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WO1994017461A1 - Dispositif de commande des mouvements alternes d'un robot - Google Patents

Dispositif de commande des mouvements alternes d'un robot Download PDF

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Publication number
WO1994017461A1
WO1994017461A1 PCT/JP1994/000099 JP9400099W WO9417461A1 WO 1994017461 A1 WO1994017461 A1 WO 1994017461A1 JP 9400099 W JP9400099 W JP 9400099W WO 9417461 A1 WO9417461 A1 WO 9417461A1
Authority
WO
WIPO (PCT)
Prior art keywords
weaving
robot
axis
calculated
target position
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/JP1994/000099
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English (en)
Japanese (ja)
Inventor
Matsuo Nose
Masamitsu Kitahashi
Tamotsu Abe
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.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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 Komatsu Ltd filed Critical Komatsu Ltd
Publication of WO1994017461A1 publication Critical patent/WO1994017461A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • G05B2219/41219—To compensate path, track error, calculate, use compensated reference
    • 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
    • G05B2219/41405—Inverse kinematic, dynamic
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49384—Control of oscillatory movement like filling a weld, weaving

Definitions

  • the present invention relates to a device for controlling an industrial robot, and more particularly to a control device which is applied to a robot in which weaving welding is performed and can draw a weaving waveform with high accuracy.
  • weaving welding in which a torch attached to the end of a robot is welded while swinging at a predetermined weaving frequency, for example, in a direction perpendicular to the direction of the welding line, is generally used. This weaving welding is performed by driving all the operation axes of the robot and weaving the tip of the torch.
  • a 6-axis vertical articulated mouth robot as shown in 13 in Fig. 2 is used as a robot, but since this type of robot has a shaft with low rigidity, A phenomenon occurs in which resonance characteristics are exhibited with respect to the bing frequency, and the actual amplitude is increased with respect to the command amplitude of the weaving waveform.
  • FIGS. 10 (a) and 10 (b) are block diagrams schematically showing the invention described in this publication.
  • the target trajectory at the tip of the torch is calculated by the bin waveform calculator 20, and the inverse transformation is performed mechanically based on the target trajectory at the tip of the torch by the inverse transform calculator 27.
  • the target value (target angle) for each axis is calculated.
  • a servo operation unit 28 Based on the target value, a servo operation unit 28 outputs an operation amount such that each axis follows the target value to a drive unit 29 composed of an amplifier, and thereby a mechanical unit 3 composed of a reduction gear and an arm. 0 is driven and the torch tip is weaved.
  • the weaving waveform calculator 20 corrects the command value of the weaving amplitude at the tip of the torch as shown in FIG. 10 (b).
  • FIG. 10 (b) shows the weaving waveform calculator 20 in detail as a block.
  • the axis that needs to be corrected is the vertical axis with the lowest mechanical rigidity and natural frequency, that is, the first axis J1 in the case of the robot 13 in Fig. 2, and this axis J1 It is assumed that correction is performed only for the target.
  • the weaving vector calculating means 21 generates a weaving vector at the tip of the torch, and the J1 axis command amplitude calculating means 22 converts the command converted to the J1 axis based on the weaving vector.
  • the amplitude is determined.
  • the resonance rate of the J1 axis is obtained from the weaving frequency and the robot posture by the J1 axis resonance rate calculation means 23.
  • the c is then obtained by the calculation means 22 in the J1 axis correction amplitude calculation means 24.
  • the corrected amplitude is calculated by multiplying the obtained J1 axis command amplitude by the reciprocal of the resonance rate obtained by the calculating means 23.
  • the weaving vector at the tip of the torch is recombined by the weaving vector combining means 25, and the weaving waveform calculating means 26 uses the recombined vector to obtain the weaving target locus. Is calculated to correct the weaving amplitude command value at the tip of the torch.
  • Fig. 11 is a diagram for explaining the processing contents of Fig. 10 (a) and Fig. 10 (b). Now, weaving welding is performed while linearly interpolating from point P1 to point P2 in Fig. 11. It is assumed that the command amplitude at point P on the way is corrected. Note that point 0 is the robot center position and XY is a coordinate system fixed to the robot.
  • the weaving vector b in the direction perpendicular to the welding line a is generated by the calculating means 21, and the command amplitude c in J 1 axis conversion is obtained by the calculating means 22.
  • the calculating means 23 calculates the resonance rate of the J1 axis
  • the calculating means 24 calculates the correction amplitude d of the J1 axis.
  • the weaving vector is re-synthesized by the arithmetic means 25 to obtain the vector e.
  • the obtained vector e is the vector after the weaving amplitude command value is corrected.
  • ml is the characteristic of the J1 axis
  • m2 is the characteristic of the other axes.
  • the other axes are represented by one predetermined axis.
  • nl is the phase delay amount of the J1 axis
  • n2 is the phase delay amount of the other axes.
  • fl is the natural frequency of the J1 axis
  • f2 is the natural frequency of the other axes
  • w is the weaving frequency domain.
  • the above-described conventional technology corresponds to correcting only the gain characteristic, which is the resonance characteristic, on the J1 axis where the resonance phenomenon is remarkable in the characteristics shown in FIG.
  • the weaving frequency is in the high frequency range, even if the gain characteristic of the J1 axis is improved, the phase difference between the J1 axis and the other axes is ⁇ ⁇ , as shown in the phase characteristics in Fig. 12. Is large, a phase mismatch between the J1 axis and the other axis occurs. Therefore, the weaving amplitude accuracy at the tip of the torch is not improved, and the distortion of the weaving surface and the wavefront is not improved.
  • the present invention has been made in view of such circumstances, and not only compensates for only the resonance characteristics (gain characteristics), but also compensates for both the resonance characteristics (gain characteristics) and the phase characteristics. They try to remove points. Disclosure of the invention
  • the target position of each axis of the mouthboat is calculated based on the weaving target locus of the tip of the welding torch, and a signal corresponding to the calculated target position is input to a predetermined drive control device.
  • a weaving control device for a robot each of the robots is driven so as to perform a weaving operation in which the tip of the welding torch is moved along the direction of the welding line while swinging.
  • the transfer function of the drive control device is calculated for at least one predetermined axis of each of the robot axes, and the inverse transfer function of the calculated transfer function is multiplied by the calculation target position for the predetermined axis to calculate the transfer function. Correct the calculation target position and perform the correction calculation A signal corresponding to a target position is input to the drive control device. That is, in the present invention, the characteristics of the weaving operation can be regarded as frequency characteristics represented by gain characteristics and phase characteristics. Focusing on this, we model each operating axis of the robot using transfer functions that can express these gain characteristics and phase characteristics, and correct the command value using the inverse transfer function to obtain the frequency characteristics (gain) for the weaving frequency. Characteristics and phase characteristics).
  • a transfer function of the drive control device that drives each axis of the robot upon receiving a signal corresponding to the calculation target position is calculated for at least one predetermined axis of each of the mouth robot axes, and the transfer function of the calculated transfer function is calculated.
  • the calculated target position for the predetermined axis is multiplied by the inverse transfer function to correct the calculated target position, and a signal corresponding to the corrected calculated target position is input to the drive control device.
  • FIG. 1 (a) and 1 (b) are block diagrams showing a configuration of an embodiment of a robot weaving control device according to the present invention
  • FIG. 2 is a perspective view showing an external appearance of the robot applied to the embodiment
  • Fig. 3 (a), Fig. 3 (b), and Fig. 3 (c) are graphs used to explain how the frequency characteristics are improved by the filters shown in Figs. 1 (a) and 1 (b).
  • Fig. 4 shows a model of the robot shown in Fig. 2
  • Fig. 5 shows a diagram used to explain how to calculate the waveform amplitude converted from the weaving waveform at the tip of the torch to the robot drive shaft.
  • Fig. 6 shows the secondary vibration model
  • Fig. 6 shows the secondary vibration model
  • FIG. 7 shows the static characteristics of the joints of the drive shaft of the robot, a graph showing the relationship between force and displacement, and Fig. 8 shows the waveform converted to the robot drive shaft.
  • Fig. 9 is a graph showing the relationship between amplitude and filter coefficient, and Fig. 9 shows the amplitude and robot drive of the waveform converted to the robot drive axis.
  • FIGS. 10 (a) and 10 (b) are block diagrams illustrating the configuration of a conventional control device
  • FIG. FIGS. 10A and 10B are diagrams used to explain the processing performed by the control device shown in FIG. 10B, showing how the amplitude of each axis conversion is corrected from the weaving waveform
  • FIG. 6 is a graph showing the frequency characteristics of FIG. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIGS. 1 (a) and 1 (b) show the control device of the embodiment in blocks, and FIG. 1 (b) shows the details of the weaving waveform calculation unit 1 shown in FIG. 1 (a).
  • a vertical articulated robot 13 composed of six axes J1 to J6 shown in FIG. 2 similar to that described above is assumed.
  • the embodiment shown in FIG. 1 (b) controls each axis J1-J6 of the robot 13 so that weaving waveforms can be accurately drawn by a torch 14 attached to the end of the arm of the robot 13. It is.
  • a 6-axis vertical articulated robot is assumed.
  • the present invention is not limited to this, and the number of axes and the configuration of the mechanical section are arbitrary.
  • the robot can be applied to other types of robots if the parts related to this mechanism are changed as required.
  • correction described below is performed for all operating axes of the robot.However, when there is a limit to the processing capacity of the CPU that performs the correction calculation, or for axes that do not need to be corrected due to the configuration of the mechanism, In some cases, for example, correction may be performed for some axes, that is, at least one predetermined axis.
  • the weaving waveform calculation unit 1 is composed of weaving vector calculation means 11 and weaving waveform calculation means 12, which differs from the prior art in the weaving amplitude at the tip of the torch 14. That is, the command value is not corrected.
  • the weaving waveform calculator 1 calculates a target trajectory of the tip of the torch 14. This target trajectory is expressed by six degrees of freedom parameters (X, Y, ⁇ (3D position), A, B, C (angle)).
  • the inverse transformation calculation unit 2 mechanically inversely transforms the target trajectory of the torch tip, that is, the torch tip position ( ⁇ , ⁇ , ⁇ , ⁇ , C) into the position (angle) of each axis J1 to J6.
  • the target values (target angles) ⁇ ld to 06d of the axes J 1 to J 6 are calculated.
  • the filter operation unit 3 the target values of the respective axes are corrected by a filter using the inverse transfer function model of the control system and the mechanical system.
  • the “control system / mechanical system” refers to the servo operation unit 5, drive unit 6, and mechanical unit 7 in the subsequent stage. It is.
  • the manipulated variable is output from the servo calculation unit 5 to the drive unit 6 composed of an amplifier so as to follow the target value 0 Id * to 06d * corrected by the filter calculation unit 3, and is output from the reduction gear and the arm. Is driven, and the frequency characteristic with respect to the weaving frequency is improved as described later. Further, the frequency characteristics of the “control system and mechanical system” change depending on the attitude of the robot 13 and the amplitude of the weaving waveform converted into each axis, as described later. Therefore, the transfer function model calculation unit 4 changes the transfer function G (s) by calculating the parameters of the transfer function model online based on the attitude and the amplitude, and filters the changed transfer function G (s). It is added to the operation unit 3.
  • the servo calculation unit 5, the drive unit 6, and the mechanism unit 7 are provided for each number of control axes (6) of the robot 13.
  • the filter calculation unit 3 and the transfer function model calculation unit 4 are the same as those in the embodiment. 3 only exists about an axis which is the subject of correction, however, the content of the correction for pairs to each correction axis is the same, since only the parameters of the transfer function model differ only, J 1 axis (first in the following description More detailed explanation will be given by taking the case of correcting only one axis) as an example.
  • Fig. 3 (a) The frequency characteristics of the control system / mechanical system as the servo operation unit 5, drive unit 6, and mechanical unit 7 for the J1 axis can be obtained as shown in Fig. 3 (a).
  • w indicates the weaving frequency range
  • f1 indicates the natural frequency of the J1 axis. Therefore, a transfer function model can be created from the obtained frequency characteristics.
  • the control system and the mechanical systems 5, 6, and 7 are modeled on the assumption that they are secondary vibration systems.
  • the transfer function model G (s) of the secondary vibration system is expressed by the following equation (1).
  • X -2 is defined as representing the square of X.
  • ⁇ (X) is defined to represent the square root of X.
  • ⁇ is the natural angular frequency of the J1 axis
  • ⁇ is the damping coefficient
  • a model with characteristics completely opposite to that of Fig. 3 (a), that is, the inverse transfer function model 1 / G (s) shown in Fig. 3 ⁇ b) can be expressed by the following equation.
  • the actual control system and mechanical systems 5, 6, and 7 are not secondary vibration systems, but higher-order vibration systems. Can not do. Especially in the high frequency region, the modeling error becomes large.However, the correction target is the weaving frequency region, and the frequency is at most about 5 Hz. Therefore, the correction is performed with high accuracy.
  • the calculation target position is corrected to 0 Id *, and a signal corresponding to the corrected calculation target position 0 Id * is input to the control system / mechanical system 5, 6, and 7.
  • 01d (s) represents the target value of the J1 axis calculated by the inverse transform operation unit 2
  • 01d * (s) represents the target value of the J1 axis corrected by the filter operation unit 3. Since s is the first derivative and s-1 is the second derivative, the expression (3) in the time domain is become that way.
  • the frequency characteristic of the J1 axis can be improved by performing the calculation of equation (4) online in the filter operation unit 3 and correcting the target value of the J1 axis.
  • the parameters ⁇ and ⁇ in the above equation (2) or (4) need only be obtained from the robot's attitude (inertia).
  • the actual robot 13 exhibits nonlinear characteristics due to the presence of lost motion (region where panel rigidity is low) and hysteresis in the speed reducer. For example, when the command amplitude is small, weaving in the lost motion region occurs. Since the panel stiffness decreases, the parameters ⁇ and ⁇ change even if the inertia is constant:
  • ⁇ and ⁇ need to obtain the robot attitude (inertia) and command amplitude as variables. Therefore, in this embodiment, ⁇ and ⁇ are obtained as follows.
  • the robot 13 is modeled as shown in Fig. 4, and the inertia moment J around the J1 axis is obtained as shown in the following equation (5).
  • the J2 axis is considered as a concentrated mass and this is set on the link of the J2 axis
  • the J3 to J6 axes are collectively considered as the concentrated mass and this is set on the link of the J3 axis.
  • the model takes into account the fixed mass of the J1 axis. So, clearly from Figure 4,
  • m2 is the mass for the J2 axis
  • m3 is the mass for the J3 to J6 axes
  • L2G and L3G are the concentrated masses m2 and m3
  • B2 Is the link length of the two axes
  • r2 and r3 are the horizontal distances from the center of rotation of the J1 axis to each concentrated mass
  • J10 is the fixed inertia of the J1 axis.
  • X and Y are the coordinate system of the robot 13
  • Xw and Yw are the weaving vectors in the coordinate system of the robot 13
  • Xt and Yt are the torch tip positions in the robot coordinate system
  • W1 is the J1 axis.
  • the weaving width in the direction, L indicates the distance from the robot center 0 point to the torch tip.
  • the secondary vibration model is a so-called mass-spring-dashpot system as shown in Fig. 6, the natural frequency ⁇ and the damping coefficient ⁇ are expressed by the following equations.
  • the static characteristics of the joints of the J1 axis depend on the lost motion of the reducer, etc. Since the panel constant decreases in the region where the displacement is small as shown in Fig. 5, it is considered that if the command amplitude 6> w changes, the frequency characteristics also change. Therefore, assuming that the panel constant K is proportional to the command amplitude 0w, which is the displacement, the filter coefficients rl and r2 are inversely proportional to the command amplitude 0w. In FIG. 7, g indicates a low rigidity region. .
  • the finoleta coefficient rl should be inversely proportional to the command amplitude 0w, and r2 should be proportional to the inertia moment J and inversely proportional to the command amplitude 0w.
  • the relationship between the filter coefficients rl and r2, the moment of inertia J, and the command amplitude 0w is approximated by a straight line as shown in FIGS. 8 and 9 in order to simplify the calculation. Expressions are omitted. Note that g in FIGS. 8 and 9 indicates a low rigidity region.
  • the filter coefficients rl and r2 at 0wiin, 0w-max, J-min, and J-max in FIGS. 8 and 9 are determined experimentally in advance.
  • the filter coefficients rl and r2 may be set so that the frequency characteristics shown in Fig. 3 (c) are obtained in the weaving frequency range using the filter of equation (11) at each level.
  • the moment of inertia J around the J1 axis is calculated from the above equations (5), (6), and (7) in the transfer function model calculation unit 4, and the above (8), (9), (10) ) Calculates the command amplitude 0 in J1 axis conversion from the formula. ⁇ 1 and r2 are obtained, and by substituting these into Eq. (11), the transfer function model G (s), that is, the inverse transfer function model 1ZG (s) can be changed online. Therefore, the inverse transfer function 1ZG (s) is multiplied by the target position 0 Id for the drive axis J 1 as described above and corrected to 0 Id *, and a signal corresponding to the correction calculation target position 0 Id * is obtained.
  • a transfer function of a predetermined drive control device for driving the robot drive shaft is calculated by inputting the input signal, and an inverse transfer function of the calculated transfer function is multiplied by a calculation target position of the drive shaft to obtain the calculation target. Since the position is corrected and a signal corresponding to the correction calculation target position is input to the drive control device, both the resonance characteristic (gain characteristic) and the phase characteristic for an arbitrary weaving frequency are compensated, and the torch is used. Weaving at the tip The amplitude accuracy is improved, and the weaving surface and waveform distortion are dramatically improved.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

Un appareil permet de commander un robot de soudure par mouvements alternés avec une grande précision. Des circuits de commande d'entraînement (5, 6, 7) entraînent chacun des axes du robot selon un signal d'entrée correspondant à une position cible calculée υ1d. La fonction de transmission G(s) d'au moins un axe prédéterminé de ce robot, destinée aux circuits de commande (5, 6, 7), est calculée. La position cible calculée υ1d pour l'axe prédéterminé est multipliée par la fonction de transmission inverse 1/G(s) obtenue à partir de la fonction de transmission calculée. On obtient ainsi une position cible calculée corrigée υ1d*. Un signal correspondant à cette dernière est introduit dans les circuits de commande d'entraînement (5, 6, 7). En conséquence, tant la caractéristique de résonnance (caractéristique de gain) que celle de phase, pour une fréquence de mouvements alternés arbitraire, se trouvent compensées. Ainsi, on accroît la précision de l'amplitude des mouvements alternés en sortie de torche, et simultanément, on corrige fortement la distorsion concernant la surface où se produisent ces mouvements alternés et la forme d'onde.
PCT/JP1994/000099 1993-01-27 1994-01-26 Dispositif de commande des mouvements alternes d'un robot Ceased WO1994017461A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP5/11902 1993-01-27
JP1190293A JPH06222817A (ja) 1993-01-27 1993-01-27 ロボットのウィービング制御装置

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104023922A (zh) * 2011-11-02 2014-09-03 三星重工业株式会社 用于实时控制编排动作的装置和方法
CN104736307A (zh) * 2012-10-23 2015-06-24 康格尼博提克斯股份公司 用于确定接头的至少一个特性的方法和系统

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4647325B2 (ja) * 2004-02-10 2011-03-09 株式会社小松製作所 建設機械の作業機の制御装置、建設機械の作業機の制御方法、及びこの方法をコンピュータに実行させるプログラム
JP4498061B2 (ja) * 2004-08-18 2010-07-07 株式会社ダイヘン 溶接ロボット制御装置
JP5774552B2 (ja) * 2012-07-09 2015-09-09 株式会社東芝 ロボット制御装置
JP5916583B2 (ja) 2012-10-19 2016-05-11 株式会社神戸製鋼所 多関節ロボットのウィービング制御装置
JP5642214B2 (ja) * 2013-02-15 2014-12-17 株式会社神戸製鋼所 多関節ロボットの弾性変形補償制御装置
JP7583176B2 (ja) * 2021-08-03 2024-11-13 ファナック株式会社 ウィービング動作のための信号を生成する装置、制御装置、及び方法

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JPS6030581A (ja) * 1983-07-29 1985-02-16 Komatsu Ltd ウィ−ビング溶接における溶接用ト−チのウィ−ビング振幅補正方式
JPH0375906A (ja) * 1989-08-18 1991-03-29 Hitachi Ltd 多軸機構の制御方法及び装置

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JPS6030581A (ja) * 1983-07-29 1985-02-16 Komatsu Ltd ウィ−ビング溶接における溶接用ト−チのウィ−ビング振幅補正方式
JPH0375906A (ja) * 1989-08-18 1991-03-29 Hitachi Ltd 多軸機構の制御方法及び装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104023922A (zh) * 2011-11-02 2014-09-03 三星重工业株式会社 用于实时控制编排动作的装置和方法
US9302390B2 (en) 2011-11-02 2016-04-05 Samsung Heavy Ind. Co., Ltd. Device and method for controlling weaving motion in real time
CN104736307A (zh) * 2012-10-23 2015-06-24 康格尼博提克斯股份公司 用于确定接头的至少一个特性的方法和系统
CN104736307B (zh) * 2012-10-23 2017-03-08 康格尼博提克斯股份公司 用于确定接头的至少一个特性的方法和系统

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