JPS617904A - Robot controlling system - Google Patents

Abstract

PURPOSE:To convert easily a coordinate system by providing a means for defining one plane orthogonal coordinate by two points or three points of a robot work space, and a means for converting an operating position to an operating position of a robot arm. CONSTITUTION:When two robot systems of the same specifications have been manufactured, coordinates occupied by a base serving as a material to be assembled, placed on a horizontal plane are difference from each other, due to difficulty for manufacture, and become an XY coordinate system and an X'Y' coordinate system. A base 100 has a coordinate reference (x), (y) by itself, and points to be worked P1, P2 and P3 on the base have orthogonal coordinates P1=(x1, y1), P2=(x2, y2), P3=(x3, y3) with respect to the coordinate reference (x), (y) of the base 100. When positioning a robot arm at the work points P1, P2 and P3 on the base, an operating coordinate point of the robot arm may be derived by converting its coordinate. A coordinate of the work point which has been taught can be stored as a coordinate in the base coordinate system, and can be converted to a work point of the second orthogonal coordinate system by storing one point for constituting an (x) axis with an original point.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a robot control method.

[Conventional technology]

Robots that are driven by servo motors, servo valves, etc., have multiple operating axes that operate according to instructions from a controller, and have high operational versatility have been successfully developed, and are proving effective in saving labor and streamlining work. .

However, the control method has many problems, and it cannot be said that the full performance of this highly versatile mouth pot mechanism is fully utilized, making it difficult to truly use the robot. The control method is not easy to use.

[Problem to be solved by the invention j In other words, in a robot such as an assembly robot that requires positioning accuracy of less than ic 1 tm, the robot is installed at the origin position ft'k of all robot arms relative to the reference,
It is extremely difficult to achieve the required positioning accuracy, and
The installation positions of all the tables to be installed on the fc robot 1, equipment for supplying and removing materials such as pallets, base materials to be assembled, etc., must be positioned at 8 degrees relative to the robot arm. It is extremely difficult to fit everything in.

For the reasons mentioned above, when manufacturing multiple robot systems for exactly the same purpose, it is necessary to teach the exact same position to all robot systems, and the position teaching work takes a very large amount of time. This is the current situation. In addition, it is necessary to perform the same position teaching work at different locations within the operating range of the same robot arm.
That also takes a lot of time and money.

This large number of position teaching points makes it difficult to apply robots, as well as the complexity of the position teaching work and the large amount of data required when robots are centrally managed using computers, etc.
This is the cause of the long communication time.

[Means for solving problems]

In view of the above-mentioned slippage and difficulty in manufacturing robots and robot systems, the present invention provides a new robot control method for reducing the total number of position teaching points.

For this purpose, we need a means to create one thousand-faced coordinates by two or three points in the robot work space, and a coordinate thread t1.
means for storing the operating position as coordinates in one of the coordinate systems; and means for converting the operating position ftk of the robot arm into iC. Use the prepared configuration.

An object of the present invention is to simplify the operation position instructions for the second and subsequent robot systems when manufacturing a plurality of high-precision robot systems of Vr- required for assembly work or the like.

Another object of the present invention is to simplify operation position indication when the same robot arm performs the same application operation at different locations.

In order to operate the robot If, it is necessary to instruct all the robots about the operating point using TLC, and there are methods using teaching, methods using numerical commands, and methods in which both teaching and numerical commands are possible. This method is also possible.

[For production]

According to the present invention, the base orthogonal coordinate system can be reconstructed at two points including the origin, and can be easily converted to the coordinate system of the robot arm.

〔Example〕

The present invention will be explained with reference to FIGS. 1 and 2, which are conceptual coordinate diagrams of an embodiment of the present invention.

w, Figure 1 shows the difference in the coordinates occupied by the base, which is a member to be assembled, placed on a horizontal plane t' when a robot system with the same specifications is manufactured using two metals. Each of the /coordinate systems is a Cartesian coordinate system, and due to the difficulty in manufacturing robots and robot systems, different coordinates are given to the base.

FIG. 2 shows an example in which two identical bases, which are members to be assembled, are arranged on the horizontal plane of a single robot system.

Working point on the base 'p1. P2. P5 are each identical points within the substrate.

In Fig. 1, the first robot arm (shown)
is represented by all solid lines X, Y in the Cartesian coordinate system in the horizontal plane, which is taken in the first robot system, and the second robot arm is
The orthogonal coordinate system in the horizontal plane within the second robot system with the same specifications as the first robot system is indicated by the dotted line xl,
It is expressed as y/.

The base 100, which is a member to be assembled, has its own coordinate reference x
, y, and the work points to be assembled on the base plate PI, p2.
P5 is the coordinate reference X of the base 100.

For y, orthogonal coordinate P1== (Jll y+ )+
Pt”('!+ fft)+P3=(”Is
3J). At this time, Pi, P
2. The coordinates of P5 are unique to the substrate, and the coordinate values themselves usually have extremely high accuracy. base 100
As a coordinate reference, the coordinate value that the origin 0 and one other point that makes up the
0) *'r, = (x, *Yl), and To is the origin (0) of the basic orthogonal coordinate system Z, y. The coordinate reference of the base 100 is that the coordinate values in the first and second orthogonal coordinate systems are different from each other due to the difficulty in manufacturing robots and robot systems, as described above. ll have different values, and in the second Cartesian coordinate system, Tj
=(x5+y5), Tr =(xre Y;)
It is expressed as

The robot arm moves to the work point P1 on the base. In order to take a position at P2°P6, it is sufficient to perform coordinate transformation and find the operating coordinate point of the robot arm. Taking the first orthogonal coordinate system as an example, the base orthogonal coordinate system is inclined at an angle θ with respect to the robot arm orthogonal coordinate system.

here, It is.

Therefore, if all plane coordinates are fixed to the horizontal plane like the horizontal plane in this example, then in the orthogonal coordinate system of the robot arm, the base orthogonal coordinate system can be defined as long as it lives on the coordinates of two points including the origin (d). The coordinates can be converted to the orthogonal coordinate system of the robot arm on the point of the base orthogonal coordinate system. By giving the origin 0' of the base orthogonal coordinate system in the second orthogonal coordinate system x/, y/ in Figure 1 and one other point that constitutes the xl,
y/, and the points in the base Cartesian coordinates can also be transformed into the second Cartesian coordinates of the robot arm.

Coordinates on the base P1” (”D yl) + Pt-(
"2+3'2)+P3"('Srys) can be obtained by inverse transformation of equation (1) when teaching the operating position of the robot arm if the basic orthogonal coordinate system is defined. Of course, instructions can also be given by inputting numerical values.

As described above, in the teaching work in the first orthogonal coordinate system, the coordinates of the taught work point can be stored as coordinates in the base coordinate system, and in the second orthogonal coordinate system, the coordinates of the taught work point can be stored as the coordinates in the base coordinate system. If all the points constituting the origin (rito

In FIG. 2, the base 100 is exactly the same;
placed at different locations in the robot system.

In this case as well, by giving the origin (0) of the orthogonal coordinate system of each base and one other point that constitutes x@, each work point on the base is Therefore, the robot arm can perform all the teaching work on only one base, and when executing the operation, depending on whether bases I, -, or f are specified, the robot arm can move to the work point of each base.

[For production]

As explained above, when manufacturing multiple units of the same robot system according to the present invention, or even in a single robot system, all the necessary work points of ah such as the base are placed at t4L and several pieces t9i. When the robot is fully operated, the number of required tasks is greatly reduced, and the economical effect is significant.

[Brief explanation of drawings]

FIG. 1 and FIG. 8142 are explanatory diagrams showing an embodiment of the present invention. 100...Base x, y...Cartesian coordinate system of the base X, Y...First Cartesian coordinate system x/, y/...Second Since the orthogonal coordinate system of
Applicant: Seiko Electronic Industries Co., Ltd. Figure 1

Claims (3)

[Claims] (1) In a robot control method in which the operating position of the robot is memorized and the robot executes the operation according to the programmed sequence at the memorized operating position, one plane is created by two or three points in the robot work space. means for defining an orthogonal coordinate system; means for storing one or more of the plane orthogonal coordinate systems; means for storing an operating position as coordinates in one of the plane orthogonal coordinate systems; and one of the plane orthogonal coordinate systems. A robot control method comprising: means for converting a motion position stored in the robot arm into a motion position of the robot arm. (2) The means for defining a plane orthogonal coordinate system by two or three points in the robot workspace fixes the robot workspace to, for example, a plane parallel to the horizontal plane, and defines the origin of the plane orthogonal coordinate system and the X axis. Alternatively, the robot control method according to claim 1, wherein the robot control method is defined by two points, one point constituting the Y axis. (3) A patent having means for defining an operating position by using coordinates in one plane orthogonal coordinate system as the same coordinates in another plane orthogonal coordinate system, and means for converting the defined coordinates into an operating position of the robot arm. A robot control system according to claim 1 or 2.