JP2018118330A - Arithmetic device, arithmetic method, arithmetic program, and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an arithmetic unit, an arithmetic method, an arithmetic program and a robot system capable of automatically generating a cooperative operation of a plurality of robots in a short time. An arithmetic unit includes a storage unit that stores transit point information of a flexible object that is assembled to an object by a cooperative operation of a first robot and a second robot, and a first transit point stored in the storage unit. In the section determined by the second waypoint adjacent to the first way point, the parameters of the cooperative operation scenario including the ordered first robot and the teaching point group of the second robot are set to the first way point. It is provided with an operation generation unit that is generated based on the second waypoint and the second waypoint. [Selection diagram] Fig. 2

Description

  The present invention relates to a calculation device, a calculation method, a calculation program, and a robot system.

  There is a need for a technique for teaching a plurality of robots about cooperative movement. For example, a technique for assembling a flexible object by cooperative operation of a plurality of robots is disclosed (for example, see Patent Documents 1 and 2).

JP 2009-23072 A JP 2010-069587 A

  However, it is necessary to adjust the operation timing of the plurality of robots after planning the coordinated operation of the plurality of robots. Therefore, it takes time to generate an action.

  The present invention has been made in view of the above problems, and an object thereof is to provide an arithmetic device, an arithmetic method, an arithmetic program, and a robot system that can automatically generate a cooperative operation of a plurality of robots in a short time.

  In one aspect, the arithmetic device includes a storage unit that stores via-point information of a flexible object that is assembled to the object by a cooperative operation of the first robot and the second robot, and a first via-point stored in the storage unit. And a parameter of a cooperative operation scenario including the ordered teaching points of the first robot and the second robot in the section determined by the first waypoint and the second waypoint adjacent to the first waypoint. And a motion generation unit that generates based on the point and the second waypoint.

  A plurality of robot movements can be automatically generated in a short time.

1 is a schematic diagram of a robot system including an arithmetic device according to a first embodiment. It is a block diagram of an arithmetic unit. (A)-(f) is a figure which illustrates the double arm cooperation operation | work of a 1st robot and a 2nd robot. It is a figure which illustrates the flowchart showing the automatic production | generation of the operation | movement by a calculating device. It is a figure which illustrates a forming route. (A) is a figure which illustrates forming route information, (b) is a figure which illustrates the three-dimensional position coordinate system of a waypoint, (c) is a figure which illustrates a rotation coordinate system. It is a figure which illustrates an element work list. It is a figure which enumerates the operation parameter which each element work requires. (A)-(c) is a figure which illustrates the operation | movement parameter input. It is a figure which illustrates the table of the teaching point stored in a teaching point storage part. It is a figure which illustrates each element of a cooperation operation scenario, and the teaching point for every element. It is a figure which illustrates each element of a series of cooperation operation scenarios which a 1st robot and a 2nd robot perform, and a teaching point for every element. It is a block diagram which illustrates the hardware constitutions of an arithmetic unit. It is a figure showing other examples of a robot system.

  Hereinafter, embodiments will be described with reference to the drawings.

  FIG. 1 is a schematic diagram of a robot system 100 including an arithmetic device 30 according to the first embodiment. The robot system 100 is a device that performs a dual-arm cooperative operation. As illustrated in FIG. 1, the robot system 100 includes a first robot 10, a second robot 20, a calculation device 30, a control device 40, and the like. The first robot 10 and the second robot 20 are, for example, vertical articulated arm robots, and assemble products and the like by a two-arm cooperative operation. For example, the first robot 10 holds a flexible object such as a cable. The second robot 20 is assembled by fixing the flexible object to a predetermined point of the workpiece.

  Here, the dual-arm cooperative operation will be described. The dual-arm cooperative operation is a form in which each arm robot performs work according to the position and posture of each other. The dual-arm cooperative operation includes a complete constraint cooperative operation and a partial constraint cooperative operation. The fully restrained cooperative operation is an operation in which the hand position and the hand posture of each arm robot do not change during the operation, and constitutes a closed link. For example, transportation of long objects or heavy objects by both hands is included. The partial constraint cooperative operation is an operation in which the relative change in the hand position and the hand posture is partially restricted by a geometric relationship. For example, assembly of a flexible material is included. The robot system according to the present embodiment mainly performs a partial constraint cooperative operation, but may perform an operation other than the partial constraint cooperative operation such as a complete constraint cooperative operation. Moreover, you may perform the operation | movement which each arm robot performs mutually independently.

  The first robot 10 has a configuration in which a plurality of arms are connected via one or more joints, and includes a gripping tool 11 for gripping a flexible object at the tip. The one or more joints perform horizontal turning, vertical turning, and the like. The gripping tool 11 grips a flexible object, for example. The first robot 10 adjusts the position and posture of the gripping tool 11 by turning one or more joints. The position can be expressed by three axes of XYZ axes. The posture can be expressed by a rotation angle on the XYZ axes. Therefore, the first robot 10 can realize a motion with 6 degrees of freedom.

  The second robot 20 has a configuration in which a plurality of arms are connected via one or more joints, and includes a fixing tool 21 that fixes a flexible object to the workpiece at the tip. The one or more joints perform horizontal turning, vertical turning, and the like. For example, the fixed tool 21 performs forming in cooperation with the gripping tool 11. Forming is a process of fixing a flexible object to a desired shape. The second robot 20 adjusts the position and posture of the fixed tool 21 by turning one or more joints. That is, the second robot 20 can also realize a motion with six degrees of freedom.

  The arithmetic device 30 automatically generates the operations of the first robot 10 and the second robot 20. The control device 40 controls the operations of the first robot 10 and the second robot 20 so that the operation automatically generated by the arithmetic device 30 is realized. Specifically, the control device 40 controls the position and posture of the gripping tool 11 by adjusting the joint angle of the first robot 10 and controls the gripping operation of the gripping tool 11. Further, the control device 40 controls the position and posture of the fixed tool 21 by adjusting the joint angle of the second robot 20, and controls the operation of the fixed tool 21.

  The first robot 10 and the second robot 20 are relatively fixed in position and posture between the gripping tool 11 and the fixed tool 21 when starting the partial constraint cooperative operation. Thereafter, in each operation, the position and posture between the gripping tool 11 and the fixed tool 21 change.

  FIG. 2 is a block diagram of the arithmetic device 30. As illustrated in FIG. 2, the arithmetic device 30 functions as a product information storage unit 31, a forming route creation unit 32, a forming route storage unit 33, an operation generation unit 34, a teaching point storage unit 35, and the like.

  FIG. 3A to FIG. 3F are diagrams illustrating the dual-arm cooperative operation of the first robot 10 and the second robot 20. First, as illustrated in FIG. 3A, it is assumed that a flexible object is fixed at a waypoint 0. Next, as illustrated in FIG. 3B, the gripping tool 11 moves to the vicinity of the waypoint 0 in order to handle the flexible object. Next, as illustrated in FIG. 3C, the gripping tool 11 moves the flexible object from the waypoint 1 to the waypoint 2 side. In this case, the flexible material should not be bent. Next, as illustrated in FIG. 3D, the fixing tool 21 moves to above the waypoint 1. Next, as illustrated in FIG. 3E, the gripping tool 11 moves to the via point 1 side to relax the flexible object. Next, as illustrated in FIG. 3 (f), the fixing tool 21 moves downward and fixes the flexible object while suppressing it to the via point 1. Hereinafter, automatic generation of the dual-arm cooperative operation illustrated in FIGS. 3A to 3F will be described.

  FIG. 4 is a diagram illustrating a flowchart representing automatic generation of an operation by the arithmetic device 30. As illustrated in FIG. 4, the motion generation unit 34 refers to the cable information stored in the product information storage unit 31 (step S1). The cable information is, for example, the length and thickness of the cable.

  Next, the forming route creation unit 32 receives a forming route input by the user (step S2). The forming route is information on the completed type of the cable fixed to the work. FIG. 5 is a diagram illustrating a forming route. As illustrated in FIG. 5, the forming route includes a route point of the cable, a shape of the cable, and the like. A section determined by two adjacent waypoints is called a segment.

Next, the forming route creation unit 32 creates forming route information for realizing the input forming route (step S3). FIG. 6A is a diagram illustrating forming route information. As illustrated in FIG. 6A, the forming route creating unit 32 associates with the waypoints (numbers 1, 2,...) So that the forming route received in step S2 is realized. 3D position information (X position, Y position, Z position) of P ₁ , via point 2: P ₂ ,... Is created. In addition, the forming route creation unit 32 creates three-dimensional posture information (X-axis rotation, Y-axis rotation, Z-axis rotation) indicating what posture the cable takes at each waypoint. As illustrated in FIG. 6B, the forming route creation unit 32 creates forming route information from the waypoint 1 to the waypoint n (end point). The three-dimensional posture information at each waypoint uses a rotating coordinate system as exemplified in FIG. In the rotating coordinate system, the Z-axis is a direction toward the next via point, the X-axis is upward of the cable, and the Y-axis is an axis orthogonal to the Z-axis and the X-axis. The formed forming route information is stored in the forming route storage unit 33.

  Next, the action generation unit 34 generates a cooperative action for each waypoint. First, the motion generation unit 34 determines whether or not the via point currently focused on is the end point via n (step S4). By executing step S4, it is possible to determine whether or not the generation of the cooperative operation has been completed for all the waypoints.

  When it is determined as “No” in Step S4, the operation generation unit 34 receives the cooperative operation scenario set by the user regarding the route point of interest (Step S5). For example, the user selects a combination of element works listed in advance as a cooperative operation scenario. FIG. 7 is a diagram illustrating an example of the element work list. The user combines the element works listed in the element work list. For example, in order to fix the cable to the waypoint, as shown in FIGS. 3A to 3F, the “gripping”, “handing”, “relaxing”, and “restraining” elements are selected. Is done. Next, the operation generation unit 34 refers to the cooperative operation scenario received in step S5 (step S6).

  Next, the motion generation unit 34 receives the motion parameters of each element work from the user (step S7). FIG. 8 is a table listing operation parameters required for each element work. For example, regarding “handing”, parameters such as a moving distance of the gripping tool 11 for handing the cable and a height from the assembly surface are input by the user. The operation parameter is a parameter necessary for the flexible object to connect the route point of interest to the next route point adjacent thereto.

FIG. 9A to FIG. 9C are diagrams illustrating input operation parameters. As illustrated in FIG. 9A, regarding the “gripping” element, the position information (X position, Y position, Z position, X axis rotation amount, Y axis rotation amount, Z axis) at which the grip tool 11 grips the cable. Rotation amount) is input as an operation parameter. In FIG. 9A, the X ₀ Y ₀ Z ₀ axis represents a rotating coordinate system.

  Next, as illustrated in FIG. 9B, regarding the “hand” element, the movement distance of the gripping tool 11 and the height from the assembly surface are input as operation parameters. Next, as illustrated in FIG. 9B, with respect to the “relaxation” element, the amount and direction of cable relaxation are input as operation parameters. Next, as illustrated in FIG. 9C, the approach distance to the assembly surface is input as an operation parameter for the “restraint” element.

  Next, the motion generation unit 34 calculates teaching points using the input motion parameters for each element of the cooperative motion scenario referenced in step S6 (step S8). The teaching point is three-dimensional position information and three-dimensional posture information of each robot, and is information representing a position and posture at which each robot stops in a cooperative operation scenario. The action generation unit 34 calculates the teaching point so that the forming route information of the route point of interest and the forming route information of the next route point adjacent to the route point are realized. The motion generation unit 34 stores the teaching points in the teaching point storage unit 35 in the order of operations. Thereafter, the process is executed again from step S3. FIG. 10 is a diagram illustrating a teaching point table stored in the teaching point storage unit 35. As illustrated in FIG. 10, robot identification information, three-dimensional position information, and three-dimensional posture information are stored in the operation order. Thereafter, the process is executed again from step S4.

FIG. 11 is a diagram illustrating each element of the cooperative operation scenario and teaching points for each element. As illustrated in FIG. 11, the teaching point P ₁ of the first robot 10 is calculated for “handing”. Teaching points P ₁ of the first robot 10 is a 3-dimensional position and three-dimensional orientation of the first robot 10 after Tagu' cable. Next, with respect to "relax", the teaching point P ₂ of the first robot 10 is calculated. Teaching point P ₂ of the first robot 10 is a 3-dimensional position and three-dimensional orientation of the first robot 10 after relaxing the cable.

Next, regarding “suppression”, the teaching point P ₁ of the second robot 20 is calculated. Teaching points P ₁ of the second robot 20 is a 3-dimensional position and three-dimensional orientation of the second robot 20 after being lowered with respect to surface assembling the cable. Further, the teaching point P ₂ of the second robot 20 is calculated. Teaching point P ₂ of the second robot 20 is a 3-dimensional position and three-dimensional orientation of the second robot 20 after being fixed to the waypoint cables.

  FIG. 12 is a diagram illustrating each element of a series of cooperative operation scenarios performed by the first robot 10 and the second robot 20 and teaching points for each element. As illustrated in FIG. 12, each element of the cooperative operation scenario and a teaching point for each element are calculated for each segment.

  Referring to FIG. 2 again, when it is determined “Yes” in Step S4, the arithmetic unit 30 outputs the teaching point information stored in the teaching point storage unit 35 to the robot simulator 50 (Step S4). S9). Further, the robot simulator 50 receives 3D model data from the product information storage unit 31. The 3D model data is data necessary for virtually realizing the first robot 10 and the second robot 20. The robot simulator 50 virtually realizes the cooperative operation of the first robot 10 and the second robot 20 using the teaching point information and the 3D model data. By confirming the simulation of the robot simulator 50, the operations of the first robot 10 and the second robot 20 can be confirmed. Alternatively, the control device 40 may receive the teaching point information without using the robot simulator 50 and cause the first robot 10 and the second robot 20 to actually perform the operation. Even in this case, the operations of the first robot 10 and the second robot 20 can be confirmed. Thereafter, the execution of the flowchart ends.

  FIG. 13 is a block diagram illustrating a hardware configuration of the arithmetic device 30. As illustrated in FIG. 13, the arithmetic device 30 includes a CPU 101, a RAM 102, a storage device 103, an input device 104, a display device 105, and the like. Each of these devices is connected by a bus or the like. A CPU (Central Processing Unit) 101 is a central processing unit. The CPU 101 includes one or more cores. A RAM (Random Access Memory) 102 is a volatile memory that temporarily stores programs executed by the CPU 101, data processed by the CPU 101, and the like. The storage device 103 is a nonvolatile storage device. As the storage device 103, for example, a ROM (Read Only Memory), a solid state drive (SSD) such as a flash memory, a hard disk driven by a hard disk drive, or the like can be used. The input device 104 is a device for a user to input data, and is, for example, a keyboard or a mouse. The display device 105 is a device that displays the calculation result of the calculation device 30, the simulation result of the robot simulator 50, and the like, and is a liquid crystal screen or the like.

  As the CPU 101 executes the arithmetic program stored in the storage device 103, as illustrated in FIG. 2, the product information storage unit 31, the forming route creation unit 32, the forming route storage unit 33, and the operation in the arithmetic device 30. The generation unit 34 and the teaching point storage unit 35 are realized. Note that the arithmetic device 30 may be hardware such as a dedicated circuit.

(Other examples)
FIG. 14 is a diagram illustrating another example of the robot system. As illustrated in FIG. 14, the robot system has a configuration in which the control device 40 is connected to the cloud 302 through an electric communication line 301 such as the Internet. The cloud 302 includes the CPU 101, the RAM 102, the storage device 103, the input device 104, the display device 105, and the like shown in FIG.

  According to the present embodiment, the waypoint information of the flexible object assembled to the object by the cooperative operation of the first robot 10 and the second robot 20 is stored in the forming route storage unit 33 as forming route information. As a result, a segment is determined between the via point and the via point adjacent to the via point. Next, in the segment determined by the stored waypoint and the waypoint adjacent to the waypoint, the parameter of the cooperative operation scenario including the ordered teaching point group is generated based on the two waypoints adjacent to each other. Is done. In this way, the operation of each robot is not planned independently, but the parameters of the coordinated operation scenario are generated based on the adjacent two waypoints, thereby adjusting the timing of the first robot 10 and the second robot 20. Is omitted. Accordingly, it is possible to shorten the time required for generating the motion. In addition, by repeating the generation of the parameters of the cooperative operation scenario between each waypoint, it is not necessary to plan the entire assembly operation.

  In the above example, the via point is a fixed point of the flexible object after completion of forming, but is not limited thereto. For example, there are cases in which a via point of a flexible object does not require a “restraining” operation or is not necessarily fixed to a workpiece by a “restraining” operation.

  Although the embodiments of the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications and changes can be made within the scope of the gist of the present invention described in the claims. It can be changed.

DESCRIPTION OF SYMBOLS 10 1st robot 11 Grasping tool 20 2nd robot 21 Fixed tool 30 Arithmetic device 31 Product information storage part 32 Forming route creation part 33 Forming route storage part 34 Motion generation part 35 Teaching point storage part 40 Control apparatus 50 Robot simulator 100 Robot system

Claims (6)

A storage unit that stores via-point information of a flexible object that is assembled to the object by the cooperative operation of the first robot and the second robot;
In the section determined by the first waypoint stored in the storage unit and the second waypoint adjacent to the first waypoint, the ordered teaching points of the first robot and the second robot are included. An operation device comprising: an operation generation unit that generates a parameter of a cooperative operation scenario based on the first waypoint and the second waypoint.   The computing device according to claim 1, wherein the teaching point group is a parameter including a position and a posture of the first robot and the second robot.   The teaching point group is a parameter that realizes an operation parameter of an element work input by a user for the section determined by the first via point and the second via point. Item 3. The arithmetic device according to item 1 or 2. Storing the waypoint information of the flexible object assembled to the object by the cooperative operation of the first robot and the second robot in the storage unit;
In the section determined by the first waypoint stored in the storage unit and the second waypoint adjacent to the first waypoint, the ordered teaching points of the first robot and the second robot are included. The operation generation unit generates a parameter of a cooperative operation scenario based on the first via point and the second via point. On the computer,
A process of storing in the storage unit the waypoint information of the flexible object assembled to the object by the cooperative operation of the first robot and the second robot;
In the section determined by the first waypoint stored in the storage unit and the second waypoint adjacent to the first waypoint, the ordered teaching points of the first robot and the second robot are included. A calculation program for executing a process for generating a parameter of a cooperative operation scenario based on the first waypoint and the second waypoint. A first robot and a second robot for assembling a flexible object to an object by performing a cooperative operation;
A storage unit for storing the waypoint information of the flexible object;
In the section determined by the first waypoint stored in the storage unit and the second waypoint adjacent to the first waypoint, the parameters of the cooperative operation scenario including the ordered teaching point group are set as the first route point. A robot system comprising: a route generation point and a motion generation unit that generates based on the second route point.

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