JP6896824B2 - Robot devices, robot systems, control methods for robot devices, manufacturing methods for articles using robot devices, information processing devices, information processing methods, control programs and recording media - Google Patents

Description

The present invention relates to a robot device.

Currently, in many industries, cell-type robot systems in which robot devices such as articulated robot arms are installed on a gantry or the like are widely used in factories and the like for labor saving and automation at production sites. Especially in recent years, the automation of production is accelerating due to the declining birthrate and soaring labor costs. Furthermore, it is also required to increase the number of robot systems installed by effectively utilizing the limited space of the factory to improve productivity.

Therefore, in order to save space in the robot system in the gantry on which the robot device is installed, there is a demand for using a gantry with low rigidity but a small size for the robot system.

However, since the robot system used for production is also required to shorten the cycle time from the viewpoint of productivity, the robot device is required to operate at high speed and high acceleration / deceleration. Therefore, for example, a high load is applied to a portion where the robot device is installed, such as a gantry, and if the size of the gantry is small, the gantry vibrates greatly, which has a problem of affecting the control of the robot device.

The robot described in Patent Document 1 is equipped with an inertial sensor capable of measuring an inertial force on the hand and the gantry of the robot, respectively. From these inertial sensors, the amount of vibration generated between the robot's hand and the gantry is obtained, and the robot is operated so as to correct the amount of vibration generated between the robot's hand and the gantry. By doing so, the robot can be operated at high speed, and even if the gantry vibrates, the relative position between the robot's hand and the gantry can be maintained, and the vibration of the gantry can reduce the influence on the control of the robot device. it can.

Japanese Unexamined Patent Publication No. 2011-104733

Here, in the robot of Patent Document 1, after the vibration of the robot or the gantry is generated, the vibration is detected by the inertial sensor to suppress the vibration. That is, it is a method of suppressing the influence of vibration by feedback control.

However, in the case of vibration suppression by feedback control, it is difficult to sufficiently suppress the influence of vibration in consideration of the control band of the robot device. This is because if vibration occurs in a part where the robot device such as a gantry is installed at a frequency higher than the frequency of the control band of the robot device, the feedback control for suppressing the vibration is delayed with respect to the generated vibration. .. If the vibration is not sufficiently suppressed, it may cause a failure of the work using the robot device.

In view of the above problems, it is an object of the present invention to provide a robot device capable of responding to vibration of a portion where a robot device is installed and reducing the influence of vibration.

In order to solve the above problems, in the present invention, the robot device is provided in a predetermined device and includes a control device for controlling the robot device. The control device includes model data of the predetermined device and the model data of the predetermined device. The robot device is characterized in that the vibration generated in the predetermined device is acquired from the trajectory data in which the robot device operates, and the trajectory data is updated so that the vibration generated in the predetermined device is reduced. ..

According to the present invention, it is possible to cope with the vibration of the portion where the robot device is installed, and it is possible to reduce the influence of the vibration.

It is a figure which shows the schematic structure of the robot apparatus 100 and the robot system 1000 in the 1st Embodiment. It is a block diagram of the robot apparatus 100 in 1st Embodiment. It is a control block diagram of the robot apparatus 100 in 1st Embodiment. It is a control block diagram which represented the correction trajectory data calculation unit 461 in 1st Embodiment in detail. It is a control flowchart in 1st Embodiment. It is a graph explaining the effect when the correction mode 1 in the 1st Embodiment is carried out. It is a graph explaining the effect when the correction mode 2 in 1st Embodiment is carried out. It is a control block diagram of the robot apparatus 100 in the 2nd Embodiment. It is a schematic diagram of the robot device 100 in another embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the embodiments shown in the accompanying drawings. It should be noted that the embodiments shown below are merely examples, and for example, those skilled in the art can appropriately change the detailed configuration without departing from the spirit of the present invention. Further, the numerical values taken up in the present embodiment are reference numerical values and do not limit the present invention.

(First Embodiment)
FIG. 1 is a plan view of the robot device 100 according to the present embodiment as viewed from an arbitrary direction in the XYZ coordinate system. FIG. 1A shows an XZ plan view, and FIG. 1B shows a YZ plan view. FIG. 1C is a diagram showing a robot system 1000 in which the robot device 100 is installed on the gantry 600. In the following drawings, the arrows X, Y, and Z in the drawing indicate the coordinate system of the entire robot system 1000. Generally, in a robot system, in addition to the global coordinate system of the entire installation environment, the XYZ three-dimensional coordinate system may appropriately use a local coordinate system for the robot hand, finger, etc., depending on the convenience of control. In the present embodiment, the coordinate system of the entire robot system 1000 is represented by XYZ, and the local coordinate system is represented by xyz.

As shown in FIG. 1, the robot device 100 includes an articulated robot arm main body 200, a robot hand main body 300, a robot arm main body 200, and a control device 400 that controls the operation of the robot hand main body 300.

Further, an external input device 500 is provided as a teaching device for transmitting teaching data to the control device 400. An example of the external input device 500 is a teaching pendant, which is used by an operator to specify the operation of the robot arm main body 200 or the robot hand main body 300.

In this embodiment, the robot arm body 200 is vertically articulated. Hereinafter, the case where the end effector provided at the tip of the robot arm main body 200 is a robot hand will be described, but the present invention is not limited to this, and a tool or the like may be used.

Links 210 ₀ which is a base end of the robot arm body 200 is provided on the base 209 is fixed in a state where the base 209 is embedded in the top plate 603. In the present embodiment, the direction of the robot arm main body 200 is described as vertically downward (−Z direction), but the direction may be changed depending on the use case.

The robot hand body 300 grips an object such as a part or a tool. The robot hand body 300 of the present embodiment opens and closes two fingers by a drive mechanism (not shown) to grip or open the object. It suffices if the object can be gripped so as not to be displaced relative to the robot arm main body 200.

The robot arm body 200 has a plurality of joints, for example, six joints (six axes). The robot arm main body 200 has a plurality of (six) servomotors 211 to 216 that rotationally drive the _{joints J 1 to} J ₆ around the rotation axes A _{1 to} A _{6, respectively.}

In the robot arm main body 200, a plurality of links 210 _{0 to 210 6} are rotatably connected by joints J _{1 to} J _6. Here, from the base end of the robot arm body 200 distally, the link ₂₁₀ 0-210 ₆ are sequentially connected in series. The robot arm body 200 can point the end effector (robot hand body 300) of the robot arm body 200 in any three-dimensional posture at any three-dimensional position as long as it is within the movable range.

The position and orientation of the robot arm body 200 can be expressed in a coordinate system. The coordinate system To in FIG. 1 represents the base end of the robot arm main body 200, that is, the coordinate system fixed to the base 209, and the coordinate system Te is the coordinate system fixed to the hand (robot hand main body 300) of the robot arm main body 200. Represents.

Here, the hand of the robot arm main body 200 is, in the present embodiment, the robot hand main body 300 when the robot hand main body 300 does not hold an object. When the robot hand main body 300 holds an object, it is referred to as a hand of the robot arm main body 200 including the robot hand main body 300 and the holding object (for example, a part or a tool). That is, the robot hand body 300, which is an end effector, is called a hand regardless of whether the robot hand body 300 is holding an object or not.

Each of the joints J _{1 to} J ₆ has motors 211 to 216 and sensor units 221 to 226 connected to the motors 211 to 216, respectively. Each sensor unit 221-226 includes a position sensor for detecting the position of the rotation shaft of each motor (angle sensor), and a torque sensor for detecting a torque generated by the joint J ₁ through J _6.

Further, each joint J _{1 to} J ₆ has a speed reducer (not shown) and is connected _{to links 210 0 to 210 6} driven by each joint directly or via a transmission member such as a belt or bearing (not shown). Has been done.

Inside the base 209, a servo control unit 230 as a drive control unit that controls the drive of each of the motors 211 to 216 is arranged.

The servo control unit 230, based on the torque command value corresponding to each joint _J 1 through J ₆ entered, so that the torque of each joint _J 1 through J ₆ to follow the torque command value, each motor 211 to 216 It outputs current and controls the drive of each motor 211-216.

In the present embodiment, the servo control unit 230 is described as being composed of one control device, but it is composed of an aggregate of a plurality of control devices corresponding to each of the motors 211 to 216. May be good. Further, in the present embodiment, the servo control unit 230 is arranged inside the base 209, but may be arranged inside the control device 400.

With the above configuration, a part of the link of the robot arm main body 200 can be folded and the robot hand main body 300 can be operated at an arbitrary position to perform a desired work.

From FIG. 1C, the robot system 1000 is composed of a robot device 100 and a gantry 600 on which the robot device 100 is installed. The gantry 600 is manufactured by assembling the top plate 603 and the work table 602 as a mounting table for the work on the support column 601.

A robot device 100 is suspended on the top plate 603, and a robot hand body 300 is provided as an end effector at the tip of the robot arm body 200.

The robot hand body 300 grips the work Wa mounted on the work table 602, and the work Wa is assembled to the work Wb to manufacture an article.

At this time, the imaging device 700 is used to inspect the state of the work and to accurately measure the relative positions of the robot hand body 300 and the works Wa and Wb.

It is assumed that the image pickup apparatus 700 is suspended on the top plate 603 and fixed to the gantry 600, similarly to the robot arm main body 200.

FIG. 2 is a block diagram showing a robot device 100 according to the present embodiment. The control device 400 connected to the robot device 100 is composed of a computer, and includes a CPU (Central Processing Unit) 401 as a control unit (processing unit).

Further, the control device 400 includes a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, and an HDD (Hard Disk Drive) 404 as storage units. Further, the control device 400 includes a recording disk drive 405 and various interfaces 406 to 409.

A ROM 402, a RAM 403, an HDD 404, a recording disk drive 405, and various interfaces 406 to 409 are connected to the CPU 401 via a bus 410. A basic program such as a BIOS is stored in the ROM 402. The RAM 403 is a storage device that temporarily stores various data such as the calculation processing result of the CPU 401.

The HDD 404 is a storage device that stores the arithmetic processing results of the CPU 401, various data acquired from the outside, and the like, and also records the program 430 for causing the CPU 401 to execute the arithmetic processing. The CPU 401 executes each step of the robot control method based on the program 430 recorded (stored) in the HDD 404.

The recording disc drive 405 can read various data, programs, and the like recorded on the recording disc 431.

The external input device 500 is connected to interface 406. The CPU 401 receives input of teaching data from the external input device 500 via the interface 406 and the bus 410.

The servo control unit 230 is connected to the interface 409. The CPU 401 acquires detection results from the sensor units 221 to 226 via the servo control unit 230, the interface 409, and the bus 410. Further, the CPU 401 outputs the torque command value data of each joint to the servo control unit 230 via the bus 410 and the interface 409 at predetermined time intervals.

A monitor 421 is connected to the interface 407, and various images are displayed on the monitor 421 under the control of the CPU 401. The interface 408 is configured to be connectable to an external storage device 422, which is a storage unit such as a rewritable non-volatile memory or an external HDD.

In the present embodiment, the case where the computer-readable recording medium is the HDD 404 and the program 430 is stored in the HDD 404 will be described, but the present invention is not limited to this. The program 430 may be recorded on any recording medium as long as it can be read by a computer.

For example, as the recording medium for supplying the program 430, the ROM 402 shown in FIG. 2, the recording disk 431, the external storage device 422, or the like may be used. As a specific example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a non-volatile memory, a ROM, or the like can be used as the recording medium.

FIG. 3 is a control block diagram showing a control system of the robot device 100 according to the present embodiment. The robot device 100 operates by executing the program 430 (FIG. 2) in the CPU 401 (FIG. 2) of the control device 400.

From FIG. 3, the position teaching data 501 is a target value of the position of the robot hand main body 300, which is the hand of the robot arm main body 200, and is set by the operator using the external input device 500. In the present embodiment, the target value of the position of the robot hand main body 300 is set by the external input device 500, but the target value of the position of the robot hand main body 300 may be stored in the ROM 402 in advance.

The correction mode selection unit 502 is a variable related to selection of a correction mode when correcting the trajectory data of the robot device 100 so as to reduce the vibration of the gantry 600 generated by the operation of the robot device 100, which will be described later. The selection of the correction mode is set by the operator using the external input device 500 based on the content of the operation of the robot device 100.

The operation content of the robot device 100 may be stored in the ROM 402 in advance, and the operation content of the robot device 100 may be referred to and compared to automatically select the correction mode.

In the present embodiment, the correction mode includes a mode for reducing the vibration of the gantry 600 itself and a mode for reducing the relative vibration between the gantry 600 and the robot hand body 300. Further, there is also a mode in which the vibration compensation of the gantry 600 is not performed.

From the above, the external input device 500 outputs the position teaching data and the information of the correction mode to the CPU 401 of the control device 400 by the operation of the operator.

Next, the trajectory data generation unit 450, the correction trajectory data generation unit 460, and the joint angle command calculation unit 470 of the control device 400 will be described.

_{The trajectory data generation unit 450 generates trajectory data P d} in the coordinate system Te of the robot hand main body 300 from the position teaching data 501. It is assumed that the orbital data P _d is generated by using a technique such as RRT (Rapidly-Exploring Random Trees). Further, the trajectory data referred to here represents the displacement value for each control cycle of the _{joints J 1 to} J _{6 of the robot arm main body 200.}

The correction orbit data generation unit 460 has a correction orbit data calculation unit 461, and the orbit data P _d generated by the orbit data generation unit 450 and the correction mode information are input from the correction mode selection unit 502.

Further, the control device 400 has a gantry model data storage unit 480 that stores the simulation model data of the gantry 600. From the gantry model data storage unit 480, the model data of the gantry 600 is input to the correction trajectory data calculation unit 461.

The correction trajectory data calculation unit 461 calculates _{the correction trajectory data P c using the selected correction mode based on the trajectory data P d} and the model data of 600 of the gantry. The details of the correction trajectory data generation unit 460 will be described later.

The joint angle command calculating section 470, a track P _d which is generated by the orbit data generating unit 450, obtained by adding the correction trajectory data P _c generated by the correction locus data generation unit 460, the target trajectory data P _r is input Saru.

From the target trajectory data _{P r,} determined each joint _J 1 angle command value through J ₆ (position command _value) q d1 _{to q d6} by inverse kinematic calculation, and outputs to the robot arm body 200.

_{The motor control units 231 to 236 provided in the joints J 1 to} J ₆ of the robot arm main body 200 are input with _{angle command values (position command values) q d1 to} q _d6 from the control device 400, and the motors 211 to 216 are operated. Make it work.

Each sensor unit 221 to 226 has a position sensor (angle sensor) 541 to 546 and a torque sensor 551 to 556 (torque detecting means). Position sensors 541 to 546 is for sensing an angle of the motor 211 to 216 or joint _J 1 through J ₆ (position), respectively.

In the present embodiment, the position sensors 541 to 546 directly detect the angle that becomes the position information of the motors 211 to 216. The angle _q 1 to q ₆ joints _J 1 through J ₆ on the basis of the reduction ratio or the like of the reduction gear, not shown, can be determined from the angle detected by the position sensor 541 to 546. Accordingly, the position sensor 541 to 546 are indirectly serves as a position detecting means for detecting the angle _q 1 to q ₆ of each joint _J 1 through J _6. The torque sensors 551 to 556 detect the torques τ _{1 to τ 6 of the joints J 1 to} J ₆ , respectively.

_{The angles q 1 to} q ₆ detected by the sensor units 221 to 226 are fed back to the angle command values q _{d 1 to q d 6.} This makes it possible to control each link of the robot arm main body 200 with high accuracy.

FIG. 4 is a control block diagram of the correction trajectory data generation unit 460 in the present embodiment. The correction trajectory data generation unit 460 includes a correction trajectory data calculation unit 461 that calculates correction trajectory data, and a correction mode switching unit 462 that switches the correction mode based on the correction mode selection unit 402.

Further, the correction trajectory data calculation unit 461 receives model data of the gantry 600 from the gantry model data storage unit 480. This time, as model data of the gantry 600, it is assumed that the elastic modulus of the entire gantry 600, the viscosity coefficient of the entire gantry 600, the value of the mass component of the entire gantry 600, and the installation orientation of the robot device 100 are stored.

In the calculation formula in the block diagram, s is a Laplace operator, 1 / s is an integral operation, and s is a differential operation. The correction trajectory data generation unit 460 has a function of generating _{correction trajectory data P c} for reducing the influence of vibration of the gantry 460.

In this embodiment, three correction modes are considered as the correction modes. The mode for reducing the vibration of the gantry 600 itself is set as the correction mode 1. The correction mode 2 is a mode in which the influence of vibration is relatively reduced between the gantry 600 and the robot hand body 300. Then, the mode in which the vibration of the gantry 600 is not corrected is set as the correction mode 3.

Hereinafter, an example of a method of generating correction trajectory data P _{c in each correction mode will be described in detail.}

_{First, in the correction mode 1, it is an object to generate correction trajectory data Pc} for suppressing the torsional vibration of the gantry 600 that occurs when the robot arm main body 200 operates, and to reduce the vibration itself of the gantry 600.

_{From the orbit data P d} generated by the orbit data generation unit 450, the second-order differentiation is performed and the acceleration component of the _{orbit data P d is calculated.}

Corrected trajectory data P that reduces the torsional vibration of the gantry 600 by _{calculating the proportional gain K b1} from each value of the entire gantry 600 input from the gantry model data storage unit 480 and multiplying it by the acceleration component of the orbital data P _d. Calculate _c.

In the correction mode 2, the vibration component of the gantry 600 generated when the robot arm main body 200 operates is calculated, and the correction trajectory for operating the robot hand main body 300 so as to maintain the relative position between the gantry 600 and the robot hand main body 300. Generate data P _c.

As a result, even if the gantry 600 vibrates, the relative positional relationship between the robot hand body 300 and the gantry 600 can be made the same, and the purpose is to relatively suppress the influence of the vibration.

_{From the orbital P d} generated by the orbital data generation unit 450, the second-order differentiation is performed and the acceleration component of the _{orbital P d is calculated.}

_{Next, the proportional gain K b2} is calculated from each value of the entire gantry 600 input from the gantry model data storage unit 480.

Then, from the transfer function of the quadratic system consisting of the acceleration component of the trajectory data P _{d and the proportional gain K b2} , the correction trajectory that operates the robot hand body 300 so as to maintain the relative position between the gantry 600 and the robot hand body 300. Calculate the data P _c.

In the correction mode 3, since the vibration of the gantry 600 is not reduced, _{the value to be multiplied by the orbit data P d} is set to zero, and the correction orbit data P _c = orbit data P _d .

From the above, the correction mode selection unit 502 selects the correction mode in the correction mode switching unit 462. _{Then, the correction trajectory data P c} is generated by the above correction method corresponding to the selected correction mode, and is input to the robot arm main body 200.

Next, the control method when actually operating the robot system 100 will be described in detail. FIG. 5 shows a flowchart of the control method in the present embodiment.

From FIG. 5, first, the model data of the gantry 600 is set in S101. It is assumed that the gantry 600 has a portion that is deformed by the operation of the robot device 100. Here, the operator sets the elastic modulus of the entire gantry 600, the viscosity coefficient of the entire gantry 600, the value of the mass component of the entire gantry 600, and the installation orientation of the robot device 100. If necessary, the simulation model of the robot system 1000 may be set by CAD or the like.

Next, in S102, the operation of the robot device 1 is taught. This time, the operator teaches the operation of the robot device 1 by using the external input device 500 to teach the operation. At that time, it is also set whether the operation being taught is the transfer of the work or the assembly of the work.

As described above, for the operation teaching of the robot device 1, the teaching data may be created in advance by simulation software or the like and stored in the control device 400. In that case as well, the teaching data to be stored is stored in association with information on whether the work is being transported or the work is being assembled.

_{Next, the trajectory data P d} of the robot arm main body 200 is generated from the teaching information of the robot device 1 taught in S103. Since the method of generating the orbital data P _d is described above, the description here is omitted.

Then, using the model data of the gantry 600 and the trajectory data P _d in S104, the amount of vibration that will occur in the gantry 600 when the robot arm main body 200 is operated by the trajectory data P _{d is estimated.}

This time, the displacement amount of the entire gantry 600 is set as the vibration amount. It is assumed that the acceleration and speed generated by the operation of the robot arm main body 200 are calculated from the trajectory data P _{d, and the acceleration and speed are applied to the gantry 600.}

Then, the impedance control model is solved based on the elastic modulus of the entire gantry 600, the viscosity coefficient of the entire gantry 600, the value of the mass component of the entire gantry 600, and the acceleration and velocity applied to the gantry 600, and the impedance control model is generated in the gantry 600. The displacement of wax vibration is calculated as the amount of vibration.

Next, in S105, it is compared whether or not the displacement calculated in S104 is equal to or greater than a predetermined value, and it is determined whether or not the orbital data P _d needs to be corrected.

If the displacement calculated in S104 is equal to or greater than a predetermined value, it is determined that the trajectory data P _d needs to be corrected, and S105: YES and the process proceeds to S107. Conversely the calculated displacement at S104 is smaller than a predetermined value, the correction of the trajectory data _{P d} is determined without the need, S105: the process proceeds to NO, and S106.

In S106, since there is no problem by operating the robot arm body 200 with the current trajectory data P _d, to correct the trajectory data P _d in the correction mode 3 described above. Since the correction mode 3 is a mode in which the trajectory data P _d is input to the robot arm main body 200 as it is as the correction trajectory data P _c , the process proceeds to S110 as it is, the robot arm main body 200 is operated by _{the trajectory data P d, and the control flow is terminated.}

If it is necessary to correct the _{orbital data P d according} to S105: YES, the process proceeds to S107 to determine what kind of operation the _{orbital data P d is.} At this time, the information on the type of operation (conveyance or assembly) associated with S102 is referred to. If the type of operation of the trajectory data P _d is transport, the process proceeds to S108, and if the type of operation of the track data P _d is assembly, the process proceeds to S109.

In S108, the orbital data P _d is corrected by the correction mode 1 described above. Since the work transfer operation does not require a relative positional relationship between the work gripped by the robot device 1 and another work, it is required to reduce the absolute vibration of the gantry 600.

_{In the correction mode 1, the trajectory data P d} is corrected so as to reduce the absolute vibration of the gantry 600. Therefore, when the work is inspected using the image pickup apparatus 700 after the work is conveyed, the inspection can be performed without waiting for the vibration of the gantry 600 to converge, and the cycle time can be improved.

In S109, the orbital data P _d is corrected by the correction mode 2 described above. The work assembly operation requires a relative positional relationship between the work gripped by the robot device 1 and another work. Therefore, it is more effective to operate the gripped work so as to maintain the relative position with the work mounted on the gantry 600 to reduce the vibration relative to the gantry 600.

_{The correction mode 2 corrects the trajectory data P d} so as to reduce the relative vibration of the gantry 600. Therefore, even if the assembly operation is performed at high speed and the gantry 600 vibrates, the relative positional relationship between the gripped work and the work mounted on the gantry 600 can be maintained, so that the accuracy of the assembly operation can be improved. Can be guaranteed. Therefore, the assembly operation can be executed at high speed, and the cycle time can be improved.

As described above, according to the present embodiment, the influence of the vibration of the gantry caused by the operation of the robot device can be effectively reduced regardless of the rigidity of the gantry, and the accuracy of the operation of the robot device can be improved.

Further, since the trajectory data is corrected in advance so that the vibration of the gantry is reduced and the vibration of the gantry is suppressed in a feedforward manner, the responsiveness can be improved more than the vibration suppression by feedback.

Hereinafter, a simulation has been performed to see if the vibration of the gantry 600 is suppressed, which will be described in detail below.

First, the correction mode 1 will be described in detail.

FIG. 6A shows a time change of the position of the robot hand body 300 when the robot device 100 is operated using the correction trajectory data Pc corrected by the correction mode 1 in the first embodiment, and a case where the robot hand body 300 is not used. It is a figure comparing with the time change of. The graph represented by the solid line is the graph when the correction mode 1 is not used, and the graph represented by the broken line is the graph when the correction mode 1 is used. In FIG. 6A, the vertical axis represents the amount of drive of the robot hand body 300 (the hand of the robot arm body 200) in the X direction, and the horizontal axis represents time.

FIG. 6B shows the vibration amount of the gantry 600 when the robot device 1 is operated using _{the correction trajectory data Pc} corrected by the correction mode 1 in the first embodiment, and the vibration amount when the robot device 1 is not used. It is a figure comparing with. In FIG. 6B, the vertical axis represents the amount of vibration of the gantry 600 in the X direction, and the horizontal axis represents time.

From FIG. 6A, this time, the robot hand body 300 was operated 150 mm in the X direction by the time indicated by the alternate long and short dash line AA, and then the robot device 100 was stopped until the vibration of the gantry 600 converged. The alternate long and short dash line AA is located at about 0.9 seconds on the horizontal axis.

Further, in the vibration convergence test, it is determined that the vibration of the gantry 600 has converged if the peak value of the vibration amplitude falls within the range of ± 0.25 mm.

From FIG. 6B, in the graph in the case of the conventional control in which the correction mode 1 shown by the solid line is not enabled, the vibration of the gantry 600 remains large even after the robot device 100 is stopped, and the peak value of the vibration amount is high. It takes about 0.4 seconds after the operation is stopped until it converges to ± 0.25 mm.

On the other hand, in the graph when the correction mode 1 represented by the broken line is enabled, the vibration of the gantry 600 after the operation is stopped is small, and the waiting time for settling until the peak value of the vibration amount converges to ± 0.25 mm is unnecessary. Can be.

Further, looking at the whole of FIG. 6B, it is possible to make the peak value of the vibration amount smaller by operating the robot device 1 in the correction mode 1 than in the case of the conventional control.

Therefore, the correction mode 1 makes it possible to reduce the vibration itself of the gantry 600. For example, when the work conveyed by the robot device 100 is imaged by the image pickup device, it is not necessary to wait for the vibration of the gantry to converge so that the image due to the image pickup does not blur, and the cycle time can be improved.

Next, the correction mode 2 will be described in detail.

FIG. 7A shows a time change in driving the robot hand body 300 when the robot device 100 is operated using the correction trajectory data Pc corrected by the correction mode 2 in the first embodiment, and a case where the robot hand body 300 is not used. It is a figure comparing with the time change of. The graph represented by the solid line is the graph when the correction mode 2 is not used, and the graph represented by the broken line is the graph when the correction mode 2 is used. In FIG. 7A, the vertical axis represents the driving amount of the robot hand body 300 in the X direction, and the horizontal axis represents time.

FIG. 7B shows the vibration amount of the gantry 600 when the robot device 100 is operated using _{the correction trajectory data Pc} corrected by the correction mode 2 in the first embodiment, and the vibration amount when the robot device 100 is not used. It is a figure comparing with. In FIG. 7B, the vertical axis represents the amount of vibration of the gantry 600 in the X direction, and the horizontal axis represents time.

FIG. 7A shows the amount of drive of the robot hand body 300 in the X direction when the robot hand body 300 is operated by 50 mm in the Z direction.

In the graph in the case of the conventional control in which the correction mode 2 represented by the solid line is not enabled, the robot hand body 300 is not operating in the X direction.

However, in the graph when the correction mode 2 represented by the broken line is enabled, the robot hand body 300 is operating in the X direction, and the correction operation is performed so as to maintain the relative position between the gantry 600 and the robot hand body 300. You can see that it is being done.

Further, as the accuracy of operation, it is assumed that the peak value of the relative vibration amount between the gantry 600 and the robot hand body 300 must always be within the range of ± 0.1 mm.

From FIG. 7B, in the graph in the case of the conventional control represented by the broken line, the relative vibration amount between the gantry 600 and the robot hand body 300 is large, and the peak value of the relative vibration amount is ± 0.1 mm. Not within range.

Therefore, in order to keep the peak value of the relative vibration amount within the range of ± 0.1 mm, it is required to operate the robot device 100 at a lower speed.

On the other hand, in the graph when the correction mode 2 represented by the broken line is enabled, the peak value of the relative vibration amount between the gantry 600 and the robot hand body 300 is always within the range of ± 0.1 mm.

Therefore, even if the robot device 100 is operated at high speed, the relative position between the gantry 600 and the robot hand body 300 can be maintained, and the relative positions between the workpieces can be maintained, so that the article can be assembled without slowing down the operating speed. Can be done.

As described above, in the present embodiment, the effects have been described by taking as an example the operation of the robot device 100 for imaging the work to be conveyed and assembling the work, but the accuracy can be improved in other operations as well.

For example, even when the robot device 100 is provided with a tool such as a screwdriver and the work such as screwing the work mounted on the gantry 600 is performed, the relative position between the tool and the work can be maintained by the correction mode 2. , Screw tightening failure can be reduced.

Further, even when the robot device 100 is provided with a jig for polishing or the like and the work mounted on the gantry 600 is polished or the like, the relative position between the tool and the work can be maintained by the correction mode 2. Therefore, high-precision polishing can be performed.

(Second embodiment)
In the first embodiment, when the correction trajectory data P _c is generated by the correction mode 1 and the correction mode 2, the set model data of the gantry 600 is used as it is. However, since there is a limit to the modeling of the gantry 600, an error occurs between the actual gantry 600 and the model data.

In this embodiment, a method for effectively suppressing the vibration of the gantry 600 with high accuracy even when the above modeling error occurs will be described in detail.

In the following, a portion of the hardware and control system configuration different from that of the first embodiment will be illustrated and described. Further, it is assumed that the same configuration and operation as described above are possible for the same parts as those in the first embodiment, and detailed description thereof will be omitted.

FIG. 8 is a diagram showing a control block diagram of the robot device 100 according to the present embodiment. The difference from the first embodiment is that the detection results of the torque sensors 551 to 556 in the sensor units 221 to 226 are input to the correction trajectory data calculation unit 461.

By operating in correction trajectory data _{P c} that generated the robot arm body 200, the torque applied by the torque sensor 551 to 556 to the joint _J 1 through J ₆ is detected.

At this time, the torque value generated in each joint by the operation of the motors 211 to 216 can be calculated from the corrected trajectory data _{Pc for each joint J 1 to} J ₆ input to the joint axis angle command generation unit 470.

Then, from the difference between the calculated torque value and the torque value detected by the torque sensors 551 to 556, the torque values of the joints J _{1 to} J ₆ generated by the vibration of the gantry 600 can be calculated.

From the torque value of each joint J ₁ through J ₆ to stage 600 occurs by the vibration, Motomari force caused to the stage 600 by using the model of the robot apparatus 100, as a result, computing the amount of vibration of the gantry 600 Can be done.

From the vibration amount calculated based on the detection results of the torque sensors 551 to 556 and the vibration amount calculated from the model data of 600 of the gantry, the model data of the gantry 600 is modified so that the difference between these two vibration amounts becomes small. To do. By doing so, the accuracy of the model data of the gantry 600 can be improved.

As a result, it is possible to reduce the decrease in the accuracy of the model data due to the modeling error, and to more effectively reduce the vibration generated in the gantry in each correction mode.

In the present embodiment, the model data of the gantry is modified by using the detection result of the torque sensor, but the present invention is not limited to this. For example, a detection means capable of detecting the vibration of the gantry 600, such as a position sensor or a force sensor provided at the tip of the robot arm main body 200 and detecting a load applied to the robot device 100, may be appropriately used. The force sensor is an example of a load detecting means.

Further, only one of the above detection means may be used, any two of them may be used in combination, or all of them may be used in combination.

(Third Embodiment)
In the first embodiment and the second embodiment, the case where the device that generates vibration in the gantry 600 is the robot device 100 has been described. However, at the production site, a device for generating vibration may be provided on the gantry in addition to the robot device. For example, a belt conveyor that automatically conveys a work, a parts feeder that cuts out a work, and the like.

In the present embodiment, as described above, even when a device for generating vibration on the gantry 600 is provided on the gantry 600 in addition to the robot device 100, a method for effectively suppressing the vibration generated on the gantry 600 will be described in detail.

In the following, parts of hardware and control system configurations different from those of the first embodiment and the second embodiment will be illustrated and described. Further, it is assumed that the same configurations and operations as described above are possible for the same parts as those of the first embodiment and the second embodiment, and detailed description thereof will be omitted.

In the present embodiment, in addition to the robot device 100 such as a belt conveyor and a parts feeder, a device for generating vibration in the gantry 600 is installed in the work pedestal 602 of the gantry 600, and the gantry 600 is operated by operating these devices. Supposes to vibrate.

In each correction mode, the correction trajectory data calculation unit 461 generates _{correction trajectory data P c} based on the vibration amount of the gantry 600 obtained from the physical model of the gantry 600.

At this time, the amount of vibration of the gantry 600 generated by the operation of the apparatus installed on the workbench 602 is estimated from the model data of the apparatus.

_{The corrected trajectory data Pc} is obtained from the vibration amount of the robot device 100 and the vibration amount of the gantry 600 generated by the operation of a device other than the robot device 100 installed on the work table 602.

By doing so, even when a device for generating vibration in the gantry 600 is provided in the gantry 600 in addition to the robot device 100, the vibration generated in the gantry 600 can be effectively suppressed.

Further, in the present embodiment, it is generated in the gantry 600 with the same idea as reducing the influence of the vibration of the gantry 600 generated by the operation of the device other than the robot device 100 installed in the workbench 602. The residual vibration may be estimated to generate the _{corrected trajectory data P c.}

Although the processing procedures of the various embodiments described above have been specifically described as being executed by the control device 400, an external input device is used as a software control program capable of executing the above-mentioned functions and a recording medium on which the programs are recorded. It may be mounted on 500 and carried out.

Therefore, a software control program capable of executing the above-mentioned functions and a recording medium on which the program is recorded constitute the present invention.

Further, in the above embodiment, the case where the computer-readable recording medium is ROM or RAM and the control program is stored in the ROM or RAM has been described, but the present invention is not limited to such a mode. Absent.

The control program for carrying out the present invention may be recorded on any recording medium as long as it is a computer-readable recording medium. For example, an HDD, an external storage device, a recording disk, or the like may be used as the recording medium for supplying the control program.

(Other embodiments)
In the various embodiments described above, the case where the robot device 100 uses an articulated robot arm having a plurality of joints has been described, but the number of joints is not limited to this. Although the vertical multi-axis configuration is shown as the type of the robot device, the same configuration as above can be implemented for joints of different types such as the horizontal multi-axis configuration and the parallel link type.

Further, although a configuration example of the robot device 100 is shown by an example diagram of each embodiment, the present invention is not limited to this, and a person skilled in the art can arbitrarily change the design. Further, each motor provided in the robot device 100 is not limited to the above-described configuration, and the drive source for driving each joint may be, for example, a device such as an artificial muscle.

Further, as shown in FIG. 9, it is also applicable when the robot device 100 is attached to a movable trolley 800, for example, an AGV (Automatic Guided Vehicle). At that time, as model data of the trolley 800, the elastic modulus of the entire trolley 800, the viscosity coefficient of the entire trolley 800, the value of the mass component of the entire trolley, the installation direction of the robot device 100, the speed of the trolley 800, and the like are stored. .. Thereby, the vibration due to the operation of the carriage 800 can be calculated, and the vibration can be effectively suppressed in the same manner as in the above-described embodiment.

Further, in the various embodiments described above, the gantry 600 has been described by taking the case where the robot device is suspended from the ceiling as an example, but the present invention is not limited to this. For example, a gantry may be used when the robot device is installed in the opposite direction to the ceiling suspension. Further, the robot device may be hung on the wall. Further, there may be a case where the gantry itself moves, or a case where a part of the gantry is variable and a robot device is provided in a part thereof.

Further, the various embodiments described above are applied to a machine capable of automatically performing expansion / contraction, bending / stretching, vertical movement, horizontal movement or turning operation, or a combined operation thereof based on information of a storage device provided in the control device. It is possible.

100 Robot device 200 Robot arm body 209 Base 210 ₀ , 210 ₁ , 210 ₂ , 210 ₃ , 210 ₄ , 210 ₅ , 210 ₆ Link 211, 212, 213, 214, 215, 216 Motor 221, 222, 223, 224 , 225, 226 Sensor unit 300 Robot hand body 400 Control device 450 Orbit data generation unit 460 Correction orbit data generation unit 461 Correction orbit data calculation unit 470 Joint angle command calculation unit 480 Mount model data storage unit 502 Correction mode selection unit 500 External input Equipment 600 Stand 601 Strut 602 Worktable 603 Top plate 700 Imaging device 800 Cart 1000 Robot system

Claims (28)

A robot device provided in a predetermined device.
A control device for controlling the robot device is provided.
The control device is
The model data of the predetermined device and
A robot device characterized in that vibration generated in the predetermined device is acquired from the trajectory data in which the robot device operates, and the trajectory data is updated so that the vibration generated in the predetermined device is reduced. In the robot device according to claim 1,
The control device is
A robot device characterized in that the trajectory data is updated so as to maintain a relative position between a predetermined part of the robot device and a part of the predetermined device. In the robot device according to claim 2.
The robot device includes an end effector for operating an object.
The predetermined device includes a mounting table on which the object is placed.
A robot device characterized in that a predetermined part of the robot device is an end effector, and a part of the predetermined device is a mounting table. In the robot device according to any one of claims 1 to 3.
The control device is
From the orbital data and the model data, the force generated in the predetermined device is acquired.
A robot device characterized in that the trajectory data is updated so that the vibration generated in the predetermined device is reduced based on the force generated in the predetermined device. In the robot device according to claim 1,
The control device is
From the orbit data and the model data, the force generated in the predetermined device is acquired, and the orbit data is updated so that the vibration generated in the predetermined device is reduced based on the force generated in the predetermined device. The first update mode to do and
It has a second update mode for updating the trajectory data from the trajectory data and the model data so as to maintain a relative position between a predetermined part of the robot device and the predetermined device.
A robot device characterized in that when updating the trajectory data, one of the first update mode and the second update mode is selected according to the content of the operation of the robot. In the robot device according to claim 5.
The control device is
When the type of the orbit data is set to transport the object, the orbit data is updated in the first update mode.
A robot device characterized in that the trajectory data is updated in the second update mode when the type of the trajectory data is set to be the assembly of an object. In the robot device according to any one of claims 1 to 6.
A detection means for detecting the operation of the robot device is provided.
A robot device characterized in that the model data is updated according to the detection result from the detection means. In the robot device according to claim 7.
The detection means
A position detecting means for detecting the position information of the parts constituting the robot device, and
A load detecting means for detecting a load applied to a component constituting the robot device, and a load detecting means.
Torque detecting means for detecting torque applied to parts constituting the robot device, and
A robot device characterized in that any one, two, or all of the above. In the robot device according to any one of claims 1 to 8.
The control device is
A robot device characterized in that when updating the trajectory data, the residual vibration generated in the predetermined device is acquired and the trajectory data is updated based on the residual vibration. In the robot device according to any one of claims 1 to 9.
The predetermined device is provided with a mechanism for performing an operation in addition to the robot device.
The control device is
When updating the trajectory data, the model data of the mechanism is used to acquire the vibration of the predetermined device generated by the operation of the mechanism.
A robot device characterized in that the trajectory data is updated based on the acquired vibration of the predetermined device. In the robot device according to any one of claims 1 to 10.
The robot device is a robot device that is suspended from the predetermined device. In the robot device according to any one of claims 1 to 10.
The predetermined device is a robot device characterized in that it is movable. In the robot device according to any one of claims 1 to 10.
The predetermined device is a robot device including a portion that is deformed by the operation of the robot device. A robot device provided in a predetermined device.
A control device for controlling the robot device is provided.
The control device is
The model data of the predetermined device and
The vibration generated in the predetermined device is acquired from the trajectory data in which the robot device operates, and the relative position between the predetermined part of the robot device and the part of the predetermined device is maintained based on the vibration. A robot device characterized by updating the trajectory data. A robot system in which a robot device is provided in a predetermined device.
A control device for controlling the robot device is provided.
The control device is
The model data of the gantry and
A robot system characterized in that vibration generated in the predetermined device is acquired from data of a trajectory in which the robot device operates, and the trajectory data is updated so that the vibration generated in the predetermined device is reduced. A robot system provided with a robot device provided in a predetermined device.
A control device for controlling the robot device is provided.
The control device is
The model data of the predetermined device and
The vibration generated in the predetermined device is acquired from the trajectory data in which the robot device operates, and the relative position between the predetermined part of the robot device and the part of the predetermined device is maintained based on the vibration. A robot system characterized by updating the trajectory data. In the robot system according to claim 15 or 16.
The robot device is a robot system characterized in that the robot device is suspended from the predetermined device. In the robot system according to claim 15 or 16.
The predetermined device is a robot system characterized in that it is movable. It is a control method of a robot device provided in a predetermined device.
The robot device includes a control device that controls the robot device.
The control device is
The model data of the predetermined device and
The acquisition process of acquiring the vibration generated in the predetermined device from the data of the trajectory in which the robot device operates, and
A control method comprising an update step of updating the trajectory data so as to reduce vibration generated in the predetermined device. It is a control method of a robot device provided in a predetermined device.
The robot device includes a control device that controls the robot device.
The control device is
The model data of the predetermined device and
An acquisition step of acquiring vibration generated in the predetermined device from the trajectory data in which the robot device operates, and
A control method comprising: an update step of updating the trajectory data so as to maintain a relative position between a predetermined part of the robot device and a part of the predetermined device based on the vibration. A method of manufacturing an article using a robot device provided in a predetermined device.
The robot device includes a control device that controls the robot device.
The control device is
The model data of the predetermined device and
The acquisition process of acquiring the vibration generated in the predetermined device from the data of the trajectory in which the robot device operates, and
An update step of updating the trajectory data so as to reduce vibration generated in the predetermined device, and
A method for manufacturing an article, which comprises a manufacturing process for controlling the robot device and manufacturing the article using the updated trajectory data. A method of manufacturing an article using a robot device provided in a predetermined device.
The robot device includes a control device that controls the robot device.
The control device is
The model data of the predetermined device and
An acquisition step of acquiring vibration generated in the predetermined device from the trajectory data in which the robot device operates, and
A step of updating the trajectory data so as to maintain a relative position between a predetermined part of the robot device and a part of the predetermined device based on the vibration.
A method for manufacturing an article, which comprises a manufacturing process for controlling the robot device and manufacturing the article using the updated trajectory data. An information processing device that generates orbital data of a robot device provided in a predetermined device.
Information characterized by acquiring vibration generated in the predetermined device from the model data of the predetermined device and the trajectory data, and updating the trajectory data so that the vibration generated in the predetermined device is reduced. Processing equipment. An information processing device that generates orbital data of a robot device provided in a predetermined device.
From the model data of the predetermined device and the trajectory data in which the robot device operates, the vibration generated in the predetermined device is acquired, and based on the vibration, a predetermined part of the robot device and one of the predetermined devices. An information processing device characterized in that the orbital data is updated so as to maintain a relative position with the unit. An information processing method that generates orbital data of a robot device provided in a predetermined device.
An acquisition step of acquiring vibration generated in the predetermined device from the model data of the predetermined device and the trajectory data.
An information processing method comprising an update step of updating the trajectory data so as to reduce vibration generated in the predetermined device. An information processing method that generates orbital data of a robot device provided in a predetermined device.
An acquisition step of acquiring vibration generated in the predetermined device from the model data of the predetermined device and the trajectory data in which the robot device operates.
Information characterized by having an update step of updating the trajectory data so as to maintain a relative position between a predetermined part of the robot device and a part of the predetermined device based on the vibration. Processing method. A control program for executing the control method according to claim 19 or 20, the manufacturing method according to claim 21 or 22, or the information processing method according to claim 25 or 26. A computer-readable recording medium on which the control program according to claim 27 is recorded.

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