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WO1989006007A1 - Procede d'apprentissage et de reproduction d'un programme d'operations pour un robot industriel articule - Google Patents

Procede d'apprentissage et de reproduction d'un programme d'operations pour un robot industriel articule Download PDF

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Publication number
WO1989006007A1
WO1989006007A1 PCT/JP1988/001265 JP8801265W WO8906007A1 WO 1989006007 A1 WO1989006007 A1 WO 1989006007A1 JP 8801265 W JP8801265 W JP 8801265W WO 8906007 A1 WO8906007 A1 WO 8906007A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
operation program
load
teaching
wrist
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/JP1988/001265
Other languages
English (en)
Japanese (ja)
Inventor
Nobutoshi Torii
Ryo Nihei
Akihiro Terada
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
Original Assignee
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
Publication of WO1989006007A1 publication Critical patent/WO1989006007A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • G05B2219/39178—Compensation inertia arms
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41248—Adapting characteristics of servo

Definitions

  • the present invention teaches an operation program to an industrial robot, and reproduces (plays back) the taught operation program by the robot.
  • this section describes how to teach and play back operation programs for industrial articulated robots.
  • the industrial articulated robot has multiple robot arms that pivot around the orchid by the drive of a motor, and is installed at the forefront of these robot arms.
  • the robot arm is provided with a robot wrist, and the robot arm is pivoted, and the robot wrist performs the same rotation, vertical movement, etc.
  • the desired robot operation is achieved by cooperation with the robot, and usually has a robot wrist in front of two or more robot arms.
  • An end effector such as a gripper or work tool is attached to the tip of the robot wrist.
  • the operation of such an industrial articulated robot is performed by a teaching operation panel (teaching panel or telephone) connected to the robot controller. Using the teaching pendant), a human inputs a motion input by button operation or key operation to manually operate the robot, and moves the robot to a desired point on the motion locus.
  • the teaching process of storing the operation program data in the storage unit of the control unit, and the operation program data stored in the storage unit is taught using the display device of the teaching operation panel. It consists of an editing process for making changes and the like, and a regenerating process for automatically operating the robot by playing back the contents of the taught / stored »work and the changed operation program.
  • the robot arm and the robot wrist are automatically driven by the motor according to the displayed program.
  • the robot arm (multiple) may be used if the load weight and load inertia applied to the robot are large.
  • the load on each motor during operation may deviate from its rated output depending on the conditions of acceleration and speed applied to the wrist and the robot by the motor.
  • the speed and acceleration conditions of the motor are set in consideration of the worst condition of the load condition, so that safety is ensured.
  • the robot operation that does not effectively use the performance of the motor is performed, for example, the operation is performed at a slower speed even though the operation can be performed at a higher speed.
  • Inefficient operations such as the above may occur, resulting in inefficiency of the robot operation and inconvenience that it is impossible to shorten the operation time cycle.
  • the operating area of the joint drive motor is divided into several parts, and the movement time is minimized in response to the operation.
  • ⁇ There is also provided a pot control device having a built-in calculation means for selecting and setting the optimum acceleration and speed based on a fixed beach calculation formula in consideration of the sword and load inertia.
  • the operator must set or confirm the conditions such as load weight and load inertia in each of the program teaching stage, editing stage, and playback stage, or confirm the settings.
  • an object of the present invention is to provide a teaching method of an operating program and a reproducing method for an industrial orchid-type robot capable of responding to such a demand. It will not be provided.
  • the present invention provides a plurality of robot arms that are articulated with each other, and a robot provided at the forefront of the plurality of robot arms.
  • the robot robot is driven to move the extreme ends of the plurality of robot arms to a desired target position and positioned, and the wrist motor drives the robot wrist to move forward.
  • Operation program via a robot controller to an industrial articulated robot in which the robot end effector performs the robot work How to teach and regenerate ⁇ Regarding each orchid motor »motor, corresponding to the operation area; a plurality of data tables for determining the angle value and acceleration value according to the magnitude of the load weight. ⁇ Store and prepare in the storage means of the pot control device,
  • a predetermined maximum load inertia and a servo gain value corresponding to the IS are stored in the storage means in advance.
  • the speed and acceleration value of the iSt drive motor that is set to the set load weight in mm are automatically selected from the data table, and The drive motor and the wrist motor's service station are automatically set, and at the same time, the wrist motor's servo gain value corresponding to the set load inertia. Is now automatically set in the service
  • FIG. 1 shows a horizontal joint type robot as an example of an industrial joint type robot to which the teaching and reproducing method of the operation program according to the present invention is effectively applied.
  • FIG. 2 is a diagram showing a state in which a velocity / acceleration table and sample data are stored in R0M of the robot controller.
  • Fig. 3 is an explanatory view in which a part of the above table is enlarged
  • Fig. 4 is a view of the first and second pages of the setting screen that is visually displayed on the display of the teaching pendant.
  • Fig. 5 shows the load condition setting screen.
  • Fig. 6 shows the load condition confirmation screen.
  • Figure 7 shows the confirmation screen
  • Fig. 8 shows the alarm display screen that warns that the load condition has not been confirmed.
  • a horizontal articulated robot to which the teaching / playback method of the operation program according to the present invention is applied is formed around the axis ⁇ ⁇ ⁇ ⁇ at the top of the base 1 ⁇ . It has a first ice flat arm 12 provided so as to be able to turn, and a second horizontal arm 14 which can be turned around the axis U at the tip of the first horizontal arm 12. The tip of the second horizontal arm 14 can be turned in the direction indicated by the arrow around the vertical axis.
  • a robot wrist 16 capable of moving and displacing up and down as shown by arrow Z is provided.
  • the orchid drive motors M6> and MU for driving the rotation of the first and second eihei arms 12 and 14 are formed, for example, by a well-known direct drive motor and provided on a base. 10 and at the tip of the first ice flat arm 12, the first horizontal arm 12 rotates around the axis ⁇ , for example, at 300 ° °), while the second ice flat arm 14 has a turning range of 270 ° ( ⁇ 135.) About axis U.
  • the robot wrist 16 has a configuration driven by wrist drive motors ⁇ and ⁇ formed by a well-known AC support motor.
  • an end effector illustrated ⁇
  • a hand is attached.
  • the robot controller 2G for controlling the operation of the horizontal orchid-shaped robot has a CPU 22 as a central processing means, and the CPU 22 has a bus 23 connected to the CPU 22.
  • R M M 24 stores various programs necessary for the arithmetic processing executed by the CPU 22, and stores a table of arrest values and acceleration values according to the present invention, which will be described later.
  • the stored data and the value of the servo gain corresponding to the load inertia are stored in advance.
  • the control processing data such as is stored.
  • Teaching operation panel 28 Equipped with the above surface display, lamps, operation buttons, function keys, etc. for displaying numerical values necessary for various operations such as teaching, editing, and checking the bot. You.
  • the operation panel 30 has operation buttons and the like for controlling and executing a desired robot operation.
  • the input / output circuit 32 is a circuit in which various sensors and the like provided in the robot body and a port control device 2D exchange control signals.
  • the axis control unit 34 is a servo system that servo-controls the driving action of the aforementioned joint drive motors M ⁇ , MU, wrist drive motors M, MZ, A device with a digital system.
  • the axis control unit 34 receives the position command data of each axis o, U, Z according to the taught program, and the motor corresponding to the input.
  • the electric output for generating the drive torque is sent from the servo amplifier assembly -36 equipped with a servo amplifier for each axis to the corresponding drive motor MO etc.
  • the servo amplifier assembly -36 equipped with a servo amplifier for each axis to the corresponding drive motor MO etc.
  • the acceleration corresponding to the change between the load and the load inertia, and the maximum speed, the joint axis 6), and the time constant for realizing the turning drive around the U, the support of each motor Must be set in the system, and in the case of wrist drive motors M and MZ, the negative Robot wrist movement that satisfies the two mutually contradictory conditions of improving stability by reducing movement cycles and responding to changes in the inertia. Therefore, it is important to set the servo gain in response to changes in the load inertia.
  • the R MM 24 of the ⁇ -bot control device 20 is previously provided with the RU-section drive motors MO and MU in advance.
  • Data tables on acceleration and maximum speed are stored for each range of load weight and for the operating range of the rain motor. That is, as described above, as an example, the joint drive motors MO and MU have an operating range of (Soil 150 °) and the latter have an operating range of (Soil 135 °). Assuming that the first and second horizontal arms 12 and 14 are moved from the starting point of the robot arm from a certain starting point, depending on the operation program shown, Move to the end point. ⁇ In order to perform positioning, the first Eihei arm 1 2 performs the required turning motion, the second ice flat arm 14 performs the required turning operation, and the first ice flat arm 12 performs the required turning operation.
  • the first horizontal arm 12 has no pivoting motion amount or motion region ⁇ O is divided into several parts, for example, 0 to 30 ′, 30 ° to 60 °,
  • a data table of the acceleration value and the maximum speed value is prepared in advance, and a plurality of types of data tables are prepared according to the load weight (kg) and stored in R0M24.
  • the ROM 24 stores servo gains SG n (n: 1, 2, ...) that are appropriately selected in advance according to the load inertia. Then, the acceleration value, maximum speed value, and servo gain SG n in these tables are processed using the teaching operation panel 28.
  • the set load inertia is recorded in the RAM 26, so that the CPU 22 controls the load according to the set negative load and the set load inertia. Is selected from the data table of R ⁇ ⁇ M24, and is also selected from the stored servo gain to the axis control unit 34 via bus 23. It is to be set.
  • FIG. 2 is a diagram showing a state in which the above-mentioned data table and the surrogate data are stored in R ⁇ M 24.
  • FIG. 3 is an enlarged view of a part of the above data table.
  • the load weight is, for example, 0 to 2 kg
  • the data table corresponds to a plurality of operation areas of ⁇ . You can see how multiple tables are being prepared. Same rather, the load weight when the 2 ⁇ 4 k g. 4 ⁇ per such cases 6 kg, respectively Te over table is prepared.
  • these numerical data on the load weight are merely examples, and it is not possible to select various appropriate load weight ranges according to the capacity of the joint drive motor and the like. Needless to say.
  • the values of the load initiator 0.0 0.0 to 0.2 O kg-cm-sec 2 are merely examples.
  • the load weight and load inertia are displayed on the teaching operation panel 28 (Fig. 1) together with various operations such as program teaching, editing, and confirmation. It is configured to be set through a certain setting operation by the operator.
  • the display screen of the teaching operation panel 28 displays, for example, on the first page, a surface for executing the setting of the load condition, prior to the setting surface corresponding to the position data. In view of this, for each program, it is possible to set the food conditions in consideration of the maximum load agitation expected during the execution of the program.
  • FIG. 4 shows the first and second pages displayed on the display screen of the teaching operation panel 28, and the first page shows the setting of the load stirring as described above. Is the side to perform.
  • the load condition that is, the load weight and the load initiator
  • the load condition are registered and registered when the robot operation program is registered in the teaching process, and the registered program is called and edited.
  • the operator can perform the setting ⁇ operation.
  • the numerical value of the load condition can be set by pressing the key corresponding to the numerical value of the software end key on the teaching operation panel 28. It has become.
  • Fig. 5 shows the surface of the first page of Fig. 4 at the time of registration, and the software keys F1 to F5 (one example, the number of classifications of the set load weight value)
  • the number of keys increases and decreases according to the number of servo gain values and servo gain values.
  • the load weight value and load inertia value can be set and written in the flashing setting field. In addition, it is passed without setting by mistake at the time of registration. In this case, a confirmation screen is displayed to confirm whether or not the settings have been made before playback.If it is overlooked at that time, the negative load value is predicted at the start of playback.
  • the maximum value to be set is automatically set in advance.
  • a confirmation screen for confirming whether or not the execution of the load dumb is acceptable with the set value is called and confirmed. Is displayed, a confirmation screen appears (No.
  • the load condition column on the screen flashes.
  • the settings can be made using the software key. Also in this case, when the setting operation is not performed, the load condition is automatically set to the maximum value at the start of the regeneration process.
  • the display on the teaching pendant 28 will display the message “Check the load conditions J”. The set value flashes along with the message, and you can check whether the value is correct or not.This confirmation screen is shown in Fig. 6. If the confirmation operation is not performed at that point, an alarm surface will be displayed at the start of playback, warning that the load condition has not been confirmed for the program (Fig. 8).
  • the maximum load condition is automatically set at the start of the operation, and the program of the mouth port operation is executed.
  • the maximum value of the load condition is automatically set when the power is turned on for the first time to the teaching operation panel 28. This prevents accidents caused by sudden operation of the pot.
  • the present invention has been described by taking a specific Hiraban-knot type robot as an example.However, the teaching / playback method of the robot operation program according to the present invention depends on the load conditions. It can be applied equally to various orchid-shaped robots where there is a risk that the drive motor in the robot's movable part may be loaded more than the permissible value. Not only robots that move with the robot, but also multi-stage articulated ⁇ -bots that have the freedom to move within the three-dimensional free space, are within the scope of the technical idea of the present invention.
  • the supplier can apply the teaching * reproducing method of the present invention by appropriately modifying and changing it.
  • the teaching of the operation program in the industrial orchid-shaped robot according to the present invention ⁇ According to the reproduction method, the program required for the operation of the robot At the time of teaching, editing, and playback confirmation, the food conditions related to the orchid drive motor and wrist drive motor were set for each program including a series of robot operations. Considering changes in the load conditions during operation, set the maximum load conditions from among them, and set the maximum speed, acceleration, and servo gain of the ⁇ -pot operation experimentally in advance in a table or stored value. The robot was selected from the list and operated under that condition, so that the safety in robot operation was further improved and the program was implemented. ⁇ ⁇ g ⁇ 3 ⁇ 4 ⁇ Q ⁇ ⁇ ! ! .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

Procédé d'apprentissage et de reproduction d'un programme d'opérations pour un robot industriel articulé qui effectue les opérations en fonction des conditions de charge. Une mémoire morte (24) d'un contrôleur de robot (20) contient un ensemble de tables de données qui déterminent les valeurs de vitesse et d'accélération correspondant à la plage de fonctionnement de moteurs d'entraînement articulés (M, MV) en fonction du poids de la charge. La mémoire morte (24) contient en outre une valeur d'inertie de charge maximale déterminée pour les moteurs d'entraînement de poignet (Malpha, MZ), ainsi que la valeur de gain asservi correspondante. Pendant l'étape d'enseignement du programme d'opérations, l'opérateur détermine le poids de la charge ainsi que son inertie au moment de l'enregistrement du programme d'opérations d'un point initial à un point terminal. Au moment de la reproduction, les valeurs correspondantes de vitesse, d'accélération et de gain asservi sont lues dans la mémoire morte (24) et automatiquement affectées à la servo-unité (34).
PCT/JP1988/001265 1987-12-14 1988-12-13 Procede d'apprentissage et de reproduction d'un programme d'operations pour un robot industriel articule Ceased WO1989006007A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP62/314087 1987-12-14
JP31408787A JPH01156804A (ja) 1987-12-14 1987-12-14 産業用関接型ロボットにおける教示・再生方法

Publications (1)

Publication Number Publication Date
WO1989006007A1 true WO1989006007A1 (fr) 1989-06-29

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PCT/JP1988/001265 Ceased WO1989006007A1 (fr) 1987-12-14 1988-12-13 Procede d'apprentissage et de reproduction d'un programme d'operations pour un robot industriel articule

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WO (1) WO1989006007A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006117022A1 (fr) * 2005-05-02 2006-11-09 Abb Research Ltd Procede de commande d'un robot industriel
CN101850549A (zh) * 2010-04-30 2010-10-06 苏州博实机器人技术有限公司 一种机器人专用关节特性检测与参数调节装置
CN105643627A (zh) * 2014-11-12 2016-06-08 沈阳新松机器人自动化股份有限公司 机器人运动控制的增益调整装置及方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2674343B2 (ja) * 1991-03-29 1997-11-12 松下電器産業株式会社 ロボットの制御装置
JP2812061B2 (ja) * 1992-04-21 1998-10-15 三菱電機株式会社 産業ロボット装置
JP6309847B2 (ja) * 2014-07-14 2018-04-11 ファナック株式会社 定格ワークパラメータを超えるワークを搬送可能なロボット制御装置
DE112022007287T5 (de) * 2022-08-02 2025-04-10 Fanuc Corporation Lehrvorrichtung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS603714A (ja) * 1983-06-22 1985-01-10 Hitachi Ltd ロボツトの制御方法
JPS61163406A (ja) * 1985-01-14 1986-07-24 Omron Tateisi Electronics Co ロボツト制御装置
JPS6261104A (ja) * 1985-09-11 1987-03-17 Fanuc Ltd 水平関節型ロボツトの加減速制御方式
JPS62245306A (ja) * 1986-04-17 1987-10-26 Matsushita Electric Ind Co Ltd 産業用ロボツトの負荷慣性補償制御装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59220806A (ja) * 1983-05-30 1984-12-12 Hitachi Ltd 工業用ロボツトの制御方法
JPH0623929B2 (ja) * 1983-09-06 1994-03-30 セイコーエプソン株式会社 ロボツトコントロ−ラ
JPS62251810A (ja) * 1986-04-24 1987-11-02 Seiko Epson Corp ロボツトア−ムの加減速制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS603714A (ja) * 1983-06-22 1985-01-10 Hitachi Ltd ロボツトの制御方法
JPS61163406A (ja) * 1985-01-14 1986-07-24 Omron Tateisi Electronics Co ロボツト制御装置
JPS6261104A (ja) * 1985-09-11 1987-03-17 Fanuc Ltd 水平関節型ロボツトの加減速制御方式
JPS62245306A (ja) * 1986-04-17 1987-10-26 Matsushita Electric Ind Co Ltd 産業用ロボツトの負荷慣性補償制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006117022A1 (fr) * 2005-05-02 2006-11-09 Abb Research Ltd Procede de commande d'un robot industriel
CN101850549A (zh) * 2010-04-30 2010-10-06 苏州博实机器人技术有限公司 一种机器人专用关节特性检测与参数调节装置
CN105643627A (zh) * 2014-11-12 2016-06-08 沈阳新松机器人自动化股份有限公司 机器人运动控制的增益调整装置及方法

Also Published As

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