JPS60195613A - Robotic teaching device with verification function - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a work point teaching method for a robot, and particularly to a work point teaching device that can easily give work points that a robot can execute without error. .

[Background of the invention]

In the conventional robot motion teaching method using a teaching box, calculator, graphic display device, and coordinate input device, the robot's motion range is not specified, so if a point outside the movable region is specified, the target point is returned to the target point. It was necessary to respecify the target point, and there was a drawback that there was no index for selecting the target point.

[Purpose of the invention]

An object of the present invention is to clearly indicate the robot's movable area on a graphic input device, so that the robot's motion trajectory can be easily input in an interactive manner with a computer, and the trajectory can be displayed in three dimensions to facilitate confirmation of the robot's motion. It is an object of the present invention to provide a work point teaching device that can perform work points accurately.

[Summary of the Invention] In order to achieve the above-mentioned object, the present invention displays at least two orthographic projection views and one three-dimensional projection view according to the object, clearly indicating the robot movable area on the graphic display device, Subsequently, when an arbitrary point within the operable area on the orthographic projection is specified, the corresponding projection line is displayed on other projections. A feature of this method is that the work point can be easily determined by specifying a point on this projection line. In addition, for mobile robots, by displaying the operating range of the manipulator, the working trajectory of the manipulator when actually performing a given task, and the deviation between the operating range and the working trajectory, it is possible to determine the amount of movement the robot body should move. It is easy to know.

It is also possible to have a robot simulator and provide a function to detect singularities through simulation each time an input is made and to eliminate the detected singularities.

[Embodiments of the invention]

The present invention will be explained in detail below.

FIG. 1 is a system configuration diagram of a robot motion teaching device that implements the present invention. In the same figure, computer 1 has CRT2
．． Light pen 3. A tablet or digitizer 4 is connected. When the doublet or digitizer 4 is pressed with the light pen 3, a corresponding point is displayed on the CRT 2.

FIG. 2 is a configuration diagram of a CRT screen. Screen 5 is a top view using orthographic projection 6. Front view 7. It consists of at least two of the side views 8 and a three-dimensional projection view 9. Projections may be displayed individually. Any coordinate axes can be set in the projection view.

FIG. 3 is an explanatory diagram of a method for determining a three-dimensional position on a two-dimensional projection diagram. For example, if you specify an arbitrary point on the front view of the screen 10 with a light pen, the specified point 15 will be displayed on the same view, and the top view 11. On the side view 13, each line segment 1
6.17. Next, when a point on either line segment 16 or line segment 17, for example a point on line segment 16, is specified with a light pen, point 18 is displayed on the diagram.

At the same time, the point 1 is also shown on the side view 13 and the three-dimensional projection view 14.
A point on the three-dimensional space can be determined by one or more operations in which the specified point is displayed as 9 and 20. For the first point you specify, you can select the most convenient view from top view, front view, and side view. You can also select one of the two line segments displayed in a projection view other than the specified projection view.

FIGS. 4 and 5 are explanatory diagrams of the robot work point teaching method according to the present invention. An example of a robot is shown in FIG. 4, and the possible range of motion 22 of the robot 21 is also shown at the same time. Actual robots always have a range in which they can operate. A movable point within this area (the robot's movable area minus the stationary singularity) must be specified.

The screen 30 in FIG. 5 is a top view 31. which clearly shows the movable area of the robot. Front view 32. It consists of a side view 33. Using these projections and the above-described designation method, only the work points within the robot's movable area can be designated.

Furthermore, when a mobile robot or the like repeats the same work at each work location, it is necessary to teach the robot the amount of movement of the robot.

As shown in FIG. 6, the motion range 42 and work trajectory 43 of the robot manipulator portion and the deviation 44 between the motion range 42 and the work trajectory 43 are displayed on the CRT screen.

The operator can read the deviation 44, apply parallel movement or rotational movement to the working trajectory, and easily correct the working trajectory so that the working trajectory 44 is within the operating range 43. 45 in FIG. 6 is the work trajectory after correction.

Modifications Actual robots have dynamic characteristics and mechanical limitations such as operating speed. Due to this limitation, even after the robot's motion trajectory is determined, there are still points where the robot cannot operate. for example,
This is the case, for example, when the robot's joint angle changes rapidly. This singular point will be called the motion singular point. In order to remove this operating singularity from the operating range, the following system is configured.

Figure 7 shows the system configuration. The simulator 50 is
Each joint angle of the robot corresponding to the robot motion determined by the above-described motion locus teaching method is calculated and displayed on the CRT as a temporal change. An example is shown in FIG.

When there is a sudden change in the joint angle O (time 1 in Figure 8),
The point is displayed on the CRT screen. The operator looks at this display and corrects the robot's motion trajectory.

〔Effect of the invention〕

According to the present invention, only the work points at which the robot can operate can be selected, so the robot's operations can be taught efficiently without waste.

Furthermore, in the case of mobile robots, it is possible to know the deviation between the operating range of the robot manipulator and the work trajectory, so the amount of movement of the robot can be easily taught.

[Brief explanation of drawings]

Figure 1 is a system configuration diagram of the robot motion teaching device, Figure 2
The figure is a configuration diagram of the CR7 image, Figure 3 is an explanatory diagram of a method for determining a three-dimensional position on a two-dimensional projection diagram, Figure 4 is a diagram showing an example of a robot and its movable area, and Figure 5 6 is a diagram showing an example of the configuration of a CRT screen according to the present invention, FIG. 6 is a diagram showing an example of new effects according to the present invention, FIG. 7 is a diagram showing the configuration blocks of a simulator, and FIG. Functions and Children 112] No. 2121 No. 3 Fig.'rn4 Fig. No. 5 Fig. 4 /) No. 4 q No. δ Fig.

Claims (1)

[Claims] A means for interactively inputting and visually confirming three-dimensional coordinate points;
A robot motion function model and a movable range analysis means,
A robot teaching device with a verification function, comprising means for verifying a motion target point and means for converting a group of control commands created into execution commands.