JP2018103311A - Operation determining device for manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation determining device for a manipulator capable of determining whether or not it is possible to operate a manipulator as set at a predetermined temperature. SOLUTION: This is an operation determination device 20 for determining whether or not a manipulator 10 including a first link L1, a second link L2, and a joint J2 can operate, and the lengths of the first link and the second link at a predetermined temperature. The place of the manipulator in the state where the joint is completely extended at the predetermined temperature based on the correction coefficient for correcting the length change due to the thermal expansion of the first link and the second link and the temperature difference between the set temperature and the predetermined temperature. Calculated by a limit angle calculation unit that calculates the limit angle of the joint when moving a predetermined point at a set temperature to the first position that is the position of the fixed point C, and a set angle detection unit that detects the set angle of the joint. A determination unit for determining whether or not it is possible to move a predetermined point to a first position at a predetermined temperature based on the limit angle and the detected set angle is provided. [Selection diagram] Fig. 1

Description

  The present invention relates to an operation determination device that determines whether a manipulator can operate.

  2. Description of the Related Art Conventionally, there is one that teaches (sets) an operating point that is a position to move the tip of a robot arm (manipulator) and moves the arm so that the tip of the arm passes the taught operating point (Patent Document 1). reference).

Japanese Patent Laid-Open No. 2006-144861

  By the way, the temperature of the arm when the operating point is taught may differ from the temperature of the arm when working with the robot. In that case, the inventor of the present application paid attention to the fact that the arm may not be operated as taught.

  The present invention has been made to solve these problems, and provides a manipulator operation determination device that can determine whether or not a manipulator can be operated as set at a predetermined temperature. is there.

The first means for solving the above problems is as follows.
An operation determination device that determines whether or not an operation of a manipulator including a first link, a second link, and a joint that connects the first link and the second link so as to be relatively rotatable,
Setting temperature when setting the length of the first link and the second link at a predetermined temperature, the correction coefficient for correcting the length change due to thermal expansion of the first link and the second link, and the angle of the joint When the predetermined point is moved at the set temperature to the first position, which is the position of the predetermined point of the manipulator with the joint fully extended at the predetermined temperature, based on the temperature difference between the predetermined temperature and the predetermined temperature. A limit angle calculation unit that calculates a limit angle that is an angle of the joint;
A set angle detector that detects a set angle that is the set angle of the joint;
The predetermined point can be moved to the first position at the predetermined temperature based on the limit angle calculated by the limit angle calculation unit and the set angle detected by the set angle detection unit. A determination unit for determining whether or not there is;
Is provided.

  According to the said structure, in a manipulator, the 1st link and the 2nd link are connected by the joint so that relative rotation is possible. Here, the relative temperature of the first link and the second link increases the temperature of the link. Since the link thermally expands as the temperature rises, the length of the link changes according to the temperature. For this reason, for example, if the position (operating point) of a predetermined point of the manipulator is set (teaching) with the joint fully extended at a high temperature, the link length is insufficient at a low temperature, and the predetermined point is moved to the set position. I can't.

  In this respect, the limit angle calculation unit sets the lengths of the first link and the second link at a predetermined temperature, the correction coefficient for correcting the length change due to the thermal expansion of the first link and the second link, and the angle of the joint. The joint when moving the predetermined point at the set temperature to the first position, which is the position of the predetermined point of the manipulator with the joint fully extended at the predetermined temperature based on the temperature difference between the set temperature at the time and the predetermined temperature A limit angle that is an angle of is calculated. If the joint angle is set close to a state where the joint is fully extended at the set temperature, if the joint angle is set to be smaller than this, the joint angle is completely set at the predetermined temperature (<set temperature). This is an angle at which the predetermined point cannot be moved to the position of the predetermined point at the set temperature even if it is extended.

  Therefore, the set angle detection unit detects a set angle that is a set joint angle. Therefore, based on the limit angle calculated by the limit angle calculation unit and the set angle detected by the set angle detection unit, it is determined whether or not the predetermined point can be moved to the first position at the predetermined temperature. can do. As a result, it can be determined whether or not the manipulator can be operated as set at a predetermined temperature. If the predetermined temperature (temperature at the time of work) is higher than the set temperature (temperature at the time of teaching), the predetermined point at the predetermined temperature is set to the position of the manipulator with the joint fully extended at the set temperature. It can be moved without problems.

  Here, if the first position is not the position of the predetermined point of the manipulator with the joint fully extended, calculation including the posture of the manipulator is required. The same calculation is repeated after resetting. Depending on the first position, there may be a lot of calculations like the above. In that case, even if you get an answer that you can finally work, it takes a lot of calculation time to get it. As inefficient. On the other hand, if it is determined whether or not it is possible to operate in a state where the joint is completely extended as in the above configuration, the final answer can be reached by one calculation, so that the calculation time can be greatly shortened. For example, in a robot (manipulator), the most time-consuming (inefficient time and cost) is a stage where it is necessary to always involve human intervention such as teaching and calibration at the initial stage of introduction. Since the present application is originally performed at the timing, if the calculation time can be shortened by the above configuration, it is possible to improve labor and to efficiently introduce the robot, which is extremely meaningful for the robot. .

  Specifically, as in the second means, when the setting angle detected by the setting angle detection unit is smaller than the limit angle calculated by the limit angle calculation unit, A configuration may be adopted in which it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature.

  In the third means, when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature, the predetermined point is moved to the first position at the predetermined temperature. A non-notification unit for notifying that it is impossible.

  According to the above configuration, when it is determined that it is impossible to move the predetermined point to the first position at the predetermined temperature, it is impossible to move the predetermined point to the first position at the predetermined temperature. Will be notified. For this reason, the user can know that the predetermined point cannot be moved to the first position at the predetermined temperature by setting the current operating point (that is, the angle of the joint). As a result, it is possible to suppress the necessity of redoing the setting of the operating point after the end of setting the joint angle, and the inoperability after the delivery of the manipulator.

  According to a fourth aspect, when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature, the predetermined point cannot be moved to the first position. The temperature notification part which notifies the temperature which becomes is provided.

  According to the above configuration, when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature, the temperature at which the predetermined point cannot be moved to the first position is notified. The For this reason, the user can determine whether or not the predetermined point can be moved to the first position in consideration of the temperature of the environment in which the manipulator is used and the use state of the manipulator.

  In the fifth means, when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature, the amount of the joint angle to be corrected when the joint angle is set. Is provided with an angle notification unit.

  According to the above configuration, when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature, the amount of the joint angle to be corrected is notified when the joint angle is set. For this reason, in order to enable the user to move the predetermined point to the first position at the predetermined temperature, the user can easily know the amount of correction of the joint angle when setting the joint angle.

  In the sixth means, when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature, the position of the predetermined point should be corrected when the angle of the joint is set. A position notification unit for notifying the amount is provided.

  According to the above configuration, when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature, the amount of the position of the predetermined point to be corrected when the joint angle is set is notified. . For this reason, in order to enable the user to move the predetermined point to the first position at the predetermined temperature, the user can easily know the amount of correction of the position of the predetermined point when setting the joint angle.

  Further, specifically, as in the seventh means, the determination unit determines that the set angle detected by the set angle detection unit is larger than the limit angle calculated by the limit angle calculation unit. A configuration may be employed in which it is determined that the predetermined point can be moved to the first position at the predetermined temperature.

  Considering the state where the joint is completely extended at a predetermined temperature using the cosine theorem and the Taylor expansion of the cos function, the limit angle θ1 can be approximated by the following equation. That is, as in the eighth means, the limit angle calculation unit sets the lengths of the first link and the second link at a predetermined temperature as a0 and b0, respectively, and heats the first link and the second link. When correction coefficients for correcting the length change due to expansion are M1 and M2, the temperature difference is Δ, and the limit angle is θ1, θ1 = √ {2 (a0 + b0) × (M1 + M2) × Δ / (a0 × b0)} can be employed to calculate the limit angle θ1. According to such a configuration, the limit angle θ1 can be calculated by a simple expression, and the calculation load can be reduced.

The schematic diagram which shows an arm and a controller. The schematic diagram which shows the arm of the extending state immediately after power ON. The schematic diagram which shows the arm of the extension state after warming-up operation | movement. FIG. 6 is a schematic diagram illustrating a limit angle at a set temperature and whether or not to operate at a predetermined temperature.

  Hereinafter, an embodiment embodied in a plurality of links and joints constituting a second axis and a third axis of a vertical articulated robot will be described with reference to the drawings.

  As shown in FIG. 1, the arm 10 (corresponding to a manipulator) includes links L1 and L2 and joints J1 and J2. The link L1 (corresponding to the first link) is rotatably supported by the joint J1. The joint J2 connects the link L1 and the link L2 (corresponding to the second link) so as to be relatively rotatable. Each of the joints J1 and J2 includes a bearing fixed to the previous link and a rotating shaft that is rotatably supported via the bearing. This rotating shaft is connected to the link of the next stage, and is rotated by a driving device including a motor and a speed reducer. In the link L1, the center (one point) of the end opposite to the joint J2 is set as the base point B of the operation of the links L1 and L2. In the link L2, the center of the end opposite to the joint J2 is set to a predetermined point C representing the position of the arm 10.

  The joints J1 and J2 are provided with encoders 11 and 12, respectively. The encoders 11 and 12 detect the rotation angle of the rotation shaft at each joint. Each of the encoders 11 and 12 includes a temperature sensor. The temperature sensor detects the temperature of the encoder and thus the temperature of the motor. The rotation angle of each rotating shaft detected by the encoders 11 and 12 and the temperature of each encoder detected by the temperature sensor are output to the controller 20. The encoder 12 constitutes a set angle detector.

  The operating state of the arm 10 is controlled by the controller 20. The controller 20 (corresponding to an operation determination device) is a microcomputer including a CPU, a ROM, a RAM, an input / output interface and the like. The controller 20 moves the predetermined point C to the target position based on the detection values obtained by the encoders 11 and 12 and the temperature sensor.

  Specifically, the controller 20 calculates the temperatures of the links L1 and L2 based on the temperatures detected by the temperature sensors. The controller 20 determines the links L1, L2 based on the length of the links L1, L2 at the reference temperature (for example, 20 ° C.), the difference between the reference temperature and the temperature of the links L1, L2, and the thermal expansion coefficient of the links L1, L2. The length of is calculated. The controller 20 calculates the target rotation angle of the joints J1 and J2 based on the target position of the predetermined point C and the lengths of the links L1 and L2 (inverse conversion from the target position to the target rotation angle). Then, the controller 20 performs feedback control on the motors of the joints J1 and J2 so that the rotation angles detected by the encoders 11 and 12 respectively become the target rotation angles of the joints J1 and J2. The controller 20 calculates the position of the predetermined point C based on the rotation angles of the joints J1 and J2 and the lengths of the links L1 and L2 (conversion from the rotation angle to the position).

  Here, as shown in FIG. 2, immediately after the controller 20 is turned on (before the warm-up operation of the arm 10), the temperature of the arm 10 is low, and the lengths of the links L1 and L2 are short. The length of the links L1 and L2 is 500.0 mm at the standard temperature (eg 40 ° C.), whereas the length of the links L1 and L2 is 499.8 mm immediately after the power is turned on (eg 20 ° C.). .

  On the other hand, as shown in FIG. 3, after the arm 10 warm-up operation, the temperature of the arm 10 is high, and the lengths of the links L1 and L2 are long. The length of the links L1 and L2 is 500.0 mm at the standard temperature (for example, 40 ° C.), whereas the length of the links L1 and L2 is 500.2 mm after the warm-up operation (for example, 60 ° C.). Yes. That is, the temperature of the links L1 and L2 rises due to the relative rotation of the link L1 and the link L2. Since the links L1 and L2 are thermally expanded as the temperature rises, the lengths of the links L1 and L2 change according to the temperature.

  Therefore, if the operating point that is the position to move the predetermined point C is taught (set) with the joint J2 of the arm 10 fully extended after the warm-up operation shown in FIG. 3, immediately after the power is turned on shown in FIG. Even if the joint J2 of the arm 10 is fully extended, the predetermined point C cannot be moved to the taught operation point (hereinafter referred to as “teach point”). In this case, the controller 20 calculates the target rotation angle even if it tries to calculate the target rotation angle of the joints J1 and J2 based on the teaching point as the target position of the predetermined point C and the length of the links L1 and L2. Cannot be performed (no solution for target rotation angle).

  Not only when the temperature of the arm 10 is different before and after the warm-up operation, but also when the temperature of the operating environment of the robot changes depending on the place and season, or when the operating state (heat generation state) of the arm 10 changes, Similar problems can arise.

  Therefore, in the present embodiment, the controller 20 (corresponding to the limit angle calculation unit), as shown in FIG. 4B, the lengths a0 and b0 of the links L1 and L2 and the link L1 at a predetermined temperature (for example, 20 ° C.). , L2 based on correction coefficients M1 and M2 for correcting the length change due to thermal expansion, and a temperature difference Δ between a set temperature (for example, 60 ° C.) and a predetermined temperature when setting (teaching) the angle of the joint J2. As shown in FIG. 4B, the first position, which is the position of the predetermined point C of the arm 10 in a state where the joint J2 is completely extended at the predetermined temperature, is set at the set temperature as shown in FIG. The limit angle θ1, which is the angle of the joint J2 when moving the fixed point C, is calculated.

  Here, as shown in FIG. 4A, at the set temperature, the length of the link L1 is a1, the length of the link L2 is b1, and the length from the base point B to the predetermined point C is c1. The following equation (1) is established by the cosine theorem. Note that c1 ^ 2 represents the square of c1.

c1 ^ 2 = a1 ^ 2 + b1 ^ 2-2 × a1 × b1 × cos (π−θ1) (1)
If Taylor expansion is performed on cos θ1 and θ1 is set to a minute angle close to 0 and the third and subsequent terms are omitted, equation (1) can be transformed into equation (2) below.

c1 ^ 2 = a1 ^ 2 + b1 ^ 2 + 2 * a1 * b1 * (1- [theta] 1 ^ 2/2) (2)
When the equation (2) is solved for θ1 ^ 2, it can be expressed by the following equation (3).

θ1 ^ 2 = {(a1 + b1) ^ 2-c1 ^ 2} / (a1 × b1) (3)
The length a1 of the link L1 at the set temperature is expressed as a1 = a0 + M1 × Δ using the length a0 of the link L1 at the predetermined temperature, the correction coefficient M1, and the temperature difference Δ between the set temperature and the predetermined temperature. be able to. Similarly, the length b1 of the link L2 at the set temperature can be expressed as b1 = b0 + M2 × Δ. Then, as shown in FIG. 4B, the length c0 = a0 + b0 from the base point B to the predetermined point C in a state where the joint J2 is completely extended at a predetermined temperature, and as shown in FIG. It is assumed that the length c1 from the base point B to the predetermined point C at the set temperature is equal (c1 = c0). That is, it is assumed that the position of the predetermined point C in FIG. 4A is equal to the position of the predetermined point C in FIG. By substituting these equations into the above equation (3), it can be expressed as the following equation (4).

θ1 ^ 2 = {(a0 + M1 × Δ + b0 + M2 × Δ) ^ 2- (a0 + b0) ^ 2} / {(a0 + M1 × Δ) × (b0 + M2 × Δ)} (4)
If a term that develops the equation (4) and becomes a minute value is omitted, it can be expressed as the following equation (5).

θ1 ^ 2 = 2 × (a0 + b0) × (M1 + M2) × Δ / (a0 × b0) (5)
Therefore, the limit angle θ1 can be expressed by the following equation (6).

θ1 = √ {2 × (a0 + b0) × (M1 + M2) × Δ / (a0 × b0)} (6)
As shown in FIG. 4 (a), the limit angle θ1 is set so that when the angle θ of the joint J2 is set close to the state in which the joint J2 is fully extended at the set temperature, When set to a small value, as shown in FIG. 4B, the angle at which the predetermined point C cannot be moved to the position of the predetermined point C at the set temperature even when the joint J2 is completely extended at the predetermined temperature (<set temperature). It is. When the predetermined temperature (temperature at the time of work) is higher than the set temperature (temperature at the time of teaching), at the predetermined temperature at the position of the predetermined point C of the arm 10 with the joint J2 fully extended at the set temperature. The predetermined point C can be moved without any problem.

  Therefore, when the set angle θ detected by the encoder 12 is smaller than the calculated limit angle θ1, the controller 20 (corresponding to the determination unit) performs the first operation at a predetermined temperature as shown in FIG. It is determined that it is impossible to move the predetermined point C to the position (the position of the predetermined point C in FIG. 4A). Further, the controller 20 determines that the predetermined point C can be moved to the first position at the predetermined temperature when the set angle θ detected by the encoder 12 is larger than the calculated limit angle θ1. That is, the controller 20 determines whether or not the predetermined point C can be moved to the first position at a predetermined temperature based on the calculated limit angle θ1 and the set angle θ detected by the encoder 12. .

  Further, when it is determined that it is impossible to move the predetermined point C to the first position at the predetermined temperature, the controller 20 (corresponding to the impossibility notification unit) sets the predetermined point C at the first position at the predetermined temperature. Notify the user that it cannot be moved. More specifically, a monitor or teaching pendant connected to the controller 20 displays that it is impossible to move the predetermined point C to the first position at a predetermined temperature, or notifies the user by voice.

  In addition, when it is determined that it is impossible to move the predetermined point C to the first position at the predetermined temperature, the controller 20 (corresponding to the temperature notification unit) moves the predetermined point C to the first position. Inform the user of the temperature at which it is impossible. Specifically, the controller 20 calculates a temperature difference Δ where the set angle θ = the limit angle θ1. Then, the controller 20 calculates a temperature obtained by adding the temperature difference Δ to the predetermined temperature as a temperature at which the predetermined point C cannot be moved to the first position. Then, the controller 20 notifies the user of the calculated temperature.

  When it is determined that the predetermined point C cannot be moved to the first position at the predetermined temperature, the controller 20 (corresponding to the angle notification unit) corrects the angle of the joint J2 when teaching the operating point. Notify the user of how much to do. Specifically, the controller 20 notifies the user of the difference (θ−θ1) between the set angle θ and the limit angle θ1 as an amount for correcting the angle of the joint J2.

  Alternatively, when it is determined that it is impossible to move the predetermined point C to the first position at the predetermined temperature, the controller 20 (corresponding to the position notification unit) teaches the operation point (operation point) when teaching the operation point. The user may be notified of the amount to be corrected. Specifically, the controller 20 should correct the position of the teaching point based on the difference between the distance between the base point B and the predetermined point C at the set angle θ and the distance between the base point B and the predetermined point C at the limit angle θ1. Notify the user as an amount.

  The embodiment described in detail above has the following advantages.

  The encoder 12 detects a set angle θ that is the angle of the joint J2 set when teaching the operating point. Then, based on the calculated limit angle θ1 and the set angle θ detected by the encoder 12, it is determined whether or not the predetermined point C can be moved to the first position at a predetermined temperature. As a result, it can be determined whether or not the arm 10 can be operated as set at a predetermined temperature.

  The controller 20 determines that it is impossible to move the predetermined point C to the first position at the predetermined temperature when the set angle θ detected by the encoder 12 is smaller than the calculated limit angle θ1. Can do.

  If it is determined that it is impossible to move the predetermined point C to the first position at the predetermined temperature, it is notified that it is impossible to move the predetermined point C to the first position at the predetermined temperature. The For this reason, the user can know that it is impossible to move the predetermined point C to the first position at the predetermined temperature with the current setting of the operating point (setting of the angle of the joint J2). As a result, it is possible to suppress the need to redo the teaching of the operating point after the teaching of the operating point is completed, and the inoperability after the robot is delivered.

  When it is determined that it is impossible to move the predetermined point C to the first position at the predetermined temperature, the temperature at which the predetermined point C cannot be moved to the first position is notified. Therefore, the user can determine whether or not the predetermined point C can be moved to the first position in consideration of the temperature of the environment in which the arm 10 is used and the use state of the arm 10.

  When it is determined that it is impossible to move the predetermined point C to the first position at the predetermined temperature, the amount that the angle of the joint J2 should be corrected is notified when the angle of the joint J2 is set. For this reason, in order to enable the user to move the predetermined point C to the first position at the predetermined temperature, the user can easily know the amount of correction of the angle of the joint J2 when setting the angle of the joint J2.

  When it is determined that it is impossible to move the predetermined point C to the first position at the predetermined temperature, the amount of correction of the position of the predetermined point C is notified when the angle of the joint J2 is set. For this reason, in order to enable the user to move the predetermined point C to the first position at the predetermined temperature, the user can easily know the amount for correcting the position of the predetermined point C when setting the angle of the joint J2. .

  The controller 20 determines that the predetermined point C can be moved to the first position at the predetermined temperature when the set angle θ detected by the encoder 12 is larger than the calculated limit angle θ1. it can.

  Using the cosine theorem and the Taylor expansion of the cos function, and taking into account the state in which the joint J2 is completely extended at a predetermined temperature, the limit angle θ1 can be expressed by equation (6). Therefore, the limit angle θ1 can be calculated by a simple expression, and the calculation load on the controller 20 can be reduced.

  In addition, the said embodiment can also be changed and implemented as follows.

  -When cos θ1 is Taylor-expanded and θ1 is a minute angle close to 0 and a term that becomes a minute value is omitted, the third term is not omitted, and the fourth and subsequent terms or the fifth and subsequent terms may be omitted. . Further, when the term that becomes a minute value by omitting the expression (4) is omitted, only the term of Δ ^ 2 may be omitted in the denominator.

  The length a1 of the link L1 at the set temperature is set to a1 = a0 × (1 + M3 × Δ) using the length a0 of the link L1 at the predetermined temperature, the correction coefficient M3, and the temperature difference Δ between the set temperature and the predetermined temperature. The correction coefficient M3 can also be defined as Similarly, the correction coefficient M4 can be defined so as to be expressed by b1 = b0 × (1 + M4 × Δ). In that case, after changing the lengths a1 and b1 of the links L1 and L2 to the above formula, the formulas after the formula (4) may be derived.

  -You may abbreviate | omit at least one part among each said notification.

  It may be determined whether or not the predetermined point C can be moved to the first position not only when the user teaches the operating point but also when the operation of the arm 10 is confirmed by simulation. In this case, the controller 20 (corresponding to a limit angle calculation unit, a set angle detection unit, and a determination unit) calculates a limit angle θ1 based on the setting at the time of simulation and sets the angle of the set joint J2 in the simulation. What is necessary is just to determine whether it is possible to move the predetermined point C to the first position at a predetermined temperature based on the limit angle θ1 and the set angle θ, detected as θ.

  The predetermined temperature, which is a temperature for determining whether or not the arm 10 can be operated, can be arbitrarily set according to the temperature of the environment in which the arm 10 is operated and the operating state (heat generation state) of the arm 10.

  The lengths of the links L1 and L2 at each temperature are calculated and stored in advance, and the controller 20 may read and use the stored lengths of the links L1 and L2 according to the set temperature or the predetermined temperature. Good.

  -Not only the links L1 and L2 and the joints J1 and J2 constituting the second axis and the third axis of the vertical articulated robot, but also the plurality of links and joints constituting the first axis and the second axis of the horizontal articulated robot. It can also be embodied. Furthermore, not only the robot arm 10 but also a manipulator including a first link, a second link, and a joint that connects the first link and the second link so as to be relatively rotatable can be embodied.

  DESCRIPTION OF SYMBOLS 10 ... Arm (manipulator), 11 ... Encoder, 12 ... Encoder (setting angle detection part), 20 ... Controller (motion determination apparatus), J1 ... Joint, J2 ... Joint, L1 ... Link, L2 ... Link

Claims (8)

An operation determination device that determines whether or not an operation of a manipulator including a first link, a second link, and a joint that connects the first link and the second link so as to be relatively rotatable,
Setting temperature when setting the length of the first link and the second link at a predetermined temperature, the correction coefficient for correcting the length change due to thermal expansion of the first link and the second link, and the angle of the joint When the predetermined point is moved at the set temperature to the first position, which is the position of the predetermined point of the manipulator with the joint fully extended at the predetermined temperature, based on the temperature difference between the predetermined temperature and the predetermined temperature. A limit angle calculation unit that calculates a limit angle that is an angle of the joint;
A set angle detector that detects a set angle that is the set angle of the joint;
The predetermined point can be moved to the first position at the predetermined temperature based on the limit angle calculated by the limit angle calculation unit and the set angle detected by the set angle detection unit. A determination unit for determining whether or not there is;
An operation determination device for a manipulator comprising:   The determination unit sets the predetermined point at the first position at the predetermined temperature when the set angle detected by the set angle detection unit is smaller than the limit angle calculated by the limit angle calculation unit. The manipulator operation determination device according to claim 1, wherein it is determined that the movement is impossible.   When it is determined that it is impossible to move the predetermined point to the first position at the predetermined temperature, it is impossible to move the predetermined point to the first position at the predetermined temperature. The manipulator operation determination device according to claim 2, further comprising an impossibility notification unit that notifies   A temperature for notifying the temperature at which the predetermined point cannot be moved to the first position when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature. The operation determination device for a manipulator according to claim 2 or 3, further comprising a notification unit.   An angle notifying unit for notifying an amount of the joint angle to be corrected when the joint angle is set when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature. The operation determination device for a manipulator according to any one of claims 2 to 4, further comprising:   Position notification for notifying the amount of the position of the predetermined point to be corrected when setting the angle of the joint when it is determined that the predetermined point cannot be moved to the first position at the predetermined temperature The operation determination device for a manipulator according to any one of claims 2 to 5, further comprising a unit.   The determination unit sets the predetermined point at the first position at the predetermined temperature when the set angle detected by the set angle detection unit is larger than the limit angle calculated by the limit angle calculation unit. The manipulator operation determination apparatus according to any one of claims 1 to 6, wherein it is determined that the movement is possible. The limit angle calculation unit sets the lengths of the first link and the second link at a predetermined temperature as a0 and b0, respectively, and corrects a change in length due to thermal expansion of the first link and the second link. Are M1 and M2, respectively, the temperature difference is Δ, and the limit angle is θ1.
The manipulator motion determination device according to any one of claims 1 to 7, wherein the limit angle θ1 is calculated from θ1 = √ {2 (a0 + b0) × (M1 + M2) × Δ / (a0 × b0)}.

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