COMPUTING DEVICE FOR A ROBOT SYSTEM

Abstract

A computing device (1) for simulating a robot system comprises at least one processor (4) and at least one memory (3). The memory (3) stores a mathematical model in which a robot and / or a tool and / or a workpiece is defined as an elastic element. The processor (4) acquires input information, including the orientation of the robot, the placement of the tool and the workpiece, and the magnitude and direction of the force and / or torque of the tool or workpiece, and estimates a load or deformation amount for the robot and / or the tool and / or the workpiece using the acquired input information and the mathematical model stored in the memory.

Description

{Field of technology}

[0001] The present disclosure relates to a computing device for a robot system. {State of the art}

[0002] There is a previously known simulation device that takes into account the contact force caused by the contact between a robot and a workpiece in connection with the operation of the robot when calculating the load acting on each joint of the robot (see e.g. PTL 1). {List of quotations}{Patent literature}

[0003] [PTL 1] Japanese unexamined patent application, Publication No. 2018-030210 {Summary of the invention}{Technical problem}

[0004] Each joint of the robot bears not only the load associated with the actual robot operation, but also the load resulting from an external force acting independently of the robot's operation. For example, in a robot system that performs a predetermined task by moving a tool or a workpiece attached to the distal end of the robot's wrist, each joint experiences a counterforce generated by the movement of the tool or workpiece.

[0005] Therefore, it is desirable to be able to accurately estimate the load acting on each joint of a robot, even for a robot system on which an external force independent of the robot operation acts. {Technical solution}

[0006] One aspect of the present disclosure is a computing device for simulating a robot system comprising a robot with a plurality of joints and a tool attached to the robot and designed to perform a predetermined task on a workpiece, wherein the task is performed by causing a force and / or torque generated by the tool or workpiece to act upon each other, wherein the computing device comprises: at least one processor;and at least one memory, wherein the memory stores a mathematical model in which the robot and / or the tool and / or the workpiece is defined as an elastic element, and the processor acquires input information comprising a position of the robot, an arrangement of the tool and the workpiece, and a magnitude and direction of the force and / or torque, and estimates a load or amount of deformation in the robot and / or tool and / or workpiece using the acquired input information and the mathematical model stored in the memory. {Brief description of the drawings} { Fig. 1] Fig. Figure 1 is a side view of a robot system to which a computing device according to an embodiment of the present disclosure is applied. { Fig. 2] Fig. Figure 2 is a perspective view of a rotary screwdriver of the robot system from Fig. 1. { Fig. 3] Fig. Figure 3 is a block diagram illustrating the computing device according to the embodiment of the present disclosure. { Fig. 4] Fig. Figure 4 is a schematic representation of a dynamic model that corresponds to the robot system. Fig. 1 corresponds to. { Fig. 5] Fig. Figure 5 is a front view of a display unit of the computing device according to the embodiment of the present disclosure. { Fig. 6] Fig. Figure 6 is a flowchart of an operating process of the computing device according to the embodiment of the present disclosure. {Description of embodiments}

[0007] With reference to the drawings, a computing device 1 is now described which performs a simulation of a robot system 10 according to an embodiment of the present disclosure.

[0008] First, the robot system 10 is described, to which the computing device 1 of the present embodiment is applied.

[0009] As in Fig. As shown in Figure 1, robot system 10 is, for example, a screw-fastening system with a robot 20 mounted on a horizontal base F and a screwdriver (tool) 30 attached to the robot 20. In this case, robot system 10 also includes a workpiece 40, which is attached to the base F and on which a screw 50 is tightened by the screwdriver 30. In other words, the robot 20, the screwdriver 30, the workpiece 40, and the base F, which together constitute robot system 10, form a closed path of action.

[0010] The robot 20, for example, is a six-axis articulated robot and comprises a base 21 installed on the floor F and a rotary drum 22, which is mounted so that it can rotate about a vertical first axis J1 with respect to the base 21. The robot 20 comprises a first arm 23, which is mounted so that it can rotate about a horizontal second axis J2 with respect to the rotary drum 22, and a second arm 24, which is mounted so that it can rotate about a horizontal third axis J3 with respect to the distal end of the first arm 23. The robot 20 further comprises a three-axis wrist unit 25 mounted at the distal end of the second arm 24.

[0011] The wrist unit 25 comprises a first wrist element 25a, which is mounted such that it is rotatable with respect to the second arm 24 about a fourth axis J4, which extends along a fourth axis orthogonal to the third axis J3. The wrist unit 25 also comprises a second wrist element 25b, which is mounted such that it is rotatable with respect to the first wrist element 25a about a fifth axis J5 orthogonal to the fourth axis J4. The wrist unit 25 comprises a third wrist element 25c, which is mounted such that it is rotatable with respect to the second wrist element 25b about a sixth axis J6, which is orthogonal to the fifth axis J5 and intersects the fourth axis J4.

[0012] In other words, the robot 20 comprises six joints A1 to A6.

[0013] As in Fig. As shown in Figure 1, the rotary screwdriver 30 comprises, for example, a body part 31 attached to the distal end of the third wrist element 25c and a bushing part 35 attached to the distal end of the body part 31.

[0014] As in Fig. As shown in Figure 2, the body part 31 comprises a motor 32, a drive shaft 33 rotated about the axis B by the motor 32, and a box-shaped frame 34 surrounding the drive shaft 33. A mounting part 34a is attached to the proximal side of the frame 34, which has a mounting bore 34h extending in a direction orthogonal to the axis B. By installing and securing the distal end of the third wrist element 25c of the robot 20 to the mounting bore 34h, the rotary screwdriver 30 is attached to the robot 20 such that the axis B is orthogonal to the sixth axis J6.

[0015] The bushing part 35 comprises a housing 36 that extends along axis B and is coaxially connected to the distal end of the drive shaft 33. The housing 36 has a bore (not shown) centered on axis B at its distal end, and a tool S, corresponding to the screw 50 to be fastened to the workpiece 40, is detachably mounted in the bore. When the motor 32 in the body part 31 is actuated, the housing 36 and the tool S, in particular, rotate together with the drive shaft 33 about axis B.

[0016] The bushing part 35 is provided with a screw feed system (not shown) to guide screws 50 individually one after the other to the end of the tool S and to insert the heads of the screws 50 into the end of the tool S.

[0017] As in Fig. As shown in Figure 1, in the robot system 10, the screw 50 attached to the tool S can be positioned at a predetermined fastening position relative to the workpiece 40 by actuating the joints A1 to A6 of the robot 20. In this state, the motor 32 for the screwdriver 30 is then actuated to rotate the tool S about the axis B. As a result, the screw fastening task of the screw 50 to the workpiece 40 is performed with a predetermined tightening torque.

[0018] Next, the computing device 1 according to the present embodiment will be described. The computing device 1 is, for example, an offline computer that simulates the operation of a robot system 10. As in Fig. As shown in Figure 3, the computing device 1 comprises an input device 2, at least one memory 3, such as a ROM or a RAM, at least one processor 4, such as a CPU, and a display unit 5.

[0019] The input device 2 comprises a keyboard, a touch panel, a control panel, or the like, and receives input information relating to the robot system 10, entered by an operator. In this case, the input information includes, for example, information about the position of the robot 20, the arrangement of the screwdriver 30 and the workpiece 40, and the magnitude and direction of the tightening torque exerted by the motor 32 on the screwdriver 30.

[0020] Memory 3 contains a mathematical model corresponding to robot system 10 and basic information about robot system 10.

[0021] The mathematical model is configured based on a dynamic model, for the construction of which the robot system 10 is defined with several interconnected elastic elements, for example as in Fig. 4 shown.

[0022] The basic information of the robot system 10 includes, for example, the distances between the joints A1 to A6, the moduli of elasticity specifying the stiffness of the joints A1 to A6 of the robot 20, and the moduli of elasticity specifying the stiffness of the rotary screwdriver 30 and the workpiece 40.

[0023] The in Fig. Figure 4 shows the dynamic model, which, with several rotational elastic elements and linear elastic elements connected via stiff intermediate members, represents the mechanisms arranged between the base 21 fixed to the ground F and the workpiece 40 fixed to the ground F.

[0024] In particular, in the dynamic model, the six joints A1 to A6 of the robot 20 are each represented as individual rotational elastic elements k J1 up to k J6The rotary screwdriver 30 and the workpiece 40 are defined by a driving element M that generates a tightening torque and a combination of three rotary elastic elements k1 to k3 and three linear elastic elements k4 to k6.

[0025] The dynamic model includes in particular a robot area T1, which corresponds to robot 20, and a screwdriver area T2, which corresponds to screwdriver 30 and workpiece 40.

[0026] Now, one of the [items] in Fig. The exemplary mathematical model derived from the dynamic model shown in section 4 is described. [Expression 1] [fNmN]=[OI3I3O](I6+KNRJ(KRB)−1JT)−1[OI3I3O][OMT] where: f N is a force acting on the linear elastic elements k4 to k6, m N is a moment acting on the rotational elastic elements k1 to k3, I3 is a third-order identity matrix, I6 is a sixth-order identity matrix, K NR is an elasticity matrix that specifies the stiffnesses of the rotational elastic elements k1 to k3 and the linear elastic elements k4 to k6, J is a Jacobian matrix with the deformation amounts of the rotational elastic elements k J1 up to k J6 as inputs and the deformation amounts of the rotational elastic elements k1 to k3 and the linear elastic elements k4 to k6 as outputs, K RB is an elasticity matrix that determines the stiffnesses of the rotational elastic elements k J1 up to k J6 indicates, and M T is a vector value of the tightening torque input by the driving element M. [Expression 2] [fnmn]=[I3O[PnPn=1]×I3][fn+1mn+1](n=6,…,1) where: f n(n = 1, ..., 6) is a force acting on the nth joint of joints A1 to A6, and f7 is a force acting on the hand position of robot 20, m n (n = 1, ..., 6) is a moment acting on the nth joint of joints A1 to A6, and m7 is a moment acting on the hand position of robot 20, and P n (n = 1, ..., 6) is the position of the nth joint of joints A1 to A6, and P7 is the hand position of robot 20.

[0027] Expression (1) expresses with the tightening torque M T and the elasticity matrices K RB and K NR In the robot area T1 or rotary screwdriver area T2, the force f N and the moment m N from, which act on the elastic elements k1 to k6 in the rotary screwdriver area T2. The derivation of expression (1) is carried out by solving a force equilibrium equation based on the assumption that the force f Nand the moment m N , which act on the elastic elements k1 to k6, and the deformation amounts of the elastic elements k1 to k6 follow Hooke's law.

[0028] The force f N and the moment m N , acting on the elastic elements k1 to k6 in the rotary screwdriver area T2, as calculated by expression (1), can be considered as a force f7 and a moment m7 acting on the hand position of the robot 20 according to the law of action and reaction.

[0029] Accordingly, by calculating the equilibrium equation of the connecting elements between the rotational elastic elements k J1 up to k J6 , as in expression (2), following from the hand side, the loads acting on joints A1 to A6 are determined.

[0030] In this case, the elasticity matrix is ​​K RBIn the expression above (1), the elasticity moduli of joints A1 to A6 are defined on the basis of the elasticity moduli of the joints, which are contained in the basic information about the robot system 10 stored in memory 3. Similarly, the elasticity matrix K NR in the above expression (1) is defined on the basis of the elastic moduli of the rotary screwdriver 30 and the workpiece 40 contained in the basic information on the robot system 10.

[0031] Furthermore, the tightening torque M T and the joint position P n In the above expressions (1) and (2), the values ​​are set based on the input information provided by the operator.

[0032] Memory 3 also stores permissible values ​​for the loads acting on joints A1 to A6. Each permissible value is determined by the load resistances set for the elements, such as a motor, a reduction gear, and a bearing, each forming one of the joints A1 to A6.

[0033] The processor 4 retrieves the mathematical model from memory 3 and calculates the retrieved mathematical model based on the input information entered by the input device 2 in order to calculate the loads acting on the joints A1 to A6 of the robot 20.

[0034] Processor 4 also retrieves the permissible values ​​for joints A1 to A6 stored in memory 3 and compares them with the calculated loads acting on joints A1 to A6 to determine whether the loads acting on joints A1 to A6 exceed the permissible values. Processor 4 then sends the results of this determination, along with the load percentages relative to the permissible values, to display unit 5.

[0035] The display unit 5, for example, is a monitor and displays the proportion values ​​sent by the processor 4 in connection with the joints A1 to A6, as shown in Fig. 5 is shown. If the display unit 5 receives a determination result from the processor 4 indicating that there are one or more joints that are subjected to a load exceeding the permissible value, the display unit 5 displays the proportion value corresponding to the joint in a display color that differs from the display color of the other proportion values.

[0036] The functionality of the computing device 1 designed in this way, according to the present embodiment, will now be described.

[0037] Referring to the flowchart in Fig. Section 6 presents an exemplary description of a method for calculating the loads acting on the joints A1 to A6 of the robot system 10, which performs a screwdriving task by operating the rotary screwdriver 30, as shown in Fig. 1 shown.

[0038] First, the operator uses the input device 2 to enter the input information relating to the robot system 10 (step S1). As a result, the processor 4 records the position of the robot 20, i.e., the angles of joints A1 to A6, during the screwing task, the arrangement of the screwdriver 30 and the workpiece 40, as well as the magnitude and direction of the tightening torque of the screwdriver 30.

[0039] Next, the processor 4 retrieves the mathematical model pre-stored in memory 3 and calculates the mathematical model based on the input information entered via the input device 2 (step S2).

[0040] In particular, the values ​​of the elasticity matrices K are determined first, as described above. RB and K NR , the Jacobi matrix J and the tightening torque M TThe system is set based on the basic information about the robot system 10 stored in memory 3 and the input information entered by the operator. The forces f acting in the rotary screwdriver area T2 are then calculated using expression (1). N and m N , i.e., the load acting on the hand position of the robot 20, is determined.

[0041] Next, the loads acting on joints A1 to A6 are calculated by successively calculating expression (2) starting with the joints on the distal side of the robot 20, based on the baseline and input information. Then, the load caused by the weight of the robot 20 and the rotary screwdriver 30 is added to the calculated loads acting on joints A1 to A6.

[0042] Using this calculation, the processor 4 calculates the respective magnitude of the loads that act on the joints A1 to A6 of the robot 20 as a result of the counterforce of the tightening torque generated when operating the rotary screwdriver 30 (step S3).

[0043] Processor 4 then retrieves the permissible values ​​for joints A1 to A6 from memory 3 and compares these permissible values ​​with the loads acting on joints A1 to A6, which were calculated using the mathematical model (step S4). Processor 4 also calculates the proportions of the calculated loads acting on joints A1 to A6 relative to the permissible values.

[0044] If the result of the determination shows that there are at least one or more joints that are subjected to a load exceeding the permissible value, the processor 4 sends a signal to the display unit 5 indicating this and showing the proportion values ​​of the loads in relation to the permissible values.

[0045] Display unit 5 shows the percentage values ​​received from processor 4. In this case, display unit 5 shows the percentage value for the joint subjected to a load exceeding the permissible value, i.e., the percentage value greater than 100%, in a display color different from the display color of the other percentage values.

[0046] In this way, display unit 5 indicates that the load exceeding the permissible value is acting on at least one of the joints A1 to A6 (step S5).

[0047] In this way, the operator can, by monitoring the display unit 5, obtain knowledge that at least one of the joints A1 to A6 is subjected to excessive load when the robot system 10 is instructed to perform the planned screwing task.

[0048] If the result of the determination carried out by the processor 4 shows that there is no joint on which a load exceeding the permissible value acts, the processor 4 sends a signal to the display unit 5 indicating this and showing the proportion values ​​of the loads in relation to the permissible values.

[0049] The display unit 5 then shows the percentage values ​​received from the processor 4 in the same way as above. In this case, however, no percentage value exceeds 100%, so the percentage values ​​are displayed in the same color. The display unit 5 shows a message that none of the joints A1 to A6 are subjected to a load exceeding the permissible values ​​(step S6).

[0050] This allows the operator to easily ascertain, by checking the display unit 5, that even when the robot system 10 is instructed to perform the planned screwing task, none of the joints A1 to A6 are subjected to excessive load.

[0051] The computing device 1 according to the present embodiment, as described above, enables a simulation to be carried out based on a dynamic model that includes not only the robot 20, but also the rotary screwdriver 30 and the workpiece 40. This also allows for simulations in the Fig. In the robot system 10 shown, when the rotary screwdriver 30 is operated, the loads acting on the joints A1 to A6 of the robot 20 as a result of the operation of the rotary screwdriver 30 are to be accurately estimated.

[0052] This allows the operator to detect, independently of the operation of the robot 20, whether joints A1 to A6 are being excessively stressed by an external force.

[0053] In this embodiment, the display unit 5 shows the proportions of the loads acting on the joints A1 to A6 as percent in relation to the permissible values ​​calculated by the processor 4, but the present invention is not limited thereto.

[0054] For example, display unit 5 can simply show a message or similar indicating that the joint is subjected to a load exceeding the permissible value, without showing the proportions of the loads acting on joints A1 to A6 in relation to the permissible values.

[0055] In the present embodiment, the display unit 5 is a monitor for displaying the proportional values ​​calculated by the processor 4. Alternatively, the display unit 5 can be a user interface, such as a touch panel, which also has the function of the input device 2, i.e., the function for receiving input information from the operator.

[0056] In this case, the display area of ​​display unit 5 can be divided into two areas and an icon for receiving input information, and the entered input information can be displayed in one of the two areas and the calculated proportion values ​​in the other area.

[0057] This allows the operator to confirm the simulation result and the input information used for the simulation in relation to each other. Based on the confirmed simulation result, the operator can also easily modify the input information and rerun the simulation.

[0058] This allows the operator to easily recognize the relationship between the input information and the loads acting on joints A1 to A6 and to easily check the conditions during the screwing task of the robot system 10.

[0059] In the present embodiment, the display unit 5 can display a 3D model that shows the target robot system 10 or a dynamic model corresponding to the target robot system 10.

[0060] This allows the operator to more intuitively recognize which joint is subject to a load exceeding the permissible value, thus facilitating the verification of the conditions during the screwing task, as in the case mentioned above.

[0061] In the present embodiment, the mathematical model stored in memory 3 is based on the Fig. 4 is derived from the dynamic model shown, but the dynamic model used to derive the mathematical model is not limited to this.

[0062] The dynamic model can, for example, be a model in which the joints A1 to A6 of the robot 20 are each defined by the combinations of elastic elements k J1 up to k J6The directions of rotation and of the elastic elements are defined in the directions intersecting the axes, i.e., the axis inclination directions. This allows for a more accurate simulation of the loads acting on the robot 20.

[0063] In the present embodiment, even if the screwdriver 30 and the workpiece 40 are not defined as elastic elements in the dynamic model, a calculation result can be obtained that does not differ significantly from the case in which the screwdriver 30 and the workpiece 40 are defined as elastic elements. In the Fig.In the dynamic model shown in Figure 4, the elastic elements k1 to k6, for example, whose stiffnesses are assumed to significantly exceed the stiffness of robot 20, are replaced by stiff elements; that is, the elastic moduli of the elastic elements are set to infinity. Conversely, the elastic elements k1 to k6, whose stiffnesses are assumed to be significantly less than the stiffness of robot 20, are replaced by free elements; that is, the elastic moduli of the elastic elements are set to zero. If all elastic elements k1 to k6 are replaced by stiff or free elements, a dynamic model is created in which the screwdriver 30 and the workpiece 40 are not defined as elastic elements. The use of this dynamic model can simplify the calculation of the mathematical model.

[0064] In the present embodiment, the processor 4 calculates the loads acting on the joints A1 to A6, but instead the processor 4 can calculate the amount of deformation of the joints A1 to A6 defined as elastic elements.

[0065] In this embodiment, the processor 4 can calculate the load or the amount of deformation of an element other than the joints A1 to A6 of the robot 20, or it can calculate the load or the amount of deformation of the rotary screwdriver 30 or the workpiece 40. In this case, the processor 4 can derive a mathematical model based on a dynamic model in which the target section is defined as an elastic element.

[0066] Furthermore, if it is estimated in this embodiment that one or more joints A1 to A6 are subjected to a load exceeding the permissible value, the processor 4 can search for a position of the robot 20 that reduces the load acting on this joint.

[0067] In this case, the position search can be performed using the following procedure. The robot system 10 can also perform the screwing task by rotating the screwdriver 30 about axis B. Since the robot 20 has six degrees of freedom, it can assume a position that corresponds to the position assumed when the screwdriver 30 is rotated about axis B. Therefore, the processor 4 again performs a simulation for the position of the robot 20 in which the screwdriver 30 is slightly rotated about axis B and compares the calculated loads acting on joints A1 to A6 with the permissible values.

[0068] By repeating this step, it is possible to find the position of the robot 20 in which the proportions of the loads acting on joints A1 to A6, relative to the permissible values, are minimal.

[0069] This allows the operator to easily check the position of the robot 20 during the screwing task based on the search results determined by the computing device 1.

[0070] In the present embodiment, if it is estimated that one or more joints are subjected to a load exceeding the permissible value, the processor 4 can search for an arrangement of the rotary screwdriver 30 and the workpiece 40 that reduces the load.

[0071] If the actual measured values ​​of the loads acting on joints A1 to A6 are available, the processor 4 in the present embodiment can acquire the actual measured values. The processor 4 then adjusts the values ​​of the elasticity matrices K. RB and K NR in the mathematical model such that the differences between the recorded actual measurements and the calculated loads acting on joints A1 to A6 are minimal, and the mathematical model is stored in memory 3.

[0072] This also improves the accuracy of the next and subsequent simulations performed by processor 4. In other words, processor 4 is equipped with a learning function.

[0073] In the present embodiment, the processor 4 compares the loads acting on the joints A1 to A6 with the permissible values ​​determined by the load resistances of the elements forming the joints A1 to A6. Alternatively, the processor 4 can compare each load with a threshold calculated on the basis of the corresponding permissible value, for example, with a value calculated by multiplying each permissible value by a safety factor greater than 0 and less than or equal to 1.

[0074] This allows the operator to assess the loads acting on joints A1 to A6 in relation to the permissible values ​​and tolerances. This reliably prevents loads greater than or equal to the permissible values ​​from acting on joints A1 to A6.

[0075] In the present embodiment, the computing device 1 is used in a screwing system in which the rotary screwdriver 30 is attached to the end of the wrist of the robot 20, but the system is not limited to this.

[0076] The computing device 1 can, for example, be applied to a robot system in which a tool, such as an engraving machine, a polishing tool or a drill, is attached to a power source at the end of the wrist of the robot 20.

[0077] Furthermore, in the present embodiment, the computing device 1 is used in the robot system 10, in which the rotary screwdriver 30 is actuated. Alternatively, the computing device 1 can be used in the robot system 10, where a predetermined task is performed by actuating the workpiece 40.

[0078] In the present embodiment, the computing device 1 is an offline computer. Alternatively, the computing device 1 can be integrated into a control unit for controlling the robot system 10.

[0079] The embodiment of the present disclosure has been described in detail above, but the present disclosure is not limited to the embodiment described above. Various additions, substitutions, modifications, deletions, and the like may be made to the embodiment without deviating from the essence of the invention or from the essence and scope of protection of the invention as defined in the claims and their equivalents. For example, in the embodiment described above, the sequence of steps and the sequence of processes are described as examples and not exhaustively.

[0080] Further features relating to the embodiment and modification described above are disclosed below. (Annex 1)

[0081] Computing device for simulating a robot system, comprising: a robot with a plurality of joints and a tool attached to the robot and designed to perform a predetermined task on a workpiece, wherein the task is performed by causing a force and / or torque generated by the tool or workpiece to act upon each other, wherein the computing device comprises: at least one processor;and at least one memory, wherein the memory stores a mathematical model in which the robot and / or the tool and / or the workpiece is defined as an elastic element, and the processor acquires input information comprising a position of the robot, an arrangement of the tool and the workpiece, and a magnitude and direction of the force and / or torque, and estimates a load or amount of deformation in the robot and / or tool and / or workpiece using the acquired input information and the mathematical model stored in the memory. (Annex 2)

[0082] Computing device for the robot system according to Annex 1, wherein the processor determines whether the estimated load or the estimated amount of deformation in each of the corresponding joints is within a range of permissible values ​​or not. (Annex 3)

[0083] Computing device for the robot system according to Annex 2, which further includes a display unit that shows a proportion of the estimated load or the estimated amount of deformation in relation to the permissible value. (Annex 4)

[0084] Computing device for the robot system according to Annex 3, wherein the display unit includes a user interface that receives input of the input information. (Annex 5)

[0085] Computing device for the robot system according to one of Annexes 2 to 4, wherein the processor searches for a position of the robot that reduces the load when the estimated load is higher than the permissible value. (Annex 6)

[0086] Computing device for the robot system according to one of Annexes 2 to 4, wherein the processor searches for an arrangement of the tool or workpiece which reduces the load when the estimated load is higher than the permissible value. (Annex 7)

[0087] Computing device for the robot system according to one of Annexes 1 to 6, wherein the processor acquires an actually measured value corresponding to the load or the amount of deformation, and, by using machine learning, adjusts a value corresponding to the elastic element in the mathematical model so that the load or the amount of deformation is closer to the actually measured value. {List of reference symbols} 1 calculating device 3 storage 4 processors 5 Display unit 10 robot systems 20 robots 30 screwdrivers (tools) 40 workpieces A1, A2, A3, A4, A5, A6 joint k j1 , k J2 , k J3 , k J4 , K J5 , k J6 Rotational elastic element k1, k2, k3 Rotational elastic element k4, k5, k6 Linear elastic element QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2018-030210

[0003]

Claims

[1] Computing device for simulating a robot system comprising: a robot with a plurality of joints and a tool attached to the robot and designed to perform a predetermined task on a workpiece, the task being performed by causing a force and / or torque generated by the tool or workpiece to act upon each other, wherein the computing device comprises: at least one processor; and at least one memory, wherein The memory stores a mathematical model in which the robot and / or the tool and / or the workpiece is defined as an elastic element, and The processor acquires input information that includes the position of the robot, the arrangement of the tool and workpiece, and the magnitude and direction of the force and / or torque, and estimates a load or deformation amount in the robot and / or tool and / or workpiece using the acquired input information and the mathematical model stored in memory. [2] Computing device for the robot system according to claim 1, wherein the processor determines whether the estimated load or the estimated amount of deformation in each of the corresponding joints is within a range of permissible values ​​or not. [3] Computing device for the robot system according to claim 2, which further comprises a display unit that displays a proportion of the estimated load or the estimated amount of deformation in relation to the permissible value. [4] Computing device for the robot system according to claim 3, wherein the display unit comprises a user interface which receives input of the input information. [5] Computing device for the robot system according to one of claims 2 to 4, wherein the processor searches for a position of the robot that reduces the load when the estimated load is higher than the permissible value. [6] Computing device for the robot system according to one of claims 2 to 4, wherein the processor searches for an arrangement of the tool or workpiece which reduces the load when the estimated load is higher than the permissible value. [7] Computing device for the robot system according to any one of claims 1 to 6, wherein the processor acquires an actually measured value corresponding to the load or the amount of deformation, and by using machine learning adjusts a value corresponding to the elastic element in the mathematical model so that the load or the amount of deformation is closer to the actually measured value.

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