device 8 may have an automatic search function that scans so that the emitting direction of the laser light draws a circle. In this case, the operator approximately adjusts the orientation of the laser head 63 so that the laser beam emitted from the three-dimensional measuring device 8 is directed toward the reflectors 67a and 67b. After that, the three-dimensional measuring device 8 can adjust the direction of the laser head 63 so that the laser light reflected by the reflectors 67a and 67b returns to the laser head 63 by the automatic search function.
  • the rotating device 64 can detect the orientation of the laser head 63 in the measuring device coordinate system 73 based on the output of the rotational position detector 85 .
  • the position calculator 83 calculates the distance from the three-dimensional measuring device 8 to the reflectors 67a and 67b by receiving the light reflected by the reflectors 67a and 67b. Then, the position calculator 83 can calculate the positions of the reflectors 67 a and 67 b in the measuring device coordinate system 73 based on the calculated distance and the orientation of the laser head 63 .
  • the calibration device in this embodiment calibrates the mechanism error parameters that adjust the control of the robot 1.
  • FIG. The calibration device in this embodiment includes a control device 4 .
  • the control device 4 includes a processing section 51 that controls calibration of the mechanism error parameter 49 .
  • the processing unit 51 includes a reference coordinate system setting unit 53 that sets a reference coordinate system 72 in the area where the robot 1 is arranged based on the output of the three-dimensional measuring device 8 .
  • the reference coordinate system 72 can be defined so as not to depend on the operation of the robot and the installation state of the robot.
  • the installation state of the robot 1 includes the position where the robot 1 is installed and the inclination of the entire robot 1 with respect to the surface where the robot 1 is installed.
  • the reference coordinate system 72 can be set in a stationary coordinate system.
  • the processing unit 51 includes a position acquisition unit 52 that acquires the position of the robot in the reference coordinate system 72.
  • the processor 51 includes a parameter calculator 54 that calculates the mechanism error parameter 49 based on the position of the robot in the reference coordinate system 72 .
  • the processing unit 51 also calculates a conversion matrix for converting one of the coordinate values of the base coordinate system 71 and the reference coordinate system 72 set for the robot 1 into the other coordinate value.
  • a calculator 55 is included.
  • the processing unit 51 includes a maintenance determination unit 56 that evaluates the positional accuracy of the robot with respect to the command values of the operation program 46 .
  • the processing unit 51 performs processing based on a predetermined calibration program 48.
  • the processing unit 51 corresponds to a processor driven according to the calibration program 48 .
  • each unit of the position acquisition unit 52 , the reference coordinate system setting unit 53 , the parameter calculation unit 54 , the matrix calculation unit 55 , and the maintenance determination unit 56 corresponds to a processor driven according to the calibration program 48 .
  • Each unit functions by the processor implementing the controls defined in the calibration program 48 .
  • the calibration device of the present embodiment includes an auxiliary member 61 for setting the reference coordinate system 72 and a reflector 67a as a reference point member.
  • Auxiliary member 61 supports a plurality of reflectors 67a.
  • the auxiliary member 61 is arranged in the area where the robot system is installed.
  • the auxiliary member 61 can be arranged in the vicinity of the robot 1 to be calibrated.
  • the auxiliary member 61 of the present embodiment includes a base portion 61a that serves as a platform, and an erect portion 61b erected from the base portion 61a.
  • the standing portion 61b extends upward in the vertical direction.
  • the reflector 67a is arranged at a corner on the upper surface of the base 61a. Further, the reflector 67a is arranged on the upper surface of some of the plurality of standing portions 61b. Thus, the auxiliary member 61 is formed to support the reflectors 67a at a plurality of mutually different positions.
  • the auxiliary member 61 is not limited to this form, and a member that holds a plurality of reflectors 67a can be employed.
  • the auxiliary member 61 can adopt a member that does not move in the area where the robot 1 is installed so that the positions of the plurality of reflectors 67a do not change.
  • a shelf or fence installed in the area where the robot system is arranged may be used as an auxiliary member for attaching the reflector.
  • the position calculator 83 of the three-dimensional measuring device 8 calculates the positions of the plurality of reflectors 67 a in the measuring device coordinate system 73 .
  • a plurality of reflectors 67a to be measured can be predetermined.
  • the reference coordinate system setting unit 53 of the processing unit 51 sets the reference coordinate system 72 based on the position of the reflector 67a.
  • the position of the origin of the reference coordinate system 72 and the attitude of the reference coordinate system 72 can be set at predetermined relative positions and attitudes with respect to the measured positions of the plurality of reflectors 67a.
  • a reference coordinate system 72 is set in which the origin is placed on one reflector 67a.
  • the reference coordinate system setting section 53 can set the reference coordinate system 72 in the three-dimensional space.
  • the reference coordinate system setting unit 53 can set the reference coordinate system 72 using the coordinate values of the measuring device coordinate system 73 .
  • a reference coordinate system 72 is defined based on the positions of the plurality of reflectors 67a. Therefore, by maintaining the same position of the reflector 67a, the three-dimensional measuring device 8 can measure the position of the reflector 67a from any direction. Then, the same reference coordinate system 72 can be reproduced based on the relative positions and orientations with respect to the plurality of reflectors 67a.
  • a reflector 67b is arranged at the tip of the fixed electrode corresponding to the tool tip point of the welding gun 2. Therefore, the position of the reflector 67b corresponds to the position of the robot 1.
  • FIG. The position calculator 83 of the three-dimensional measuring device 8 can measure the position of the reflector 67b in the coordinate system 73 of the measuring device.
  • the position acquisition unit 52 can then calculate the position of the robot 1 in the reference coordinate system 72 based on the position of the reflector 67b in the measuring device coordinate system 73 .
  • FIG. 4 shows a flow chart of the first control for calibrating the mechanism error parameter in this embodiment.
  • the first control calibrates the mechanism error parameters after the robot 1 is replaced. When the robot has been used for a long period of time, the entire robot may be replaced.
  • the first state of the robot is defined in relation to the calibration of the mechanism error parameters.
  • a first state is defined as a reference state of the robot before calibrating the mechanism error parameters.
  • a second state after the first state is defined.
  • the second state includes a state of calibrating the mechanism error parameters or a state of determining whether or not to calibrate the mechanism error parameters.
  • the first state is the state before replacing the robot in which the old robot is installed.
  • the second state is the new robot installed after the robot has been replaced.
  • the robot before replacement is called a first robot
  • the robot after replacement is called a second robot.
  • the first state can adopt the state immediately before replacing the first robot.
  • the state immediately after the mechanism error parameter is calibrated at any time after the installation of the first robot can be adopted.
  • a reference coordinate system 72 is generated by measurement with the three-dimensional measuring device 8 when the first robot 1 is in a predetermined first state after installation.
  • As the first state it is possible to adopt a state in which the robot is driven accurately with respect to the command value.
  • a three-dimensional measuring device 8 is arranged in an arbitrary area where the robot 1 is arranged, and the position of the reflector 67a is measured.
  • the reference coordinate system setting unit 53 generates the reference coordinate system 72 using the coordinate values of the measuring device coordinate system 73 .
  • the processing unit 51 drives the robot 1 with the command values of the predetermined operation program.
  • Command values for the position and orientation of the robot in the motion program are designated by coordinate values in the base coordinate system 71 .
  • the robot 1 is driven by command values of an operation program for calibration.
  • the reflector 67b is arranged at one measurement point 76 by driving the robot 1 with one command value.
  • the position calculator 83 of the three-dimensional measuring device 8 calculates the position of the reflector 67b in the coordinate system 73 of the measuring device.
  • the position acquisition unit 52 converts the coordinate values of the position of the reflector 67 b in the measuring device coordinate system 73 into the coordinate values of the position in the reference coordinate system 72 .
  • the position of reflector 67b corresponds to the position of the robot. In this manner, the position acquisition unit 52 acquires coordinate values of the robot position in the reference coordinate system 72 based on the output of the three-dimensional measuring device 8 .
  • the processing unit 51 repeats control to acquire the position of the robot with respect to the command value.
  • the processing unit 51 drives the robot 1 with a plurality of command values.
  • the position acquisition unit 52 acquires coordinate values of the robot's position in the reference coordinate system 72.
  • the storage unit 42 stores a plurality of command values and the coordinate values of the positions of the plurality of robots in the reference coordinate system corresponding to the plurality of command values. In order to measure the mechanism error parameter accurately, it is preferable to measure several tens of measurement points 76, for example.
  • step 103 the first robot 1 is replaced with the second robot 3.
  • the robot is replaced with a robot of the same manufacturer and model number.
  • Fig. 5 shows a perspective view of the robot device, three-dimensional measuring device, and auxiliary members when the new robot is installed.
  • a second robot 3 is installed on the floor.
  • the robot 3 is preferably installed at the same position and at the same inclination as the robot 1 .
  • the position reached may deviate from the command value of the operation program.
  • the mechanical error parameters of the second robot 3 are calibrated.
  • the reference coordinate system setting unit 53 generates the reference coordinate system 72 from the output of the three-dimensional measuring device 8.
  • the position of the three-dimensional measuring device 8 is different from the position shown in FIG.
  • the processing unit 51 drives the second robot 3 with the same command value as the command value of the operation program used by the first robot 1 .
  • the reflector 67b moves to the position of the measurement point 77 by driving the robot 3 with a plurality of command values.
  • the position of the measurement point 77 may deviate from the position of the measurement point 76 of the first robot 1 in FIG.
  • the position acquisition unit 52 acquires the coordinate values of the measurement points 77 in the reference coordinate system as the position of the robot 3 from the output of the three-dimensional measuring device 8. do. That is, the position acquisition unit 52 acquires the position of the reflector 67b in the reference coordinate system 72 when the second robot 3 is driven with the same predetermined command value as the first robot 1 .
  • the parameter calculator 54 calculates the mechanical error parameters of the second robot 3 .
  • the parameter calculator 54 determines that the robot position (the position of the measurement point 77) in the reference coordinate system 72 of the second robot 3 is the robot position (the position of the measurement point 76) in the reference coordinate system 72 of the first robot 1.
  • the mechanism error parameter of the second robot 3 is calculated so as to match with . That is, the mechanism error parameter of the second robot 3 is calculated so that the tip point of the tool reaches the same position when the second robot 3 is driven with the same command value as the first robot 1. .
  • the parameter calculation unit 54 uses the least-squares method to reduce the error in the position of the second robot 3 with respect to the position of the first robot 1. Error parameters can be set.
  • the parameter calculator 54 can calculate a plurality of constants included in the mechanical error parameter.
  • the parameter calculator 54 randomly changes the variables included in the mechanism error parameter so that the difference between the position of the second robot 3 and the position of the first robot 1 is small for the same command value. Any variable may be used.
  • the processing unit 51 can cause the storage unit 42 to store the new mechanical error parameters calculated by the parameter calculation unit 54 .
  • the robot 3 can be controlled using the new mechanism error parameter.
  • the second robot 3 can be controlled so as to assume substantially the same position and posture as the first robot 1 without repeating the teaching operation of the second robot 3 .
  • FIG. 6 shows a flow chart of the second control for calibrating the mechanism error parameter in this embodiment.
  • a second control calibrates the mechanism error parameters when some of the components of the robot are replaced.
  • Use of the robot may cause some components of the robot to fail.
  • the gears of the speed reducer may wear out due to aging.
  • the strength of the arm may be weakened and the amount of bending of the arm may be increased.
  • the mechanical error parameters are calibrated after replacing some of the components of the robot.
  • the first state is the state before replacing some of the components of the robot.
  • the second state is after replacing some of the components of the robot.
  • the second state is a state when some of the components of the robot have deteriorated.
  • the component to be replaced is not limited to the upper arm, and can be exemplified by a wrist, rotational position detector, motor, speed reducer, or the like.
  • steps 101 and 102 are the same as in the first control (see FIG. 4).
  • the first robot 1 is driven with a plurality of command values, and the position of the robot in the reference coordinate system 72 is stored.
  • step 111 the upper arm 11 of the first robot 1 is replaced.
  • step 112 the reference coordinate system setting section 53 reproduces the reference coordinate system 72 by the output of the three-dimensional measuring device 8 after the upper arm 11 is replaced.
  • step 113 the processing unit 51 drives the first robot 1 with the same multiple command values as before the replacement of the upper arm 11.
  • the position acquisition unit 52 acquires the position of the reflector 67b in the reference coordinate system 72. FIG. That is, the position acquisition unit 52 acquires the position of the first robot 1 having the new upper arm.
  • the parameter calculator 54 calculates the mechanical error parameters of the first robot 1 .
  • the parameter calculator 54 determines that the position of the robot in the reference coordinate system 72 after replacement of the upper arm 11 corresponds to the position of the robot in the reference coordinate system 72 before replacement of the upper arm 11. Calculate the mechanism error parameters to match. That is, the mechanism error parameter is calculated so that the tool tip point of the robot reaches the same position when the robot is driven with the same command value.
  • the calibration apparatus can easily calibrate the mechanism error parameters so that the change in the position reached by the robot is small even after the robot or the components of the robot are replaced.
  • the same operating program can be used after a component or robot change. That is, the same motion program can be used after replacing the robot in its entirety or after replacing a component part of the robot without having to repeat the teaching operation of teaching the position of the robot in the motion program.
  • the third control in the calibration device will be explained.
  • the mechanical error parameters are calibrated after the entire robot is replaced.
  • the transformation matrix of the reference coordinate system 72 viewed from the base coordinate system 71 in the first state is used to calibrate the mechanism error parameters in the second state.
  • Fig. 7 shows a perspective view when measuring the coordinate values of the robot's position with a three-dimensional measuring device.
  • processing unit 51 drives robot 1 based on a predetermined command value.
  • the position acquisition unit 52 acquires the position of each measurement point 76 corresponding to the position of the robot 1 in the reference coordinate system 72 .
  • each measurement point 76 in the reference coordinate system 72 be a coordinate value P 0 .
  • the matrix of the reference coordinate system 72 viewed from the base coordinate system 71 be a transformation matrix Ac.
  • the inverse matrix Ac ⁇ 1 of the transformation matrix Ac is a matrix for transforming the coordinate values of the base coordinate system 71 into the coordinate values of the reference coordinate system 72 .
  • the measurement point 76 in the base coordinate system 71 that is, the position of the robot of the command value is the coordinate value P1 , the following formula (1) holds.
  • matrix calculator 55 of processor 51 acquires coordinate value P 1 of the command value expressed in base coordinate system 71 .
  • the matrix calculator 55 acquires the coordinate value P 0 of each measurement point 76 in the reference coordinate system 72 from the position acquirer 52 when the robot 1 is driven based on the command value.
  • the matrix calculator 55 calculates a conversion matrix Ac based on the coordinate value P 0 of the position of each measurement point 76 in the reference coordinate system and the coordinate value P 1 of the command value. For example, when the coordinate values in the reference coordinate system 72 are calculated from the coordinate values P1 using the transformation matrix Ac, the least square method is used to minimize the error (distance) between the coordinate values and the coordinate values P0 . , the conversion matrix Ac can be calculated.
  • the transformation matrix Ac can be calculated by the method of least squares.
  • the transformation matrix Ac for example, a homogeneous transformation matrix of 4 rows ⁇ 4 columns can be adopted. That is, a matrix containing rotation and translation of the coordinate system can be employed.
  • the storage unit 42 stores the calculated transformation matrix Ac.
  • the processing unit 51 can calculate the conversion matrix Ac in the first state.
  • a conversion matrix for converting the coordinate values of the base coordinate system 71 to the coordinate values of the reference coordinate system 72 is calculated, but the present invention is not limited to this form.
  • the matrix calculator may calculate a transformation matrix for transforming the coordinate values of the reference coordinate system into the coordinate values of the base coordinate system. This matrix can also be used to transform the coordinate values of the reference coordinate system into the coordinate values of the base coordinate system, or transform the coordinate values of the base coordinate system into the coordinate values of the reference coordinate system.
  • FIG. 8 shows a flowchart of the third control for calibrating the mechanism error parameter in this embodiment. 3, 7 and 8, steps 101 and 102 are the same as the first control in this embodiment (see FIG. 4).
  • the first robot 1 is driven with a plurality of command values, and the coordinate values (position of the robot 1) of the measurement points 76 in the reference coordinate system 72 are acquired.
  • the position acquisition unit 52 acquires a plurality of positions of the robot in the reference coordinate system 72 when the robot 1 is driven based on a plurality of command values of the robot 1 in the first state.
  • step 121 the matrix calculator 55 calculates a transformation matrix based on a plurality of command values for the first robot 1 and a plurality of positions of the first robot 1 in the reference coordinate system 72 in the first state. Calculate Ac.
  • the storage unit 42 stores the transformation matrix Ac.
  • step 122 the first robot is replaced with a second robot. The robot device 5 enters the second state.
  • FIG. 9 shows a perspective view of the robot, three-dimensional measuring device, and auxiliary members after the first robot is replaced with the second robot. 3, 8, and 9, at step 123, after setting the second robot 3, the reference coordinate system setting unit 53 sets the reference coordinate system 72 based on the output of the three-dimensional measuring device 8. to reproduce.
  • the second robot 3 is driven with a plurality of command values.
  • the command value indicated by the base coordinate system 71 at this time may be different from the command value when the first robot 1 is driven.
  • the second robot 3 can be driven with a plurality of arbitrary command values.
  • FIG. 9 shows measurement points 77 reached by the tip of the tool when the second robot 3 is driven with a plurality of command values. In order to accurately calculate mechanism error parameters, it is preferable to measure several tens of measurement points 77, for example.
  • the position calculator 83 of the three-dimensional measuring device 8 detects the position of each measuring point 77 using the coordinate values of the measuring device coordinate system 73 .
  • the position acquisition unit 52 converts the coordinate value of the position of the measurement point 77 calculated in the measuring device coordinate system 73 into the coordinate value P 0 of the measurement point 77 in the reference coordinate system 72 . That is, the position acquisition unit 52 acquires multiple positions of the robot in the reference coordinate system 72 .
  • the parameter calculator 54 converts the coordinate values of the measurement point 77 in the reference coordinate system 72 into coordinate values in the base coordinate system 71 of the first robot 1 using the conversion matrix Ac. That is, the theoretical position of the robot in the base coordinate system 71 of the first robot 1 is calculated from the position of the second robot based on the reference coordinate system 72 using the above equation (1).
  • the parameter calculator 54 calculates the mechanical error parameters of the second robot 3 .
  • the parameter calculator 54 acquires command values for the second robot 3 .
  • the parameter calculator 54 calculates a mechanism error parameter such that the command value of the second robot 3 matches the coordinate value of the theoretical position of the robot in the base coordinate system 71 of the first robot 1 .
  • the parameter calculator 54 calculates the mechanism error parameter so that the position in the reference coordinate system reached by the second robot 3 matches the position in the reference coordinate system reached by the first robot 1. be able to.
  • the parameter calculation unit 54 uses the least-squares method to minimize the error (distance) between the command value of the second robot 3 and the coordinate value of the theoretical position of the first robot 1 in the base coordinate system. to calculate the mechanism error parameter.
  • the transformation matrix Ac acquired in the first state can be stored.
  • the transformation matrix Ac can be used to transform the position of the robot in the reference coordinate system to the theoretical position in the base coordinate system in the first state.
  • the mechanism error parameter can be calculated so that the position reached by the command value of the second robot matches the theoretical position.
  • the command value of the second robot can be converted into the theoretical position of the robot in the reference coordinate system by using the conversion matrix Ac.
  • the mechanism error parameter may be calculated so that this theoretical position matches the position in the reference coordinate system reached by the second robot (the position acquired by the position acquisition unit 52).
  • FIG. 10 shows a flowchart of the fourth control for calibrating the mechanical error parameters of the robot.
  • a fourth control calibrates the mechanism error parameters after replacing some components of the robot.
  • the conversion matrix Ac is calculated in advance in the first state.
  • the mechanism error parameters are calibrated based on the conversion matrix Ac.
  • Steps 101, 102 and 121 are the same as the third control of this embodiment (see FIG. 8).
  • step 131 the upper arm 11 of the first robot 1 is replaced.
  • the reference coordinate system setting unit 53 reproduces the reference coordinate system 72 based on the measurement results of the three-dimensional measuring device 8 after the upper arm 11 is replaced.
  • the processing unit 51 drives the first robot 1 with a plurality of arbitrary command values.
  • the position acquisition unit 52 acquires the coordinate values (position of the robot 1) of the measurement point 77 in the reference coordinate system 72 based on the output of the three-dimensional measuring device 8.
  • step 134 the parameter calculator 54 converts the coordinate values of the measurement point 77 in the reference coordinate system into the theoretical position in the base coordinate system 71 of the first robot 1 using the conversion matrix Ac.
  • the conversion matrix Ac since the upper arm is replaced, the position and orientation of the origin of the base coordinate system 71 set in the base section 14 have not changed.
  • the parameter calculator 54 calculates the mechanism error parameters of the first robot 1 .
  • the parameter calculator 54 calculates the mechanism error parameter so that the command value of the robot in the base coordinate system 71 matches the coordinate value of the theoretical position of the first robot 1 in the base coordinate system 71 . In this way, in the fourth control, when replacing some of the components of the robot, the mechanism error parameter can be calibrated by the same control as in the third control.
  • control similar to the second control or the fourth control in the present embodiment can be implemented.
  • the robot can be calibrated by performing a control similar to the second control or the fourth control without replacing components.
  • calibration control from step 112 to step 114 can be performed without replacing the upper arm at step 111 in FIG.
  • Such robot calibration can be performed, for example, at predetermined time intervals.
  • the first state which is the reference state of the robot
  • the second state of the robot is a state when at least some components of the robot have deteriorated due to use of the robot.
  • control device 4 in the present embodiment functions as a determination device that determines whether or not it is necessary to calibrate mechanism error parameters.
  • the processing unit 51 in this embodiment includes a maintenance determination unit 56 that evaluates the accuracy of the position of the robot 1 with respect to the command value of the operation program 46 .
  • the maintenance determination unit 56 determines whether calibration of the mechanism error parameter is necessary based on the position of the robot in the reference coordinate system 72 in the first state and the current position of the robot in the reference coordinate system 72. do.
  • the maintenance determination unit 56 of the processing unit 51 functions as a determination device.
  • the maintenance determination unit 56 evaluates the accuracy of the position reached by the robot using the transformation matrix Ac calculated by the third control and the fourth control in the present embodiment.
  • FIG. 11 shows a flowchart of the fifth control by the maintenance determination unit of this embodiment.
  • processing unit 51 first executes steps 101, 102 and 121 in the third control of the present embodiment to calculate conversion matrix Ac.
  • the storage unit 42 stores the conversion matrix Ac (see FIG. 8).
  • the control for calculating the transformation matrix Ac is preferably performed immediately after the mechanical error parameters are calibrated, for example, after installing the robot.
  • the control from step 141 to step 143 is the same as the control from step 132 to step 134 in the fourth control.
  • the reference coordinate system setting section 53 generates the reference coordinate system 72 based on the measurement by the three-dimensional measuring device 8 at any time.
  • the processing unit 51 drives the first robot with a plurality of arbitrary command values.
  • the position acquisition unit 52 acquires coordinate values of the position of the robot in the reference coordinate system 72 .
  • the parameter calculator 54 converts the coordinate values of the robot's position in the reference coordinate system 72 into coordinate values in the robot's base coordinate system 71 using the conversion matrix Ac.
  • a parameter calculator 54 converts a plurality of positions of the robot in the reference coordinate system into theoretical positions.
  • the maintenance determination unit 56 calculates the distance between a predetermined robot command value and the theoretical position in the base coordinate system. For example, the maintenance determination unit 56 calculates the distance between the coordinate value in the command value of the robot in the operation program and the coordinate value in the theoretical position. The maintenance determination unit 56 calculates respective distances for a plurality of combinations of command values and theoretical positions.
  • step 145 the maintenance determination unit 56 calculates the average value of multiple distances.
  • the maintenance determination unit 56 determines whether or not the average value of the distances exceeds a predetermined determination value. If the average distance exceeds the decision value, control proceeds to step 146 .
  • the maintenance determination unit 56 determines that calibration of the mechanism error parameter is necessary.
  • the display unit 39 of the teaching operation panel 37 displays that the mechanism error parameters need to be calibrated.
  • step 145 if the average value of the distances is equal to or less than the judgment value, control proceeds to step 147.
  • the maintenance determination unit 56 determines that configuration of the mechanism error parameter is unnecessary. Then, the display unit 39 displays that calibration of the mechanism error parameter is unnecessary.
  • the maintenance determination unit 56 performs determination based on the average value of the distance between the robot command value and the theoretical position converted to the base coordinate system, but is not limited to this form.
  • Arbitrary control can determine whether or not the command value of the robot is separated from the theoretical position. For example, it may be determined that calibration is necessary when the maximum value of distances among a plurality of distances corresponding to a plurality of command values is greater than the determination value.
  • the maintenance determination unit 56 can determine whether the accuracy of the position of the robot deviates from a predetermined determination range for each predetermined period.
  • the maintenance determination unit 56 can determine that calibration of the mechanism error parameter is necessary when the accuracy of the robot deviates from a predetermined determination range. For example, it is possible to determine whether or not to calibrate the mechanism error parameter for each predetermined robot drive time or predetermined time length after installation of the robot.
  • the maintenance determination unit 56 can determine that configuration of the mechanism error parameter is necessary when replacement of a component constituting the robot is detected. For example, when the operator inputs information indicating that a part of the components of the robot has been replaced to the input unit 38 of the teaching operation panel 37, the maintenance determination unit 56 determines that calibration of the mechanism error parameter is necessary. do. Alternatively, the maintenance determination unit 56 may determine that the calibration of the mechanism error parameter is necessary when the replacement of the robot is detected. Then, the display unit 39 can display that calibration of the mechanism error parameter is necessary to notify the operator. The operator can perform one or more of the first to fourth controls described above when calibrating the mechanism error parameters.
  • the robot control device functions as a calibration device and a determination device, but it is not limited to this form.
  • An arithmetic processing device functioning as a calibration device or an arithmetic processing device functioning as a determination device may be connected to the control device of the robot via a communication device.
  • the reference coordinate system is set using the laser tracker and the auxiliary member in this embodiment, the present invention is not limited to this form. Any device and control can set a reference coordinate system in three-dimensional space.
  • a three-dimensional visual sensor may be used to detect the position of a non-moving characteristic portion that serves as a reference point, and a reference coordinate system may be set based on the position of the characteristic portion.
  • a three-dimensional visual sensor may detect a characteristic portion of the robot to detect the position and orientation of the robot.
  • the calibration device does not have to be equipped with a three-dimensional measuring device.
  • the calibration device may be configured to acquire and process coordinate measuring machine data acquired external to the calibration device.
  • Reference Signs List 1 3 robot 4 control device 8 three-dimensional measuring instrument 11 upper arm 12 lower arm 13 turning base 14 base section 15 list 16 flange 46 motion program 49 mechanism error parameter 51 processing section 52 position acquisition section 53 reference coordinate system setting section 54 parameter Calculation unit 55 Matrix calculation unit 56 Maintenance determination unit 61 Auxiliary member 63 Laser head 67a, 67b Reflector 71 Base coordinate system 72 Reference coordinate system 76, 77 Measurement point

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PCT/JP2021/035409 2021-09-27 2021-09-27 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置 Ceased WO2023047591A1 (ja)

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US18/686,870 US20240375284A1 (en) 2021-09-27 2021-09-27 Calibration device for calibrating mechanism error parameter and determination device for determining necessity of calibrating mechanism error parameter
PCT/JP2021/035409 WO2023047591A1 (ja) 2021-09-27 2021-09-27 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置
JP2023549306A JP7680553B2 (ja) 2021-09-27 2021-09-27 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置
CN202180102497.6A CN118043174A (zh) 2021-09-27 2021-09-27 校正机构误差参数的校正装置以及判定校正机构误差参数的必要性的判定装置
DE112021007764.3T DE112021007764T5 (de) 2021-09-27 2021-09-27 Kalibrierungsgerät zur kalibrierung von parametern für mechanismusfehler und bestimmungsgerät zur bestimmung der notwendigkeit der kalibrierung von parametern für mechanismusfehler
TW111132697A TW202314413A (zh) 2021-09-27 2022-08-30 校正機構誤差參數的校正裝置及判定校正機構誤差參數之必要性的判定裝置

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