JPH01111208A - Robot teaching device - Google Patents

Abstract

PURPOSE:To perform the robot teaching jobs at a high speed and with high efficiency without inspecting these teaching jobs via a real device by using an arithmetic means which performs the dynamic arithmetic, the play compensating arithmetic, etc., with the action target value. CONSTITUTION:An arithmetic unit 2 produces a smooth action target locus based on the action target value received from an input device 1. Then the dynamic arithmetic is carried out based on said target locus. The result of this dynamic arithmetic is displayed on a display device 3. Thus a teaching operator can know the movement of a robot before input of the action target locus to a real robot in case said target locus is supplied to the real robot. If the movement of the robot displayed on the device 3 does not satisfy the working purpose, the action target value is changed via the device 1 and calculated by the unit 2 again for production of the teaching data satisfying the working purpose. This teaching data is sent to an output device 7.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a robot teaching device having a plurality of joints,
In particular, the present invention relates to a robot teaching device that efficiently teaches robot movements by performing dynamic calculations.

As described above, coordinates were input according to the movement of a virtual robot on a graphic display device for teaching operations.

[Problem that the invention seeks to solve]

The above-mentioned conventional technology teaches based on the robot's geometric data, and does not take into consideration the influence of the robot's dynamics, backlash, and other factors. For this reason, whether or not the purpose of operation can be achieved using the teaching data described above can only be verified by using an actual machine, which poses a problem of inefficiency.

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot teaching device capable of obtaining teaching data at high speed and with high efficiency without verifying the teaching work of a teaching robot using an actual machine.

[Means for solving problems]

The above purpose is to provide a calculation device that performs calculations such as dynamic calculations and backlash compensation calculations on the motion target values input from the input device based on the robot displayed on the display device, and to display the results calculated by the calculation device on the display device. This is achieved by displaying and showing the instructor the movements of the robot based on the input target motion values, and changing the target motion values based on this using an input device.

[Effect]

The calculation device creates a smooth target motion trajectory based on the motion target value input from the input device, performs dynamic calculation based on this, and the display device displays the results of this calculation. This allows the instructor to know the robot's movement when the input target movement trajectory is input to the actual robot before inputting the movement target trajectory to the actual robot, and the robot's movement displayed on the display device is If the operation objective is not satisfied, the operation target value is changed using the input device and the calculation is performed again by the arithmetic unit to create teaching data that satisfies the operation objective.

Since this teaching data has been verified in advance for movement, when input to an actual robot, it is possible to realize robot movement that satisfies the purpose of movement from the beginning, making it possible to teach the robot movement at high speed.

This can be done with high efficiency.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example in which an embodiment of the apparatus of the present invention is applied to teaching a robot. In this figure, reference numeral 1 denotes an input device for inputting a target value for movement of a robot arm. Reference numeral 2 denotes a calculation device that creates a movement target trajectory based on this movement target value and performs calculations such as dynamic calculation and backlash compensation calculation based on this. Reference numeral 3 denotes a display device that graphically displays the movement of the robot arm inputted through the input device 1 or the movement of the robot arm based on the results of calculations performed by the calculation device 2 and the working environment of the robot arm. 4 is the robot arm at the start of the teaching operation displayed on the screen of the display device 3, 5 is the robot arm at the end of the teaching operation displayed on the screen of the display device 3, and 6 is the object of work of the robot arm. It is a thing.

7 is an output device that outputs the created teaching data to the robot controller.

Next, the operation of one embodiment of the apparatus of the present invention described above will be explained. First, the robot arm 4 at the start of the teaching operation is displayed on the screen of the display device 3, and as the target position is input from the input device 1, the position of the robot arm 4 changes sequentially accordingly. When the teaching operation is completed, the robot arm 5 at the end of the teaching operation is displayed on the screen of the display device 3. As a result, the created operation target value is input from the input device 1 to the arithmetic device 2. Since this motion target value is a sequence of points at discrete positions, the calculation device 2 first creates a smooth motion target trajectory based on this motion target value, and then performs dynamic calculations based on this motion target trajectory. . For example, dynamic calculations include calculating equations of motion for multi-joint mechanisms. The motion of the robot arm is simulated by solving the equation of motion, and the resulting motion of the robot arm is displayed on the screen of the display device 3. The instructor visually checks the interference between the robot arm and objects in the work environment such as the object 6 and the work of the robot arm by the movement of the robot arm on the screen of the display device 3, and confirms that the movement of the robot arm is the purpose of the operation. If the above conditions are not satisfied, for example, if there is interference between the robot arm and an object constituting the work environment, the operation target value is changed using the input device 1, and this changed operation target value is inputted again to the calculation device 2. The simulation is performed and the movement of the robot arm obtained as a result is displayed on the screen of the display device 3. If the movement of the robot arm on the screen of the display device 3 satisfies the motion objective, the motion target trajectory created by the arithmetic device 2 is inputted to the output device 7 as teaching data. The teaching data consists of the position, velocity, or acceleration of each joint of the robot arm.

The output device 7 stores this teaching data in order to output it to the controller of the actual robot arm.

An example of a block diagram of the above-mentioned simulation is shown in FIG. In a position control system with a gain of 13, robot mechanism model 1 is used instead of the actual robot arm.
A simulation is performed using 2. The calculations in the robot mechanism model 12 are as follows: 10 is a dynamic calculation that calculates joint torque from current position information, and 11 is a dynamic calculation that calculates position information from joint torque.

According to this embodiment, when creating teaching data using a graphic display device, the movement of the robot arm is simulated based on the target movement trajectory, so when the teaching data is input to an actual robot, The movement of the robot arm can be verified in advance.

When the teaching data created for this purpose is input to the actual robot arm, it is possible to realize a movement of the robot arm that satisfies the purpose of operation from the beginning, which has the effect of speeding up the teaching work and increasing efficiency.

FIG. 3 shows another embodiment of the apparatus of the present invention, in which the same reference numerals as in FIG. 1 are the same parts. In this embodiment, the movement of the robot arm and the working environment of the robot arm inputted by the input device 1 are displayed on the screen of the display device 3a, and the movement of the robot arm and the working environment of the robot arm are displayed based on the results of calculations by the calculation device 2. Display device 3b
displayed on the screen. 4a and 4b are robot arms at the start of the teaching operation, 5a and 5b are the robot arms at the end of the teaching operation, and 6a and 6b are objects. According to this embodiment, the movement of the robot arm inputted by the input device 1 and the movement of the robot arm based on the result calculated by the calculation device 2 can be presented to the instructor simultaneously, so the movement of the robot arm can be taught at high speed and with high precision. It can be done efficiently.

In the above-described embodiment, all the operation target values are input from the input device 1, but a CAD system or the like may be used as the input device. Furthermore, although the teaching data is stored in the output device 7 in the embodiment described above, the teaching data may be directly output to the robot controller. Further, in the embodiment shown in FIG. 3, the case where there are two display devices has been explained.
The present invention is not limited to this, and a display device such as a multi-window may also be used. Furthermore, although the above embodiments have been illustrated with three degrees of freedom for the robot arm, the invention is not limited to this.

〔Effect of the invention〕

According to the present invention, when teaching the motion of a robot having multiple joints, it is possible to create teaching data that satisfies the purpose of motion in consideration of dynamics as soon as the teaching data is input. Moreover, it can be carried out with high efficiency.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing one embodiment of the device of the present invention, FIG. 2 is a diagram showing an example of a block diagram of a simulation used in the present invention, and FIG. 3 is a diagram showing another embodiment of the device of the present invention. FIG. DESCRIPTION OF SYMBOLS 1... Input device, 2... Arithmetic device, 3... Display device, 4°5... Robot arm, 6... Target object, 7
...Output device.

Claims (3)

[Claims] 1. In a teaching device for a robot having multiple joints,
an input device for inputting a motion target value of the robot, an output device for outputting a motion command value for the robot, an arithmetic device for calculating the motion of the robot based on the motion target value, and a display for graphically displaying the motion of the robot. A robot teaching device characterized by being equipped with a device. 2. Claim 1: The display device displays the movement of the robot based on the operation target value, the movement of the robot based on the calculation result of the calculation device, both or one of them, and the working environment of the robot. The robot teaching device described in Section 1. 3. 2. The robot teaching device according to claim 1, wherein said calculation device creates a target movement trajectory of said robot based on said movement target value and performs a dynamic calculation of said robot.