JP2003334778A - Robot motion control method - Google Patents

Abstract

(57) [Summary] [Problem] To give an expression to a motion by adjusting a speed of motion with a simple instruction and selecting a linear motion or an arc motion when operating each part of a robot. With the goal. SOLUTION: An operation code and an operation modification code are given as operation instructions to the robot. The operation modification code can be added to the operation code, and by analyzing and executing this code group, it is possible to realize a motion according to the purpose.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention establishes a technique relating to a method of changing movements by devising a way of moving when operating a robot.

[0002]

2. Description of the Related Art Conventionally, industrial robots have been used in manufacturing sites such as assembling and in moving articles. Therefore, it was usual to pursue only practical movements, and to program them to move at the shortest distance and at the highest speed unless there is unnecessary movement or special need. Therefore, for example, when the arm moves from the point A to the point B, the arm always moves the same.

However, in recent years, pet robots and humanoid robots have appeared, and their movements have become different from those of practical one-point tension, like industrial robots. In other words, when moving the arm from point A to point B, the movement is not always the shortest and the fastest,
It is necessary to move slowly or draw an arc. However, such a movement instruction is based on an instruction of a preassembled program, and the user cannot easily instruct the movement method.

[0004]

The present invention eliminates the above-mentioned drawbacks and establishes a description method by which any user of the robot can easily instruct the operation method, that is, the operation can be modified in various ways.

[0005]

In order to achieve the above object, the robot motion control method of the present invention is provided with a motion modification means for modifying the motion of a part of the robot when the motion is performed. And

Furthermore, for one motion of the robot,
Characterized by applying at least two types of modifications.

Further, it is characterized in that a coding means for coding the modification is provided.

Further, it is characterized in that a modification quantification means for simultaneously giving a quantitative meaning to the modification code is provided.

Furthermore, the operation speed is controlled as one of the operation modifying means.

Further, the operation path is controlled as one of the operation modifying means.

Further, the operation order is controlled as one of the operation modifying means.

Further, as one of the motion modifying means, the time difference at the start of motion is controlled.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.

(Outline of Embodiment) First, a modification example of an actual operation in the embodiment of the present invention will be described with reference to FIGS.

In FIG. 2A, the humanoid robot is oriented sideways. 201 is the shoulder joint of the left arm, 202 is the knee joint, and 203 is the hand.

FIG. 2 (2) is a view in which the left arm is straightly raised to the front. 2 (1) and 2 (2) are both in a stationary state, various processes can be considered for the process of moving the left arm. In other words, as a result, the position of 203 hands is changed to 204
It may be moved to the position of, but as the process, for example, there is a method of straightening the whole arm and a method of rotating it by 90 degrees to make it horizontal.
As shown in (1) to (3), there is also a method in which the armpit is first bent to raise the hand to the shoulder level, and then the hand is pushed forward. In addition, it is possible to change the speed of movement. The robot can also express emotional feelings by moving quickly or slowly.

That is, it is possible to make a non-uniform expression by modifying the movement.

There is another meaning in changing the way of movement. For example, when the pose shown in FIG. 2 (2) is taken, normally, if the arm is pushed forward, the balance collapses and the body falls down, but due to the movement of the center of gravity, the balance is barely maintained. This internal movement of the center of gravity may take time. To this end, the movement of the arm may be deliberately slowed down, or a change as shown in FIG. 3 may be deliberately adopted so that the balance can be easily adjusted so that the movement of the center of gravity can be made in time.

(Modification of Motion) The types of motion modification are shown in FIG. 101 is a classification of types, and 102 is the contents of switching.

That is, the speed of movement is switched between fast and slow.

The path is switched between linear movement and circular movement.

The order is switched between original movement and first movement.

When there are a plurality of main subjects of movement, the time difference is switched between simultaneous movement and sequential movement.

Here, the route, order and time difference will be described in detail.

(Path) Whether to move linearly or to draw a circle may be limited by the operating mechanism in the first place. That is, even if it is desired to move linearly, it may only move in a circle due to mechanical restrictions such as motors and gears, or vice versa. Except such cases, it is possible to select whether to move linearly or to draw a circle.

Although the operation of raising the left arm forward has been described with reference to FIG. 2, the user can simply move the entire arm forward by 90 degrees to move it linearly. On the other hand, as shown in FIG. 4 (2) from the front and FIG. 5 (2) from above, the arm is once separated from the body and the angle is taken (401, 50).
1) Raise the arm and bring it closer to the body again, and finally
Extend the left arm (601) horizontally as shown in. The arm leaves the torso and then approaches the torso again, while the arm keeps rising. The maximum arm is once separated from the body by the angle 602 in FIG.

As shown in FIG. 2, the movement of the hand when simply raising the arm forward draws an arc, but the movements shown in FIGS. 4 and 5 are completely different circles.

(Order) This is an item for selecting whether to move the portion to be moved from the side closer to the body or the tip.
For example, as shown in Fig. 2, it means moving the arm straight from the shoulder and moving from the shoulder "from the beginning". On the other hand, FIG.
As you can see, moving the armpit first, raising the hand first, and then moving the shoulder joint means moving "from the beginning".

(Time lag) When there are a plurality of parts to be moved, this is an item for selecting whether to move simultaneously or sequentially. For example, as shown in FIG. 3, bending the shoulder, bending the shoulder, and straightening the shoulder is a sequential operation. This movement is very robotic and does not give a smooth impression. However, if you bend the shoulder and bend the shoulder at the same time, the movement will be smooth. Further, when the shoulder is moved a little after starting to bend the knee, the sequential operation and the simultaneous operation are mixed, but they are still in the category of the sequential operation.

(Code) Since the modification of the motion shown above accompanies a certain motion, the modification code is added to the motion code which means the motion command as an instruction to the robot. Moreover, since a plurality of modifications may be performed, a plurality of modification codes are added.

That is, as shown in FIG. 7, modification codes are successively added to operation codes to instruct the entire operation.

Before describing the modification code, the operation code will be described. FIG. 8 shows a correspondence table of operations and operation codes. 8
01 is an action name and 802 is a code. The code consists of five digits.

On the other hand, the modified code is shown in FIG. 901 is a classification of types of modifications, 902 is a switching content, and 903 is a code.

FIG. 10 shows an example of modified operation code. Reference numeral 1001 is the instruction content of the operation and the modification. 100
2 is an operation code and a modification code.

In this example, the purpose is to project the left hand forward as shown in FIG. 2, and as a result, the process is to move "slowly""in a circular motion""from the original". To Only when these codes are consecutive, it is possible to instruct a modified operation.

(Processing Flowchart) FIG. 11 shows a flowchart inside the robot, which describes the process from the interpretation of the action / modification code to the actual action. Details of the process will be described with reference to this flowchart.

First, the operation / modification code is received and stored in the memory described later. The robot has means for inputting a code from the outside and receives an instruction from the outside (step S1).
101).

Next, the current coordinates of the operating part are registered.
This is a work for confirming the current position of the hand when moving the hand, for example. The origin of the coordinates may be set at one place in the entire robot, or may be determined for each part (step S
1102).

Further, the final coordinates of the operating part are registered.
For example, when moving the hand, the final position of the hand resulting from the movement is determined in advance (step S1103).

Next, it is determined whether or not there is a modified portion in the action / modification code. If there is no modification code, the modification becomes the default and the modification item has a predetermined value (step S1104).

When the modification code is added, the modification code is classified in the memory according to the type of the modification code and the switching contents (step S1105).

Next, focusing on the speed of the modification, the operation speed is set. Since the operating speed depends on the operating part,
The speed for each part is set (step S1106).

Further, the modification is checked, the path of the operation site is analyzed, and the movement point of the operation site is set as the coordinate. This is because the route changes depending on the order of movement and the modification of whether it is a straight line or circular motion, but the moving point at that time is set as coordinates. (Step S1107)
Finally, the operation part is actually operated along the above-described modification speed and moving coordinates (step S1108).

(Block Diagram) FIG. 14 shows a block diagram of the robot.

The IN (1401) is an interface unit that receives an instruction from the outside. The method of instructing from the outside may be an electronic method, or may be voice or vibration.

The CPU (1402) is a central processing unit, which executes calculations and instructions necessary for the operation of the robot.

The RAM (1403) is a random access memory for storing programs and a work area required for calculation.

The ROM (1404) is a read-only memory and stores a motor control driver program and the like.

The MOV (1405) is the operation part of the robot. It is the part that activates facial expressions on limbs, neck, and face. It is the part that controls output.

The DISP (1406) is a monitor portion for monitoring the processing of the robot.

The above devices are connected to the bus line BL (140
7) is connected and drives the whole.

(Other Embodiments) In the above-described embodiment, there are only two methods for modifying motions, as shown in FIG. 9, in terms of speed, “fast” or “slow”. It is possible to have more types. As shown in FIG. 12, the speed code is 00 (120
It is also possible to have 10 steps from 1) to 09 (1202).

In addition, even if the path is set to "linear" or "circular motion"
In addition to the above two ways, as shown in FIG. 13, it is possible to modify the movement up to 90 degrees depending on how much the angle is wasted. As shown in FIG. 15, points 1501
From the point to the point 1502, in addition to linearly moving the part, there is a method of moving it in an arc shape with an angle of 40 degrees, or a method of moving while drawing a semicircle. In this way, the amount of unnecessary movement to the outside is expressed by an angle.

[0054]

As described above, according to the invention of the present application, it is possible to modify the motion of the robot by a simple method and add expressions to the motion of the robot.

[Brief description of drawings]

FIG. 1 is a table of a method of modifying a robot motion.

FIG. 2 is a process diagram of straightening the left hand of the robot.

FIG. 3 is a process diagram of raising the left hand of the robot while bending the armpit.

FIG. 4 is a process diagram of slightly raising the left arm as seen from the front of the robot.

FIG. 5 is a view of the robot seen from above.

FIG. 6 is a diagram showing the robot with its left arm raised horizontally when viewed from the front.

FIG. 7 is a calculation diagram of an operation code and a modification code.

FIG. 8 is an operation code table.

FIG. 9 is a modification code diagram.

FIG. 10 is a diagram showing an example in which a motion code and a modification code are linked.

FIG. 11 is a flowchart of a program that interprets a motion modification code.

FIG. 12 is an example of a table with 10 types of speed modifications.

FIG. 13 is an example of a table with 10 types of route modifications.

FIG. 14 is a block diagram of a robot.

FIG. 15 is an example diagram of an operation path.

Claims (8)

[Claims] 1. A motion control method for a robot, comprising motion modification means for modifying a motion of a part of the robot when the motion is performed. 2. The motion control method for a robot according to claim 1, wherein at least two types of modification are applied to one motion of the robot. 3. The robot motion control method according to claim 2, further comprising coding means for coding the modification. 4. The robot motion control method according to claim 3, further comprising a modification quantification means for simultaneously giving the modification code a quantitative meaning. 5. The robot motion control method according to claim 4, wherein a motion speed is controlled as one of the motion modifying means. 6. The robot motion control method according to claim 4, wherein a motion path is controlled as one of the motion modifying means. 7. The robot motion control method according to claim 4, wherein a motion sequence is controlled as one of the motion modification means. 8. The motion control method for a robot according to claim 4, wherein a time difference between start of motion is controlled as one of the motion modifying means.