WO2024154250A1 - 軌道生成装置および軌道生成方法 - Google Patents

軌道生成装置および軌道生成方法 Download PDF

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Publication number
WO2024154250A1
WO2024154250A1 PCT/JP2023/001320 JP2023001320W WO2024154250A1 WO 2024154250 A1 WO2024154250 A1 WO 2024154250A1 JP 2023001320 W JP2023001320 W JP 2023001320W WO 2024154250 A1 WO2024154250 A1 WO 2024154250A1
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Prior art keywords
trajectory
time
movement
target point
candidates
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English (en)
French (fr)
Japanese (ja)
Inventor
将吾 東
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Fuji Corp
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Fuji Corp
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Priority to JP2024571496A priority patent/JPWO2024154250A1/ja
Publication of WO2024154250A1 publication Critical patent/WO2024154250A1/ja
Anticipated expiration legal-status Critical
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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
    • B25J9/16—Program controls

Definitions

  • This specification discloses a trajectory generation device and a trajectory generation method.
  • Patent Document 1 describes a method for generating a trajectory for moving the tip of a robot arm from a starting point to a target point in such a way that the movement time is minimized while satisfying constraints on the speed and acceleration of the tip.
  • the primary objective of this disclosure is to quickly generate an appropriate trajectory that reduces the movement time of the robot arm's hand while minimizing the effects of hand vibration.
  • the trajectory generating device of the present disclosure is A trajectory generating device for generating a trajectory of a motion of a multi-joint robot arm, a generation unit that searches for possible waypoints from a start point of the motion to a target point, and generates a plurality of trajectory candidates that connect the points and have movement parameters between the points set; an optimization unit that optimizes the positions of the via points and the movement parameters for each of the plurality of trajectory candidates so as to shorten a total time of a movement time for the hand of the robot arm to move from the start point to the target point and a convergence time for the hand vibration to converge at the target point; an evaluation and selection unit that evaluates the plurality of trajectory candidates that have been optimized, including the total time, and selects the trajectory of the movement based on the evaluation;
  • the gist of the invention is to provide the following:
  • the positions of the via points and the movement parameters are optimized so as to shorten the total time of the movement time for the robot arm's hand to move from the start point to the target point and the convergence time for the hand vibration to converge at the target point.
  • the multiple optimized trajectory candidates are evaluated, including the total time, and the movement trajectory is selected based on the evaluation. This makes it possible to quickly generate an appropriate trajectory that reduces the effects of hand vibration while shortening the movement time of the robot arm's hand.
  • FIG. 1 is a diagram showing an outline of the configuration of a robot system 10.
  • 13 is a flowchart showing an example of a trajectory generation process.
  • FIG. 13 is a schematic diagram showing an example of a manner in which a trajectory is generated.
  • FIG. 13 is a schematic diagram showing an example of a manner in which a trajectory is generated.
  • FIG. 13 is a schematic diagram showing an example of a manner in which a trajectory is generated.
  • FIG. 13 is a schematic diagram showing an example of a manner in which a trajectory is generated.
  • FIG. 13 is a schematic diagram showing an example of a manner in which a trajectory is generated.
  • 11 is a flowchart showing an example of an optimization process.
  • FIG. 11 is an explanatory diagram showing an example of a moving time and a convergence time.
  • FIG. 1 is a schematic diagram showing the configuration of a robot system 10.
  • the robot system 10 includes a robot 20 and a trajectory generating device 40.
  • the robot 20 is configured as, for example, a six-axis vertical articulated robot, and performs a predetermined task, such as picking up a workpiece (not shown) and placing it in a predetermined position.
  • the robot 20 comprises a base 21 fixed to the workbench 11, a robot arm 22 including a plurality of links connected in series via six joint axes (first to sixth joint axes J1 to J6), and a control device 30 that controls the operation of the robot 20.
  • the robot arm 22 is provided with servo motors 23a to 23f that rotate the first to sixth joint axes J1 to J6, respectively, and encoders (rotary encoders) 24a to 24f that detect the rotation angles of the servo motors 23a to 23f, respectively.
  • the end effector 25 is detachably attached to the tip link of the robot arm 22 as a work tool, and a camera (not shown) can also be attached.
  • the end effector 25 is composed of a suction nozzle that attracts the workpiece by negative pressure, a mechanical chuck that grips the workpiece with a pair of claws, an electromagnetic chuck that attracts the workpiece with an electromagnet, etc., and is appropriately selected according to the shape and material of the workpiece to be worked on.
  • a mechanical chuck is shown as an example of the end effector 25.
  • the end effector 25 is provided with an actuator 26 that drives the pair of claws 25a to open and close, and an encoder (linear encoder) 27 that detects the open/close position of the actuator 26.
  • the robot 20 also includes a power supply circuit 32 that converts AC power from a commercial power source (not shown) into DC power and supplies it to each part of the robot 20, and amplifiers 34a to 34f that drive the servo motors 23a to 23f with power from the power supply circuit 32.
  • Each amplifier 34a to 34f drives each of the servo motors 23a to 23f by driving a switching element (not shown).
  • the control device 30 is configured as a microprocessor centered around a CPU (not shown), and in addition to the CPU, it is equipped with ROM, RAM, an input/output interface, etc. Detection signals from the encoders 24a to 24f of the servo motors 23a to 23f, detection signals from the encoder 27 of the actuator 26, etc. are input to the control device 30.
  • the control device 30 also outputs control signals to the amplifiers 34a to 34f, control signals to the actuator 26, etc.
  • the control device 30 is also configured to be able to communicate with the trajectory generating device 40, and controls the drive of the robot arm 22 based on the trajectory generated by the trajectory generating device 40.
  • the trajectory generating device 40 is a computer that includes a control device 41, a storage device 46, an input device 47, and a display device 48, and generates a trajectory for the robot arm 22 of the robot 20.
  • the control device 41 is configured as a microprocessor centered around a CPU (not shown), and in addition to the CPU, includes ROM, RAM, an input/output interface, etc.
  • the storage device 46 is configured, for example, by a HDD, and stores various data and programs required to generate the trajectory of the robot arm 22.
  • the input device 47 is, for example, a keyboard, a mouse, etc., through which the operator performs input operations.
  • the display device 48 is, for example, an LCD display, etc., that displays various information.
  • the control device 41 includes a condition setting unit 42, a generation unit 43, an optimization unit 44, and an evaluation and selection unit 45 as functional blocks for generating a trajectory of the movement of the robot arm 22.
  • the condition setting unit 42 sets various conditions such as constraint conditions when generating a trajectory.
  • the generation unit 43 searches for waypoints from the start point S of the movement to the target point G by changing search parameters under the constraint conditions set by the condition setting unit 42, and generates a base trajectory that serves as the basis for evaluation and selection by the evaluation and selection unit 45, and trajectory candidates based on the base trajectory.
  • the generation unit 43 uses, for example, an RRT-Connect-based search method that is an extension of RRT as a search method based on RRT (Rapidly exploring Random Tree).
  • the optimization unit 44 performs necessary trajectory adjustments and optimization on the base trajectory and trajectory candidates generated by the generation unit 43.
  • the evaluation and selection unit 45 evaluates the trajectory that has been subjected to necessary trajectory adjustments and optimization by the optimization unit 44, and selects a trajectory based on the evaluation.
  • the trajectory selected by the evaluation and selection unit 45 is transmitted to the robot 20, and the drive control of the robot arm 22 is performed based on the trajectory.
  • the optimization unit 44 may also optimize the trajectory selected by the evaluation and selection unit 45.
  • the trajectory generated in this manner is stored in the storage device 46.
  • FIG. 2 is a flowchart showing an example of the trajectory generation process. This trajectory generation process is executed by the control device 41 of the trajectory generation device 40 using the functions of each of the functional blocks described above.
  • FIGS 110 the control device 41 searches for waypoints using an RRT-Connect-based search method to generate a base trajectory (S110).
  • Figures 3 to 7 are schematic diagrams showing an example of how a trajectory is generated. As described above, each point is represented in joint angle space, but for convenience of illustration, the schematic diagrams are shown in a two-dimensional manner. As shown in the figure, for example, from a starting point S on the left to a target point G on the right, waypoints (white circles) are searched for so as not to interfere with three obstacles B, and a base trajectory is generated that connects each point. Note that the position of the waypoint indicates, for example, the position of the hand of the robot arm 22. Also, the space between each point connected by a straight line is called a section.
  • the control device 41 starts searching for waypoints from both the start point S side and the target point G side, and ends the search when one waypoint searched for on the start point S side can be connected with one waypoint searched for on the target point G side by a straight line (dotted lines in Figures 3 and 4).
  • a straight line dotted lines in Figures 3 and 4.
  • the control device 41 can change the search distance. Specifically, the control device 41 can change the search distance so that the longer the distance from the search source point to the obstacle B, the longer the search distance, and the shorter the distance from the search source point to the obstacle B, the shorter the search distance.
  • the control device 41 first calculates the distance from the search source point to each obstacle B, and derives the shortest distance among them. For example, when the search source point is the start point S, the control device 41 calculates the distance from the start point S to each obstacle B1, B2, and B3, and derives the distance to obstacle B1 as the shortest distance among them, and searches for waypoints with a search distance D1 according to that distance. Note that in the search direction from the start point S toward the obstacle B1, waypoints are searched for so as not to interfere with the obstacle B1, and as a result, the search distance D1' is shorter than the search distance D1.
  • the control device 41 When searching for the next via point from via point P in FIG. 5, the control device 41 calculates the distance from via point P to each of the obstacles B1, B2, and B3, derives the distance to obstacle B2 as the shortest distance, and searches for the via point at a search distance D2 corresponding to that distance. Similarly, when searching for a via point from target point G, the control device 41 searches for the via point at a search distance D3. Note that in the search direction from target point G to obstacle B2, the via point is searched for so as not to interfere with obstacle B2, and as a result, the search distance D3' is shorter than the search distance D3. In FIG. 5, search distances D1, D2, and D3 are illustrated, but the search distance is set steplessly according to the distance from the search source to obstacle B. Alternatively, the search distance may be set stepwise according to the distance from the search source to obstacle B. In this way, by making the search distance variable, the control device 41 can efficiently search for via points and quickly generate a base trajectory.
  • the control device 41 searches for waypoints in this way to generate one base trajectory, for example the base trajectory R0 in Figure 6.
  • the control device 41 generates multiple trajectory candidates based on the generated base trajectory (S120).
  • multiple trajectory candidates are generated by randomly changing the positions of the waypoints of the base trajectory and movement parameters such as speed, acceleration/deceleration, and synthesis rate.
  • each waypoint of the base trajectory R0 (dotted line) is changed and the movement parameters are changed to generate, for example, three trajectory candidates R1 to R3.
  • the control device 41 only needs to generate multiple trajectory candidates, and the trajectory candidates may include the base trajectory R0.
  • the moving average process is a process of deriving a command value by taking the moving average of the original speed for each calculation period within a section, for example, in order to make the speed change in each section gentle.
  • the original speed is determined to be a predetermined speed, such as the maximum speed of the robot arm 22 under constraint conditions.
  • the synthesis process is performed after the moving average process, and is a process of multiplying the command value of the previous section and the command value of the following section by a ratio (synthesis rate) respectively set so that the speed does not decrease in consecutive sections (connections between adjacent sections).
  • a ratio synthesis rate
  • FIG. 9 is an explanatory diagram showing an example of the movement time and convergence time, with the horizontal axis showing time and the vertical axis showing the position of the hand of the robot arm 22.
  • the movement time Ta is the time from when the hand of the robot arm 22 starts moving from the starting point S to when it reaches the target point G via each waypoint at time t0.
  • the convergence time Tb is the time from time t0 to when the vibration of the hand of the robot arm 22 at the target point G converges.
  • the issuance of the operation command value for the robot arm 22 is completed at time t0.
  • the convergence time Tb is the time from when the hand of the robot arm 22 reaches the target point G to when the vibration of the hand converges within the allowable range A, and is also called the stabilization time.
  • the time that combines the movement time Ta and the convergence time Tb is called the total time.
  • the movement of the robot arm 22 along the trajectory is completed in the time that combines the movement time Ta and the convergence time Tb, so the total time is also called the operation time.
  • the control device 41 calculates the total time by calculating the movement time Ta and the convergence time Tb when the positions of the via points and the movement parameters are changed, and optimizes the positions of the via points and the movement parameters so as to shorten the total time. Based on the changed via points and movement parameters, the control device 41 calculates the position from the start point S to the target point G for each predetermined time and the hand vibration at that position, and calculates the movement time Ta until the target point G is reached.
  • control device 41 judges in S240 that the total time is shorter without interference, it retains the way point and movement parameters searched for in S210 (S250).
  • the total time for the retained waypoints and movement parameters is the shortest total time for that trajectory candidate at that point in time, and is therefore compared with the total time when the determination in S240 is made thereafter. Note that the process of optimizing the trajectory by searching for waypoints and movement parameters so as not to interfere with obstacle B and to shorten the total time is also called trajectory adjustment.
  • the control device 41 judges whether the search for the trajectory candidates (each waypoint and movement parameter) to be processed has been completed based on whether a predetermined termination condition has been met (S260).
  • the predetermined termination condition may be, for example, a condition that the number of executions (repetitions) of S210 to S250 has reached a predetermined number, or a condition that the gradient has converged to a predetermined range when the gradient method is used in S210. If the control device 41 judges in S260 that the search has not been completed, it returns to S210 and executes the processing from S210 onwards again. As described above, in S240, it is judged whether the total time is shorter than the total time based on the waypoints and movement parameters held in the previous S250.
  • control device 41 judges in S260 that the search for the trajectory candidates to be processed has been completed, it judges whether the search for all the trajectory candidates has been completed (S270). If the search for all the trajectory candidates has not been completed, the control device 41 returns to S200, selects a trajectory candidate and performs processing. On the other hand, when the control device 41 determines in S270 that the search for all trajectory candidates has been completed, it ends the optimization process.
  • the control device 41 when the optimization process of S130 is performed, the control device 41 performs a trajectory selection process (S140).
  • S140 the control device 41 evaluates the total time of multiple optimized trajectory candidates and selects one trajectory candidate with the shortest total time as the trajectory of the robot arm 22's operation (S140). Note that if the hand is moved quickly to shorten the movement time Ta, the hand vibration increases when the target point G is reached, and the convergence time Tb increases, which may result in a longer total time. Conversely, if the hand is moved slowly to reduce the hand vibration when the target point G is reached in order to shorten the convergence time Tb, the movement time Ta may increase, which may result in a longer total time.
  • the control device 41 of this embodiment optimizes multiple trajectory candidates so that the total time of the travel time Ta and the convergence time Tb is shortened, and further selects the trajectory candidate with the shortest total time from the multiple trajectory candidates. This allows the control device 41 to select a trajectory that reliably shortens the total time.
  • the control device 41 stores the trajectory selected in S140 in the storage device 46 (S150), and ends the trajectory generation process.
  • the control device 41 also outputs the trajectory generated (selected) in the trajectory generation process to the control device 30 of the robot 20.
  • the robot 20 stores the trajectory in the storage unit of the control device 30, and performs drive control of the robot arm 22 based on the generated trajectory or trajectories to perform the above-mentioned predetermined task.
  • the generated trajectory may be used for simulating the operation of the robot arm 22. In other words, the generated trajectory is not limited to the actual operation of the robot 20 (robot arm 22), and may be used for evaluating or verifying the operation.
  • the trajectory generation device 40 may also have a function of executing such a simulation.
  • the control device 41 (generation unit 43) of the trajectory generation device 40 that executes S110 and S120 of the trajectory generation process of this embodiment corresponds to the generation unit of this disclosure
  • the control device 41 (optimization unit 44) that executes S130 of the trajectory generation process corresponds to the optimization unit
  • the control device 41 (evaluation selection unit 45) that executes S140 of the trajectory generation process corresponds to the evaluation selection unit.
  • this embodiment also clarifies an example of the trajectory generation method of this disclosure by explaining the processing of the trajectory generation device 40.
  • the trajectory generation device 40 (control device 41) of this embodiment described above optimizes the positions of the waypoints and the movement parameters for multiple trajectory candidates so that the total time of the movement time Ta of the hand of the robot arm 22 and the convergence time Tb of the hand vibration is shortened. Then, a movement trajectory is selected based on the result of evaluating the total time of the multiple trajectory candidates. This makes it possible to quickly generate an appropriate trajectory that reduces the effects of hand vibration while shortening the movement time of the hand of the robot arm.
  • the trajectory generation device 40 selects the trajectory candidate with the shortest total time of the movement time Ta and the convergence time Tb of the hand vibration, so that it can more reliably generate a trajectory with the shortest total time.
  • the trajectory generating device 40 also calculates the hand vibration and movement time Ta for each predetermined time period until the hand moves from the starting point S to the target point G, and calculates the time from when the hand reaches the target point G until the hand vibration converges to the allowable range A as the convergence time Tb. This makes it possible to prevent the convergence time Tb from becoming unnecessarily long and appropriately optimize the trajectory candidates.
  • the trajectory generating device 40 generates a base trajectory by searching for the positions of via points in the joint angle space, connecting each point and setting movement parameters, and generates multiple trajectory candidates by changing the positions of the via points in the base trajectory and the movement parameters, so that trajectory candidates can be generated quickly. Furthermore, the via points searched for in the joint angle space are in positions that the robot arm 22 can reach, so there is no need for an operator to adjust the positions of the via points.
  • the hand vibration is calculated for each predetermined time period until the hand moves from the starting point S to the target point G, but this is not limited to this, and in order to calculate the convergence time Tb, it is sufficient to calculate at least the hand vibration when the hand reaches the target point G.
  • the hand vibration at the target point G may be calculated without calculating the hand vibration during movement.
  • the trajectory candidate with the shortest total time is selected as the movement trajectory, but this is not limited to the above.
  • the movement trajectory may be selected based on the results of evaluation including the total time, such as selecting a trajectory with the shortest total time from among trajectory candidates without interference.
  • smaller vibrations may be preferable even if the total time is slightly longer.
  • the trajectory candidate with the shorter convergence time Tb may be selected. In other words, the time including the total time is evaluated, and one of the trajectory candidates may be selected as the movement trajectory based on the evaluation value.
  • the search for the waypoint is started from both the start point S and the target point G, but this is not limited, and the search for the waypoint may be started from either the start point S or the target point G.
  • the search distance is changed according to the distance to the obstacle B, but the search distance may be constant without being changed.
  • the search method is not limited to the RRT-Connect based search method, and other search methods such as the RRT method and the potential method may be used.
  • the waypoint is searched in the joint angle space, but this is not limited, and the waypoint may be searched in, for example, the XYZ space.
  • the position of the waypoint in the base trajectory and the movement parameters are randomly changed to generate multiple trajectory candidates, but multiple trajectory candidates may be generated by searching for the waypoints and the movement parameters respectively.
  • a six-axis vertical articulated robot is exemplified, but this is not limited to this and other vertical articulated robots such as a five-axis robot may be used, or a horizontal articulated robot may be used.
  • the trajectory generation device 40 generates the trajectory, but the control device 30 of the robot 20 may generate the trajectory.
  • the trajectory generation device 40 and the control device 30 may work together to generate the trajectory.
  • This disclosure can be used in the technical field of generating trajectories for multi-joint robot arms.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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PCT/JP2023/001320 2023-01-18 2023-01-18 軌道生成装置および軌道生成方法 Ceased WO2024154250A1 (ja)

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Citations (6)

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Publication number Priority date Publication date Assignee Title
WO2010092981A1 (ja) * 2009-02-12 2010-08-19 三菱電機株式会社 産業用ロボットシステム
JP2012045641A (ja) * 2010-08-24 2012-03-08 Sinfonia Technology Co Ltd 移動装置の軌道情報生成装置
US20130238132A1 (en) * 2010-11-24 2013-09-12 Kuka Roboter Gmbh Method And Device For Controlling A Peripheral Component Of A Robot System
JP2015100877A (ja) * 2013-11-25 2015-06-04 キヤノン株式会社 ロボット制御方法、及びロボット制御装置
JP2016013613A (ja) * 2014-06-11 2016-01-28 キヤノン株式会社 ロボット制御方法、ロボット装置、プログラム、記録媒体及び組立部品の製造方法
WO2018143003A1 (ja) * 2017-01-31 2018-08-09 株式会社安川電機 ロボットパス生成装置及びロボットシステム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010092981A1 (ja) * 2009-02-12 2010-08-19 三菱電機株式会社 産業用ロボットシステム
JP2012045641A (ja) * 2010-08-24 2012-03-08 Sinfonia Technology Co Ltd 移動装置の軌道情報生成装置
US20130238132A1 (en) * 2010-11-24 2013-09-12 Kuka Roboter Gmbh Method And Device For Controlling A Peripheral Component Of A Robot System
JP2015100877A (ja) * 2013-11-25 2015-06-04 キヤノン株式会社 ロボット制御方法、及びロボット制御装置
JP2016013613A (ja) * 2014-06-11 2016-01-28 キヤノン株式会社 ロボット制御方法、ロボット装置、プログラム、記録媒体及び組立部品の製造方法
WO2018143003A1 (ja) * 2017-01-31 2018-08-09 株式会社安川電機 ロボットパス生成装置及びロボットシステム

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