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WO2020067241A1 - Dispositif de commande de robot et procédé de commande de robot - Google Patents

Dispositif de commande de robot et procédé de commande de robot Download PDF

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Publication number
WO2020067241A1
WO2020067241A1 PCT/JP2019/037761 JP2019037761W WO2020067241A1 WO 2020067241 A1 WO2020067241 A1 WO 2020067241A1 JP 2019037761 W JP2019037761 W JP 2019037761W WO 2020067241 A1 WO2020067241 A1 WO 2020067241A1
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WIPO (PCT)
Prior art keywords
robot
route
point
path
robot arm
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/JP2019/037761
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English (en)
Japanese (ja)
Inventor
宣幸 若林
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Nidec Corp
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Nidec Corp
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Filing date
Publication date
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Publication of WO2020067241A1 publication Critical patent/WO2020067241A1/fr
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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme

Definitions

  • the present invention relates to a robot control device and a robot control method.
  • Japanese Patent Laid-Open Publication No. 4-326404 discloses that when the operating range of a robot arm is known, the robot arm is prevented from moving out of the operating range.
  • the present invention solves the above-described problems, and one object of the present invention is to reduce the possibility that a robot arm collides with an obstacle.
  • the robot control device includes a recording unit that records a path along which the robot arm can move without collision, a specifying unit that specifies at least a part of a path that the robot arm attempts to move, Before moving the robot arm according to at least a part of the path specified by the specifying unit, whether at least a part of the path specified by the specifying unit matches a corresponding part of the path recorded in the recording unit And a determination unit for determining whether or not the determination is made.
  • the route on which the robot arm can move without collision is recorded in the recording unit. If at least a part of the path specified by the specifying unit (part of the path that the robot arm is about to move) does not match the corresponding part recorded in the recording unit, it is considered that the safety of the path has not been confirmed.
  • FIG. 1 is a diagram showing a system including a robot control device and a robot according to an embodiment of the present invention.
  • FIG. 2 is a diagram schematically illustrating a hardware configuration of a robot control device, a robot, and an information processing device.
  • 5 is a flowchart illustrating a process of the robot control device in the test operation mode.
  • 9 is a flowchart illustrating processing of the robot control device in a normal operation mode.
  • FIG. 5 is a diagram showing an example of the operation of the robot according to the embodiment.
  • the figure which shows an example of a history database The figure which shows the case where a robot arm collides with an obstacle.
  • FIG. 1 is a schematic configuration diagram of a system 70 including a robot control device 10, a robot 20, an information processing device 30, a mode changeover switch 40, an alarm 50, and a lamp 60 according to the embodiment of the present invention. is there.
  • the robot control device 10 is connected to the robot 20 by wire or wirelessly, and can communicate with the robot 20.
  • the robot control device 10 is connected to the information processing device 30 by wire or wirelessly, and can communicate with the information processing device 30.
  • the robot 20 is an articulated arm robot.
  • the robot controller 10 is connected to the alarm 50 and the lamp 60 by wire or wirelessly.
  • the alarm 50 outputs an alarm sound based on an instruction from the robot control device 10.
  • the lamp 60 outputs a warning light (optical warning) based on an instruction from the robot control device 10.
  • the alarm 50 and the lamp 60 can operate at the same time (can output an alarm sound and an alarm light at the same time).
  • the alarm 50 may include a display. In that case, the alarm 50 can output not only a sound alarm but also a character alarm.
  • the robot control device 10 of the present embodiment can operate in one of two operation modes (test operation mode and normal operation mode).
  • the mode changeover switch 40 is used when switching the operation mode.
  • the mode switch 40 may be operated by a user of the system 70 to switch the operation mode, or may be based on an instruction (for example, a wireless signal) transmitted from the information processing device 30 to the mode switch 40.
  • the operation mode may be switched by pressing the switch.
  • FIG. 2 schematically shows a hardware configuration of the robot control device 10, the robot 20, and the information processing device 30.
  • the robot control device 10 includes a first control unit 101, a first storage 102, a communication interface 103, and a predetermined input / output port or input / output device (I / O) 104.
  • the first control unit 101 is connected to the mode changeover switch 40, the alarm 50, and the lamp 60 via the input / output port 104.
  • the first control unit 101 is a control unit that controls the entire operation of the robot control device 10.
  • the first control unit 101 may include one or more CPUs or MPUs.
  • the first control unit 101 executes an application program, an operating system, a system program, a user program, and the like stored in a first storage 102 (for example, a nonvolatile storage unit, a ROM).
  • the first storage 102 includes a buffer.
  • the first storage 102 also includes a history database of the current position and the target position of the robot arm.
  • the system program reads the user program in the first storage 102 and sequentially executes the instructions.
  • the command of the user program may be a command for controlling the robot.
  • the user program issues a command to the first control unit 101 as appropriate, and the first control unit 101 executes the command.
  • the mode switch 40, the alarm 50, and the lamp 60 can be controlled by a system program or can be controlled by a user program.
  • the communication interface 103 is an interface for connecting to the information processing device 30.
  • the robot 20 includes a second control unit 201, a sensor group 202, a manipulator 203, and a predetermined input / output port or input / output device (I / O) 204.
  • the second control unit 201 is a control unit that controls the entire robot 20.
  • the second control unit 201 can operate the manipulator 203 based on an instruction from the robot control device 10, or can operate the manipulator 203 based on a program provided in the second control unit 201.
  • the second control unit 201 may include one or more CPUs and MPUs.
  • the second control unit 201 executes an application program, an operating system, a control program, and the like stored in the internal storage.
  • the sensor group 202 includes a plurality of sensors (for example, a position sensor, a temperature sensor, a torque sensor, a proximity sensor, a gravity sensor, an image sensor, and a collision sensor).
  • An external device can be connected to the input / output port 204.
  • the mode changeover switch 40, the alarm 50, and the lamp 60 may be connected to the robot 20 via the input / output port 204.
  • the information processing device 30 includes a third control unit 301, an input unit 302, a second storage 303, a display unit 304, and a communication interface 305.
  • the information processing device 30 is, for example, a personal computer.
  • the information processing device 30 transmits the user program to the storage 102 of the robot control device 10.
  • the third control unit 301 is a control unit that controls the entire information processing device 30.
  • the third control unit 301 may include one or more CPUs and MPUs.
  • the third control unit 301 executes an application program, an operating system, a control program, and the like stored in the second storage 303.
  • the second storage 303 also stores a user program created by the user.
  • the input unit 302 includes various buttons and the like for instructing the operation of the information processing device 30.
  • the input unit 302 includes buttons, switches, a touch panel, and the like.
  • the user can input data, numerical values, instructions, and the like via the input unit 302.
  • the user uses the input unit 302 when operating the information processing device 30.
  • the user can operate the input unit 302 to start the information processing device 30.
  • the input unit 302 can also be called an operation unit.
  • the display unit 304 includes, for example, a liquid crystal display or an LED (light emitting diode).
  • the display unit 304 can display, for example, position information detected by the sensor group 202 of the robot 20 as an image.
  • the display unit 304 can display an instruction or a numerical value input by the user of the information processing device 30 from the input unit 302.
  • Display unit 304 may include a touch panel.
  • the robot control device 10, the robot 20, and the information processing device 30 may include elements other than the components illustrated in FIG.
  • the robot control device 10 may include an input unit similar to the input unit 302 of the information processing device 30.
  • FIG. 3 is a flowchart for explaining the operation and processing of the robot control device 10 when the operation mode of the robot 20 is set to the test operation mode by the mode changeover switch 40.
  • S is an abbreviation for Step.
  • a signal of the test operation mode (mode switching signal) is transmitted from the mode switching switch 40 to the robot controller 10 before S1.
  • the flowchart of FIG. 3 is processed by the first control unit 101 included in the robot control device 10 executing a program stored in the first storage (for example, the ROM) 102. This flowchart starts, for example, when the power of the robot control device 10 is turned on.
  • the robot controller 10 sets the robot 20 to the test operation mode based on a mode switching signal from the mode switching switch 40.
  • the test operation mode the moving speed of the robot arm is lower than the moving speed of the robot arm in the normal operation mode.
  • the robot arm may collide with an obstacle or the like. If the robot arm can be predicted to collide with an obstacle or the like, before the collision occurs, the operator of the system 70 operates the input unit 302 of the information processing device 30 to issue an operation stop instruction to the robot 20, for example.
  • the operation of the robot arm may be stopped, or an operation stop instruction may be input to the robot 20 via the input / output device 204 of the robot 20.
  • the robot 20 automatically stops when it can determine that the distance between the robot arm and the obstacle or the like has become a predetermined value or less based on the detection result of the proximity sensor included in the sensor group 202. You may.
  • the robot control device 10 receives the user program transmitted from the information processing device 30.
  • the user program includes information on the target position of the robot arm, and also includes a command to move to the target position. Note that, for example, the robot control device 10 may have received the user program before S1.
  • the robot controller 10 sets the target position in the first storage (buffer) 102.
  • the robot controller 10 acquires the current position of the tip of the robot arm from the sensor group 202 of the robot 20. Then, the robot controller 10 calculates the movement path of the robot arm from the current position of the tip of the robot arm and the target position.
  • the movement route may be calculated as a straight line (straight line complement) or may be calculated as a curve (PTP complement). PTP is an abbreviation for Point-To-Point.
  • the robot control device 10 transmits a command to the robot 20 to move along the calculated movement route.
  • the robot controller 10 determines whether the tip of the robot arm has reached the target position without colliding with an obstacle (without collision).
  • This determination is performed by the first control unit 101 based on the detection information of the sensor group 202 (the impact sensor, the position sensor, and the like) of the robot 20. If the determination result in S6 is No, the process proceeds to S9 and ends the process. When the result of the determination in S6 is Yes, the process proceeds to S7.
  • the robot control device 10 checks (comparisons) the current position and the target position of the tip of the robot arm (the current position and the target position used in the path calculation in S4) with the history database of the first storage 102.
  • the robot controller 10 determines whether the current position and the target position of the tip of the robot arm are already in the history database (registered). If the determination result in S8 is Yes, the process proceeds to S9, and the process ends. If the determination result in S8 is No, the robot controller 10 registers the current position and the target position of the tip of the robot arm in the history database.
  • FIG. 4 is a flowchart for explaining the operation and processing of the robot controller 10 when the operation mode of the robot 20 is set to the normal operation mode by the mode changeover switch 40. If a safe route can be registered in the history database by executing the test operation mode, the robot arm is moved in the normal operation mode shown in FIG. It is assumed that the signal of the normal operation mode (mode switching signal) has been transmitted from the mode switching switch 40 to the robot controller 10 before S21.
  • the robot control device 10 sets the robot 20 to the normal operation mode based on a mode switching signal from the mode switching switch 40. In the normal operation mode, the moving speed of the robot arm is faster than the moving speed of the robot arm in the test operation mode.
  • the robot control device 10 receives the user program transmitted from the information processing device 30.
  • the user program includes information on the target position of the robot arm, and also includes a command to move to the target position. Note that the robot control device 10 may have received the user program before S21, for example.
  • the robot control device 10 acquires the current position of the arm tip of the robot 20 from the sensor group 202 of the robot 20. Then, the robot control device 10 checks the current position of the arm tip of the robot 20 and the target position acquired in S22 against the history database. The current position of the tip of the robot arm is the starting point of the movement path. The target position acquired in S22 is the end point of the moving route. In S22 and S23, the robot controller 10 specifies at least a part (start point and end point) of the path that the robot arm is to move. In S24, the robot controller 10 determines whether the current position and the target position of the tip of the robot arm are already in the history database (registered).
  • S24 it is determined whether or not the current position and the target position match those already registered in the history database.
  • S24 at least a part of the path to be moved by the robot arm is recorded in the history database before the robot arm is moved according to at least a part of the path (start point and end point) to be moved by the robot arm. It is determined whether it matches the corresponding part of the route. If the determination result in S24 is Yes, the process proceeds to S25. In this case, the robot control device 10 determines that the safety of the path from which the tip of the robot arm is about to move is confirmed. If the determination result in S24 is No, the process proceeds to S26.
  • the robot controller 10 sets the target position in the first storage (buffer) 102.
  • the robot controller 10 calculates the movement path of the robot arm from the current position of the tip of the robot arm and the target position.
  • the robot control device 10 transmits a command to the robot 20 to move along the calculated movement route.
  • the robot controller 10 determines whether the tip of the robot arm has reached the target position. This determination is made by the first control unit 101 based on the detection information of the sensor group 202 (position sensor and the like) of the robot 20. If the determination result in S29 is No, the process returns to S28. If the determination result in S29 is Yes, the process proceeds to S30, and the process ends.
  • the robot controller 10 determines that the safety of the path to which the tip of the robot arm is about to move has not been confirmed, and outputs a history collation error.
  • the history collation error is, for example, an alarm (alarm) due to a sound emitted from the alarm 50 or an alarm due to light emitted from the lamp 60.
  • the robot control device 10 stops the operation of the robot 20. This is to prevent the robot arm from moving on a route whose safety has not been confirmed.
  • the process proceeds to S30 and ends. As described above, in the present embodiment, it is prohibited to take a route that has not been passed before.
  • a route that has not been passed until now is a route whose security has not been confirmed, and is considered to be a route that is not normally passed. If the route to be moved is an unconfirmed route, the robot operator can take some measures by outputting an alarm.
  • the comparison with the history database is performed in S24. Since the route calculation process (S27) is performed only when the determination result of S24 is Yes, in the present embodiment, the route calculation process is performed only when necessary.
  • the robot controller 10 determines a safe route by the operation in the test operation mode.
  • secure route information is not registered in the history database.
  • point P0 is the home position of the robot arm
  • point P1 is the first retreat point
  • point P2 is the first work point
  • point P3 is the second retreat point
  • point P4 Is the second working point.
  • the movement from the point P0 to the point P1 is referred to as a forward path, and the movement from the point P1 to the point P0 is referred to as a return path.
  • the movement from the point P1 to the point P2 is referred to as a forward path, and the movement from the point P2 to the point P1 is referred to as a return path.
  • the movement from the point P1 to the point P3 is referred to as a forward path, and the movement from the point P3 to the point P1 is referred to as a return path.
  • the movement from the point P3 to the point P4 is referred to as a forward path, and the movement from the point P4 to the point P3 is referred to as a return path.
  • the movement from the point P3 to the point P0 is referred to as an outward path, and the path from the point P0 to the point P3 is referred to as a return path.
  • the robot control device 10 performs the processing based on the flowchart of FIG. 3 with the point P0 (home position) as the current position and the point P1 (evacuation point 1) as the target position, and performs safety on the outward route of the route 52. Check the nature. If the safety of the outward route of the route 52 can be confirmed, the robot controller 10 registers the information of the outward route of the route 52 in the history database. In the history database, the current position name, the coordinates of the current position, the target position name, the coordinates of the target position, the route complementing method, and the operation parameters are registered (stored) as information on the outward route of the route 52 (FIG. 6). The operation parameter indicates the operation speed of the robot arm.
  • the robot control device 10 performs processing based on the flowchart of FIG. 3 with the point P1 as the current position and the point P0 as the target position, and confirms the safety of the return route of the route 52. If the safety of the return route of the route 52 can be confirmed, the robot controller 10 registers the information of the return route of the route 52 in the history database. The outward route and the return route of the route 52 are respectively calculated by PTP complementation. In FIG. 5A, since the point P1 is the first retreat point, it is described as "retreat point 1".
  • the robot control device 10 performs the processing based on the flowchart of FIG. 3 with the point P1 as the current position and the point P2 as the target position, and confirms the safety of the forward path 53. If the safety of the outbound route of the route 53 can be confirmed, the robot control device 10 registers the information of the outbound route of the route 53 in the history database. Then, the robot control device 10 performs the processing based on the flowchart of FIG. 3 with the point P2 as the current position and the point P1 as the target position, and checks the safety of the return path of the path 53. If the safety of the return route of the route 53 can be confirmed, the robot controller 10 registers the information of the return route of the route 53 in the history database. The outward route and the return route of the route 53 are respectively calculated by straight line complementation. In FIG. 5A, since the point P2 is the first working point, it is described as "working point 1".
  • the robot control device 10 performs the processing based on the flowchart of FIG. 3 with the point P1 as the current position and the point P3 as the target position, and confirms the safety of the outward route of the route 54. If the safety of the outbound route of the route 54 can be confirmed, the robot control device 10 registers the information of the outbound route of the route 54 in the history database. Then, the robot control device 10 performs the processing based on the flowchart of FIG. 3 with the point P3 as the current position and the point P1 as the target position, and confirms the safety of the return route of the route 54. If the safety of the return route of the route 54 can be confirmed, the robot controller 10 registers the information of the return route of the route 54 in the history database. The outward route and the return route of the route 54 are each calculated by PTP complementation. In FIG. 5A, since the point P3 is the second retreat point, it is described as "retreat point 2".
  • the robot control device 10 performs the processing based on the flowchart of FIG. 3 with the point P3 as the current position and the point P4 as the target position, and confirms the safety of the forward path 55. If the safety of the outgoing route of the route 55 can be confirmed, the robot controller 10 registers the information of the outgoing route of the route 55 in the history database. Then, the robot control device 10 performs the processing based on the flowchart of FIG. 3 with the point P4 as the current position and the point P3 as the target position, and checks the safety of the return path of the path 55. If the safety of the return route of the route 55 can be confirmed, the robot controller 10 registers the information of the return route of the route 55 in the history database. The outward route and the return route of the route 55 are respectively calculated by straight line complementation. In FIG. 5A, since the point P4 is the second working point, it is described as "working point 2".
  • FIG. 5B is a table 57 showing the correspondence between the position names of the robot arms and the coordinate values.
  • rz, ry, and rx indicate angles (Eulerian angles).
  • FIG. 6 shows the history database 65.
  • the robot controller 10 operates the robot arm in the normal operation mode.
  • the robot arm starts moving from a point P0 and performs a predetermined operation (for example, placing a part at a predetermined position) at two points P2 and P4. More specifically, the robot arm moves rightward from point P0 (path 52) and reaches point P1. Thereafter, the robot arm moves downward from the point P1 and reaches the point P2 (path 53). Then, the robot arm performs a predetermined operation at the point P2.
  • a predetermined operation for example, placing a part at a predetermined position
  • the robot arm After completing the predetermined operation at the point P2, the robot arm moves upward and reaches the point P1 (path 53). Then, the robot arm moves rightward from point P1, and reaches point P3 (path 54). The robot arm moves downward from point P3 and reaches point P4 (path 55). The robot arm performs a predetermined operation at the point P4. After completing the predetermined operation at the point P4, the robot arm moves upward and reaches the point P3 (path 55). Then, the robot arm returns from point P3 to point P0 (path 56). After the work is performed at the point P2, the operation may return to the point P0 via the point P1.
  • FIG. 7 shows an example in which the robot arm collides with the obstacle 51a due to a programming error.
  • the robot arm moves rightward from the point P0 (path 52) and reaches the point P1 avoiding the obstacle 51a. Thereafter, the robot arm moves downward from the point P1, reaches the point P2, and performs a predetermined operation at the point P2.
  • the robot arm is set to return linearly from the point P2 to the point P0 after the operation at the point P2 is completed. That is, in the example of FIG. 7, it is assumed that an instruction to return to the point P0 from the point P2 (without passing the point 1) is given to the robot due to a programming error (obstruction evacuation point leakage).
  • the robot arm moves linearly from the point P2 toward the point P0 and collides with the obstacle 51a. The collision is indicated by an “x” mark in FIG.
  • the robot control device 10 activates the alarm 50 and / or the lamp 60 and stops the operation of the robot 20. Therefore, the robot arm does not collide with the obstacle 51a. Therefore, according to the present embodiment, even if there is a programming error, it is possible to prevent the robot arm from colliding with the obstacle 51a.
  • the collision shown in FIG. 7 can occur for reasons other than programming errors. For example, it is assumed that some operation error occurs at the work point P2 and the robot arm stops. After that, the error is released, and the robot arm is returned to the point P0. When the point P1 is leaking in this return path, the robot arm moves along the arrow 58 and collides with the obstacle 51a. This is an example of a path design error. Also in such a case, according to the present embodiment, the route along the arrow 58 is not moved. Therefore, according to the present embodiment, even if there is a path design error, it is possible to prevent the robot arm from colliding with the obstacle 51a.
  • FIG. 8 shows another collision case.
  • the robot arm collides with the obstacle 51b due to a design error in the PLC (not shown).
  • PLC is an abbreviation for Programmable Logic Controller. It is assumed that the PLC is connected to the input / output port 104 of the robot controller 10. In the example of FIG. 8, it is assumed that the user program sets a target position in response to a command from the PLC. According to the present embodiment, the security of the routes 53 to 55 has already been confirmed.
  • the case where the point P2 is the current position and the point P1 is the target position and the case where the point P1 is the current position and the point P3 is the target position are registered in the history database (FIG. 6).
  • the robot arm When the robot arm moves normally, the robot arm performs a predetermined operation at the point P2, and then moves upward to reach the point P1 (path 53). Then, the robot arm moves rightward from the point P1, and reaches the point P3 while avoiding the obstacle 51 (path 54). Thereafter, the robot arm moves downward from the point P3, reaches the point P4 (path 55), and performs a predetermined operation at the point P4.
  • the robot control device 10 activates the alarm 50 and / or the lamp 60 and stops the operation of the robot 20. Therefore, when the robot arm is emergency stopped and returns, even if an abnormal command is received from the PLC, the robot arm does not collide with the obstacle 51b.
  • the collision shown in FIG. 8 can occur even when an emergency stop does not occur.
  • an instruction to move from the point P2 to the point P3 may be issued under specific conditions.
  • the robot controller 10 sets the alarm 50 and / or The lamp 60 is activated, and the operation of the robot 20 is stopped. Therefore, the robot arm does not collide with the obstacle 51b.
  • the paths 52 to 56 where the robot arm can move without collision are recorded in the storage 102 (history database 65).
  • the current position (start point) and target position (end point) of the path to be determined by the first control unit 101 do not match the current position and target position recorded in the storage 102 It can be determined that the safety of the route has not been confirmed.
  • the history database of FIG. 4 S23, S24
  • the operation in the test operation mode is performed at a low speed, it is possible to confirm the safety of the route that the robot arm normally travels in a safe procedure. In addition, it is possible to prohibit the robot arm from passing through a path (an unconfirmed safety path) that is supposed not to pass normally. In other words, if the route to be moved is an unconfirmed safety route, it is determined that the route is a passage that the robot arm does not normally pass, and the operation of the robot arm is stopped.
  • the robot arm stops halfway between the points P1 and P2 for some reason, it may be desired to move the robot arm from the stop position (current position) to, for example, the point P1 (evacuation point 1).
  • the current position is not registered in the history database, but the point P1 is registered in the history database.
  • the determination result of S24 in FIG. Whether or not the stop position is on the route 53 is determined by detecting the stop position by the sensor group 202 of the robot 20, calculating a route from the stop position to the target position (point P1), and overlapping the route with the route 53. For example, it is determined that the stop position is on the route 53.
  • the operation of the robot arm is stopped (S26).
  • an allowable range for example, a shift of about 1 mm. If there is, it will not interfere with the work of the robot). Therefore, the match / mismatch between the current position registered in the history database and the current position detected by the sensor group 202 of the robot 20 may be determined to be “match” if they do not match within a predetermined range. (That is, the determination result of S24 may be set to Yes.)
  • the predetermined range can be set from the information processing device 30, for example.
  • the robot control device 10 calculates a route that the robot is about to move, and determines whether or not the calculated route matches a moving route registered in the history database. If the determination result is No, the process of S26 is performed. If the determination result is Yes, the process of S28 is performed. It should be noted that since the moving route can be approximately specified once the current position (start point) and the target position (end point) are determined, it can be said that S24 in FIG. 4 determines that the moving routes match.
  • the route complementing method used by the robot controller 10 matches the route complementing method registered in the history database (not considered).
  • the alarm 50 and the lamp 60 are provided separately, but the alarm 50 and the lamp 60 may be provided as one alarm unit.
  • the alarm unit may output at least one of an audio alarm, an optical alarm, and a text alarm.
  • the operation of the robot arm is stopped (S26).
  • the determination result in S24 is No
  • the operation may be switched to the test operation mode instead of immediately proceeding to S26.
  • the robot arm is moved at a low speed along the route to check whether the route is safe.
  • the route is registered in the history database, so that the route can be treated as a safe route when the robot arm moves thereafter.

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  • Manufacturing & Machinery (AREA)
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  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de commande de robot, lequel dispositif comporte : une unité d'enregistrement pour enregistrer un trajet le long duquel un bras de robot s'est déplacé sans collision ; une unité d'identification pour identifier au moins une partie d'un trajet le long duquel le bras de robot doit se déplacer ; et une unité de détermination pour déterminer, avant d'amener le bras de robot à se déplacer le long d'au moins ladite partie du trajet identifié par l'unité d'identification, si au moins ladite partie du trajet identifié par l'unité d'identification coïncide ou non avec une partie correspondante du trajet enregistré par l'unité d'enregistrement. Selon la présente invention, il est possible de déterminer si un bras de robot doit ou non se déplacer le long d'un trajet, dont la sécurité n'est pas assurée.
PCT/JP2019/037761 2018-09-28 2019-09-26 Dispositif de commande de robot et procédé de commande de robot Ceased WO2020067241A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2022249358A1 (fr) * 2021-05-26 2022-12-01
WO2024004042A1 (fr) * 2022-06-28 2024-01-04 ファナック株式会社 Dispositif de commande de robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04326404A (ja) * 1991-04-26 1992-11-16 Mitsubishi Electric Corp ロボットの制御装置
WO1998024011A1 (fr) * 1996-11-26 1998-06-04 Fanuc Ltd Dispositif de commande de robot ayant une fonction de simulation de route des operations

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04326404A (ja) * 1991-04-26 1992-11-16 Mitsubishi Electric Corp ロボットの制御装置
WO1998024011A1 (fr) * 1996-11-26 1998-06-04 Fanuc Ltd Dispositif de commande de robot ayant une fonction de simulation de route des operations

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2022249358A1 (fr) * 2021-05-26 2022-12-01
WO2022249358A1 (fr) * 2021-05-26 2022-12-01 ファナック株式会社 Dispositif de commande de robot et système de commande de robot
JP7719179B2 (ja) 2021-05-26 2025-08-05 ファナック株式会社 ロボット制御装置及びロボット制御システム
WO2024004042A1 (fr) * 2022-06-28 2024-01-04 ファナック株式会社 Dispositif de commande de robot

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