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Device and method for direct teaching of robot

A manipulator, direct technology, applied in the direction of manipulator, program control manipulator, digital control, etc., can solve problems such as difficult operation

Active Publication Date: 2020-12-22
YAMATAKE HONEYWELL CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Even in this case, it is difficult for the operator to directly operate the arm with the arm facing exactly downward, and the posture of the arm often deviates.
[0009] As mentioned above, although direct teaching is intuitive and easy to understand, there are still cases where it is difficult to operate

Method used

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  • Device and method for direct teaching of robot
  • Device and method for direct teaching of robot
  • Device and method for direct teaching of robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0049] figure 1 It is a diagram showing a configuration example of the direct teaching device 1 according to Embodiment 1 of the present invention.

[0050] The direct teaching device 1 performs direct teaching of the manipulator. This direct teaching device 1 can be used as a direct teaching method by switching between normal direct teaching and direct teaching with constraints. The normal direct teaching is a direct teaching method that does not impose constraints on the position and posture of the arm 2 of the manipulator. The direct teaching is a direct teaching method of constraining the position and posture of the arm 2 to a constraint target.

[0051] In addition, the position and posture of the arm part 2 means at least one of the position of the arm part 2 and the posture of the arm part 2 . In addition, the position of the arm 2 means the position 501 of the end effector 201 provided at the distal end of the arm 2 , and the posture of the arm 2 means the orientati...

Embodiment approach 2

[0117] In Embodiment 2, the arm part 2 is a vertical articulated robot arm part, and the constraining method by the direct teaching device 1 is limited to posture restraint only. In addition, the configuration example of the direct teaching device 1 according to Embodiment 2 is the same as the configuration example of the direct teaching device 1 according to Embodiment 1, and hereinafter, using figure 1 The configuration example shown will be described.

[0118] Furthermore, the position and posture calculation unit 104 in Embodiment 2 calculates the posture of the arm unit 2 .

[0119] In addition, the approach determination unit 105 in Embodiment 2 determines whether or not the posture of the arm unit 2 approaches the constraint direction 505 based on the calculation result of the position and posture calculation unit 104 .

[0120] Next, refer to Figure 8 , an operation example of the direct teaching device 1 according to the second embodiment will be described.

[01...

Embodiment approach 3

[0175] In the direct teaching device 1 according to Embodiment 2, the restraint method is limited to only posture restraint. On the other hand, in the direct teaching device 1 according to the third embodiment, it is shown that the constraint method is limited to the axis constraint only. The axis constraint means that the position constraint of constraining the position of the arm 2 to a predetermined constraint axis 504 and the posture constraint of constraining the posture of the arm 2 to a predetermined constraint direction 505 are performed simultaneously. That is, the direct teaching device 1 according to the third embodiment performs position constraints in addition to the posture constraints described in the second embodiment. Hereinafter, the direct teaching device 1 is shown as follows: Figure 15 In the case of the position constraint on the straight line 511 parallel to the Z-axis of the manipulator coordinate system and the posture constraint in the downward dire...

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PUM

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Abstract

The present invention is provided with: an external force detection unit (102) for detecting an external force; a driven control computation unit (103) for calculating a motion of an arm (2) that corresponds to the external force; a position / orientation computation unit (104) for calculating the position and orientation of the arm (2); a proximity determination unit (105) for determining whether or not the position and orientation of the arm (2) are approaching a constraint target; a target value calculation unit (107) for calculating a target value for constraint control; a constraint controlcomputation unit (108) for calculating a motion of the arm (2) that moves to the target value; a constraint control limitation unit (109) for limiting the result of calculation by the constraint control computation unit (108); a switching unit (106) for enabling the constraint control computation unit (108) when it is determined that the arm (2) is approaching the constraint target, and disablingthe constraint control computation unit (108) when it is determined that the arm (2) is not approaching the constraint target; a synthesis unit (110) for synthesizing the result of calculation by thedriven control computation unit (103) and the result of limitation by the constraint control limitation unit (109); and a drive control unit (111) for driving the arm (2) on the basis of the result of synthesis.

Description

technical field [0001] The present invention relates to a direct teaching device and a direct teaching method for direct teaching of a manipulator. Background technique [0002] In an industrial manipulator, in order to make the manipulator perform work, an operation called teaching (Teaching) is performed in advance. As one of the methods of performing the teaching of the manipulator, there is a method called direct teaching. [0003] For example, Patent Document 1 discloses a direct teaching method of a manipulator using a force sensor. In addition, for example, Patent Document 2 discloses a direct teaching method of a manipulator using a torque detection unit. Figure 20 A schematic configuration of the direct teaching device disclosed in these patent documents is shown. [0004] exist Figure 20 In the shown direct teaching device 11 , first, the external force detection unit 1101 detects the external force applied by the operator to the arm 2 of the manipulator using ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/22G05B19/42
CPCG05B19/42G05B19/19B25J9/1653B25J9/1664
Inventor 田原铁也岩下纯久野村琢磨杉本广大
Owner YAMATAKE HONEYWELL CO LTD