【発明の詳細な説明】〔発明の利用分野〕不発ＢＡはロボットの直接教示方法に関するものであｐ
１更に詳しくは教示能率と教示位置精度を高めたロボッ
トの直接教示方法に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The unexploded BA relates to a direct teaching method for robots.
1. More specifically, the present invention relates to a direct teaching method for robots that improves teaching efficiency and teaching position accuracy.
従来のロボットの直接教示方法は、ハンドに加えられた
力をセンサにより検出し、−・ンドの移動速度及び移動
方向を決定するものである。即ち、ハンドに仮想質量を
設け、センサに加わった力に比例した速度もしくは加速
度、またはそれらの代数和でハンドを移動させる方法を
採用していた。In the conventional direct robot teaching method, the force applied to the hand is detected by a sensor, and the moving speed and direction of the hand are determined. That is, a method has been adopted in which a virtual mass is provided to the hand and the hand is moved with a velocity or acceleration proportional to the force applied to the sensor, or an algebraic sum of these.
しかし、この様な従来のロボットの直接教示方法で、軽
め操作力でかつ高速にノ・ンドを動かし、良好な操作感
を得るためには、最終位置決め精度を犠牲にしなければ
ならないといり欠点がある。However, with this conventional robot direct teaching method, the final positioning accuracy has to be sacrificed in order to move the needle at high speed with light operating force and obtain a good operating feeling, which is a drawback. There is.
逆に、位置決めのし易い状態にパラメータを設定すると
、高速でハンドを動かすことが困難になり、教示能率が
低下する欠点がある。On the other hand, if the parameters are set so that positioning is easy, it becomes difficult to move the hand at high speed, resulting in a decrease in teaching efficiency.
本発明は上記した従来技術の欠点に鑑みなされたもので
、最終位置決め精度と教示能率を共に高めることが可能
なロボットの直接教示方法を提供することを目的として
いる。The present invention has been made in view of the above-mentioned drawbacks of the prior art, and it is an object of the present invention to provide a direct teaching method for a robot that can improve both final positioning accuracy and teaching efficiency.
本発明のロボットの直接教示方法は、力センサの出力信
号に基づ−てロボットに直接教示するものであり、直接
教示スイッチをオンして因る間に限って力センサの出力
信号に基づく直接教示を行うものである。The robot direct teaching method of the present invention is to directly teach the robot based on the output signal of the force sensor. It is for teaching.
以下添付の図面に示す実施例により、更に詳細に本発明
について説明する。第１図は本発明のロボット直接教示
方法を実行するロボットシステムの一実施例を示す図で
ある。図示する様に、関節形ロボット１の手首部２に６
自由度カセンサ３が設けられている。ロボット１′の制
御装置４は力センサ６からの出力信号を受は取るととも
に、ロボット１及びティーチングボックス５と信号線や
動力線を介して接続されている。そして、ティーチング
ボックス５には、本発明で用いる直接教示スイン２−１
１が設けられて因る。The present invention will be described in more detail below with reference to embodiments shown in the accompanying drawings. FIG. 1 is a diagram showing an embodiment of a robot system that executes the robot direct teaching method of the present invention. As shown in the figure, 6 is attached to the wrist 2 of the articulated robot 1.
A degree of freedom sensor 3 is provided. The control device 4 of the robot 1' receives and receives output signals from the force sensor 6, and is connected to the robot 1 and the teaching box 5 via signal lines and power lines. The teaching box 5 includes a direct teaching switch 2-1 used in the present invention.
1 is provided.
次に第２図に示す本発明のロボットの直接教示方法の手
順によ。す、ロボットに動作を教示する場合の説明を行
う。力センサに加えられたオペレータの操作力は、歪ゲ
ージ回路７によって力センサ部材のたわみに比例した電
圧に変換される。この電圧が力成分変換ルーチン８によ
ってノ・ンド座標系における直交３軸方向の力と軸まわ
りのモーメントに変換される。この直交３軸方向の力と
軸まわりのモーメントをもとにして、後述する方法によ
りハンドの移動速度の目標値が、速度算出ルーチン９に
よって算出される。この目標値が座標変換ルーチン１０
で座標変換され、ロボットのアームを駆動するモータに
対する回転速度指令値となる、以上の動作が、第１図中
のティーチングボックス５上に設けられた直接教示スイ
ッチ１１が押下されている間だけ有効となる様にプログ
ラムされている。Next, follow the steps of the robot direct teaching method of the present invention shown in FIG. First, we will explain how to teach movements to a robot. The operator's operating force applied to the force sensor is converted by the strain gauge circuit 7 into a voltage proportional to the deflection of the force sensor member. This voltage is converted by a force component conversion routine 8 into forces in the directions of three orthogonal axes and moments about the axes in the N/N coordinate system. Based on the forces in the directions of the three orthogonal axes and the moments around the axes, a target value of the moving speed of the hand is calculated by the speed calculation routine 9 using a method described later. This target value is the coordinate transformation routine 10.
The coordinates are converted by , and the rotational speed command value is obtained for the motor that drives the robot's arm.The above operation is valid only while the direct teaching switch 11 provided on the teaching box 5 in FIG. It is programmed to be.
第３図は第１図に示すティーチングボックス５の詳細を
示す図であシ、上記の動作を再度説明する。電源投入後
、各アームの原点位置と各アクチュエータの回転角を記
憶するカウンタ値をイニシャライズする各種のキー操作
手順を踏むことは、従来のロボットの直接教示方法と同
様である。FIG. 3 is a diagram showing details of the teaching box 5 shown in FIG. 1, and the above operation will be explained again. After the power is turned on, various key operation steps to initialize counter values that memorize the origin position of each arm and the rotation angle of each actuator are carried out in the same way as in the conventional robot direct teaching method.
ティへチングボックス５上のキーにより、当該アクチュ
エータを駆動し、ベース座標系又は−・ンド座標系を基
準にして動作させることも従来のロボットの直接教示方
法と同様である。The actuator is driven by a key on the teaching box 5 and operated with reference to the base coordinate system or the -nd coordinate system, which is similar to the conventional direct teaching method for robots.
従来のロボットの直接教示方法と異なる点は、直接教示
スイッチ１１を押下すると直接教示モードになってロボ
ットへの直接教示が可能となり、力センサからの出力信
号に基づいて教示がなされ、直接教示スイッチ１１を離
すと直接教示モードから位置保持モードに切ジ替わシ、
切フ替った瞬間の位置を目標値とした位置保持サーボが
働くことである。The difference from the conventional direct teaching method for robots is that when the direct teaching switch 11 is pressed, the robot enters direct teaching mode and is able to directly teach the robot, and teaching is performed based on the output signal from the force sensor. When you release 11, the mode switches from direct teaching mode to position holding mode.
The position holding servo operates with the position at the moment of switching as the target value.
第４図においてｓ Ｖｉ は−・ンド座標系ｉ軸方向
の並進の速度指令値％ ｆｌ はオペレータの加えた操
作力の１軸方向分力である。今、次の（１）式に基づい
て、直接教示を行う場合について、考察する。In FIG. 4, s Vi is the speed command value % fl of translation in the i-axis direction of the -nd coordinate system, and fl is the 1-axis direction component of the operating force applied by the operator. Now, we will consider the case of direct teaching based on the following equation (1).
Ｖｉ ＝ ＊ ｆ ｆ ｉｄｔ −ｃ Ｖ、 −−−
−−−−−（１）この場合、位置決めを伴わない制御に
ついては、良好な操作感（高速でかつ軽い操作力の操作
）を得ることは可能である。しかし、第４図（ａｌに示
す様に、目標とする位置が与えられて、そこにハンドを
誘導する場合、操作力を収り去りたあとに斜線で示す突
走部があるため、精密な位置決めを行うことは従来技術
では著しく困難であった。Vi = * f f idt −c V, ---
----- (1) In this case, it is possible to obtain a good operational feeling (operation at high speed and with light operational force) for control that does not involve positioning. However, as shown in Figure 4 (al), when a target position is given and the hand is guided there, there is a rush part shown by diagonal lines after the operating force is removed, so it is difficult to accurately Performing positioning has been extremely difficult in the prior art.
しかし、本発明のロボットの直接教示方法では、第４図
（ｂ）に示す様に、直接教示スイッチ１１を離した瞬間
に位置保持モードに切シ替るため、それ身装の空走距離
が苓になることがわかる。However, in the direct teaching method of the robot of the present invention, as shown in FIG. It turns out that it becomes
尚、上記の実施例において直接教示スイッチ１１をティ
ーチングボックス上に設けたが、本発明はこれに限定さ
れるものではなく、例えば力センサの近傍やロボットの
アームに設けることも可能である。Although the direct teaching switch 11 is provided on the teaching box in the above embodiment, the present invention is not limited thereto, and it may be provided near the force sensor or on the arm of the robot, for example.
又、直接教示スイッチとしては、モーメンタリ型スイッ
チにおいて押下している間直接教示モードになるものや
、−回押下して再度押下するまで直接教示モードになる
ものや、マイクロホン等を利用した音声入力等のスイッ
チを用することができる。In addition, direct teaching switches include momentary type switches that go into direct teaching mode while being pressed, ones that remain in direct teaching mode until they are pressed again after being pressed - times, and voice input using a microphone, etc. switch can be used.
以上の説明から明らかな様に、本発明によれば、位置決
め精度と教示能率を共に高めたロボット教示が可能とな
り、併せてセンザ一部の故障によるロボットの暴走が万
一発生した場合にも、直接教示スイッチをオンにするだ
けで直ちにロボットを停止させるこ、とができ、安全性
を向上させることができる。As is clear from the above description, according to the present invention, it is possible to teach a robot with improved positioning accuracy and teaching efficiency, and even in the unlikely event that the robot runs out of control due to a failure of a part of the sensor. The robot can be stopped immediately by simply turning on the direct teaching switch, improving safety.
第１図は本発明のロボットの直接教示方法を実行するロ
ボットシステムの一実施例を示す図であシ、第２図は本
発明のロボットの直接教示方法の手順を示す図、第３図
は第１図に示すティーチングボックスの詳細を示す平面
図、第４図ｒａ）、ｒｂ）は従来のロボットの直接教示
方法と本発明のロボット・の直接教示方法とを比較する
波形図である。１・・・ロボット、 ２・・・手首部３・・力セ
ンサ、 ４・・・制御装置５・・・ティーチング
ボックス、６・・・信号線・動力線、 ７・・・歪ゲージ回路８
・・・力成分変換ルーチン、９・・・速度算出ルーチン、１０・・・座標軸変換ルーチン、１１・・・直接教示スイッチ。’Ｊｔ図７ 第２図第３図第４図→χ→ｔ→メ→χFIG. 1 is a diagram showing an embodiment of a robot system for carrying out the robot direct teaching method of the present invention, FIG. 2 is a diagram showing the procedure of the robot direct teaching method of the present invention, and FIG. A plan view showing details of the teaching box shown in FIG. 1, and FIGS. 4 RA) and RB) are waveform diagrams comparing the conventional robot direct teaching method and the robot direct teaching method of the present invention. DESCRIPTION OF SYMBOLS 1... Robot, 2... Wrist part 3... Force sensor, 4... Control device 5... Teaching box, 6... Signal line/power line, 7... Strain gauge circuit 8
...Force component conversion routine, 9.Velocity calculation routine, 10.Coordinate axis conversion routine, 11.Direct teaching switch. 'Jt Figure 7 Figure 2 Figure 3 Figure 4 →χ →t →me→χ
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2930783AJPS59157715A (en) | 1983-02-25 | 1983-02-25 | Robot direct teaching method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2930783AJPS59157715A (en) | 1983-02-25 | 1983-02-25 | Robot direct teaching method |
| Publication Number | Publication Date |
|---|---|
| JPS59157715Atrue JPS59157715A (en) | 1984-09-07 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2930783APendingJPS59157715A (en) | 1983-02-25 | 1983-02-25 | Robot direct teaching method |
| Country | Link |
|---|---|
| JP (1) | JPS59157715A (en) |
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