Method for controlling a multi-joint robot, method for teaching a multi-joint robot, and robot system

Abstract

A single robot can perform the actions of multiple different types of robots. [Solution] The robot 10 control method is a control method for a multi-joint robot having seven or more joints, and the robot 10 is set up with multiple drive modes, each of which at least one of the multiple joint mechanisms JE is associated as the target joint mechanism JE to be driven, and the robot controller 30 selects one of the multiple drive modes and performs a calculation process including inverse kinematics calculation, which calculates the displacement amount of the target joint mechanism JE identified based on the selected drive mode among the multiple joint mechanisms JE by calculating the value of each element of the Jacobian matrix linked to the drive mode, thereby calculating joint values ​​for each state of the multiple joint mechanisms JE so that the robot 10 reaches the desired state, and controls the operation of the robot 10 based on the joint values ​​of the multiple joint mechanisms JE calculated in the calculation process.

Claims

1. A control method for an articulated robot having seven or more joints, which calculates and controls the displacement of the multiple joints by performing inverse kinematic calculations using the Jacobian matrix, A method for controlling an articulated robot, characterized in that the articulated robot has multiple drive modes set in which at least one of the multiple joints is associated as the joint to be driven, and by selecting one of the multiple drive modes, a Jacobian matrix that calculates the displacement amount of only the joint to be driven, which is stored in advance and linked to the multiple drive modes, is selected, and a calculation process including an inverse kinematics calculation is performed to calculate the displacement amount of the joint to be driven, which is identified based on the selected drive mode among the multiple joints, by calculating the value of each element of the Jacobian matrix linked to the drive mode, thereby calculating joint values ​​for the state of each of the multiple joints so that the articulated robot reaches a desired state, and the operation of the articulated robot is controlled based on the joint values ​​of the multiple joints calculated in the calculation process.

2. The method for controlling a multi-joint robot according to claim 1, characterized in that the plurality of joints include at least one linear joint.

3. A method for teaching an articulated robot having seven or more joints, which involves calculating and teaching the displacement amounts of the multiple joints by performing inverse kinematic calculations using the Jacobian matrix, A method for teaching an articulated robot, characterized in that the articulated robot has a plurality of drive modes set in which at least one of the plurality of joints is associated as the joint to be driven, and by selecting one of the plurality of drive modes, a Jacobian matrix that calculates the displacement amount of only the joint to be driven, which is stored in advance and linked to the plurality of drive modes, is selected, and a calculation process including an inverse kinematics calculation is performed to calculate the displacement amount of the joint to be driven, which is identified based on the selected drive mode among the plurality of joints, by calculating the value of each element of the Jacobian matrix linked to the drive mode, thereby calculating joint values ​​for the state of each of the plurality of joints so that the articulated robot reaches a desired state, and joint state information indicating the joint values ​​of the plurality of joints calculated in the calculation process is generated.

4. The method for teaching a multi-joint robot according to claim 3, characterized in that the plurality of joints include at least one linear joint.

5. The invention comprises a multi-joint robot having seven or more joints, with multiple drive modes set in which at least one of the multiple joints is associated as the joint to be driven, and a control device including a motion control unit that calculates the displacement of the multiple joints by performing inverse kinematic calculations using the Jacobian matrix, The robot system is characterized in that the motion control unit selects one of the plurality of drive modes, selects a Jacobian matrix that is pre-stored in association with the plurality of drive modes and calculates the displacement amount of only the joint to be driven, and performs a calculation process including an inverse kinematics calculation which calculates the displacement amount of the joint to be driven, which is identified based on the selected one drive mode among the plurality of joints, by calculating the value of each element of the Jacobian matrix associated with the one drive mode, thereby calculating joint values ​​for each of the plurality of joints so that the articulated robot reaches a desired state, and controls the motion of the articulated robot based on the joint values ​​of the plurality of joints calculated in the calculation process.

6. The articulated robot comprises a base, a first link, a second link, a tip, a first drive mechanism that rotates at least a portion of the base with respect to an axis whose angle with respect to a direction perpendicular to the bottom surface of the base is less than or equal to a predetermined angle, a second drive mechanism that connects the base and the first link and rotates the first link with respect to an axis whose angle with respect to a direction perpendicular to the bottom surface of the base is greater than the predetermined angle, and a third drive mechanism that connects the first link and the second link and rotates the first link with respect to an axis whose angle with respect to the direction in which the first link extends is greater than the predetermined angle. The system comprises: a third drive mechanism for rotating the second link relative to the first link; a fourth drive mechanism for rotating the tip of the second link relative to the second link, with the tip of the second link connected to the tip of the second link and the fourth rotation axis being an axis whose angle with respect to the direction in which the second link extends is greater than the predetermined angle; a first movement mechanism for moving the third drive mechanism relative to the first link along the direction in which the first link extends; and a second movement mechanism for moving the second link relative to the third drive mechanism along the direction in which the second link extends. The tip portion includes a first portion connected to the second link, a second portion connected to the first portion, a fifth drive mechanism that connects the first portion and the second portion and rotates the second portion relative to the first portion using a fifth rotation axis whose angle with the fourth rotation axis is greater than the predetermined angle, and a sixth drive mechanism that rotates at least a portion of the tip portion using a sixth rotation axis whose angle with the fifth rotation axis is greater than the predetermined angle. The robot system according to claim 5, characterized in that the plurality of joints are the first drive mechanism, the second drive mechanism, the third drive mechanism, the fourth drive mechanism, the fifth drive mechanism, the sixth drive mechanism, the first movement mechanism, and the second movement mechanism.

7. The robot system according to claim 6, characterized in that the plurality of drive modes include a first drive mode in which the first drive mechanism, second drive mechanism, third drive mechanism, fourth drive mechanism, fifth drive mechanism and sixth drive mechanism are joints of the target to be driven; a second drive mode in which the first movement mechanism and second movement mechanism are joints of the target to be driven; a third drive mode in which the first drive mechanism, first movement mechanism and second movement mechanism are joints of the target to be driven; a fourth drive mode in which the second drive mechanism, third drive mechanism, first movement mechanism and second movement mechanism are joints of the target to be driven; and a fifth drive mode in which all of the plurality of joints are joints of the target to be driven.

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