Control devices, teaching devices, and mechanical systems

Abstract

This control device comprises: a posture adjustment unit that, on the basis of reference information for the posture of a to-be-controlled part of a machine, adjusts the posture of the to-be-controlled part on the movement track thereof; and a control unit that controls the operation of the machine on the basis of the adjusted posture. The posture adjustment unit uses a reference point and / or a reference line as the reference information.

Description

Technical Field

[0001] The present invention relates to teaching technology and control technology of machines, and particularly to a control device, a teaching device, and a machine system that suppress sudden posture changes of a controlled part.

Background Art

[0002] In the operation program of machines such as robots and machine tools, the position and posture of the taught controlled part are associated with operation commands. A certain operation command uses the position of the previous operation command as the start position and the posture of the previous operation command as the start posture. The difference between the positions of two consecutive operation commands is the moving distance of the controlled part, and the difference between the postures of two consecutive operation commands is the amount of posture change of the controlled part. Also, the operation command includes the moving speed of the controlled part. From the moving speed and the moving distance, the moving time of the controlled part for one operation command is determined, and from the moving time and the amount of posture change, the posture change speed is automatically determined. That is, the instructor can specify the moving speed of the controlled part, but cannot specify the posture change speed of the controlled part.

[0003] By the way, in work that utilizes the operation trajectory of tools set as the controlled part of a machine, such as welding tools, painting tools, deburring tools, sealing tools, cutting tools, polishing tools, hemming tools, etc., even if the moving speed of the tool is constant, if the posture of the tool changes suddenly, the work quality may deteriorate. Therefore, the instructor teaches the posture of the tool so that the posture of the tool does not change suddenly. However, it is not easy to teach the posture of the tool so that the posture of the tool changes smoothly (that is, so that the posture change speed of the tool is generally constant).

[0004] Figures 15A and 15C are explanatory diagrams illustrating the problems with conventional posture teaching. As shown in Figure 15A, there are three consecutive teaching points P1 to P3 on the tool's movement trajectory, and the distance between teaching point P1 and teaching point P2 is three times the distance between teaching point P2 and teaching point P3. When teaching the tool at a constant movement speed, the rate of change in the tool's posture can be kept approximately constant by teaching the posture such that the amount of change in the tool's posture between teaching point P1 and teaching point P2 is three times the amount of change in the tool's posture between teaching point P2 and teaching point P3.

[0005] However, as shown in Figure 15B, if the tool's orientation is taught such that the amount of change in the tool's orientation between teaching point P2 and teaching point P3 is equal to or greater than the amount of change in the tool's orientation between teaching point P1 and teaching point P2, the rate of change in the tool's orientation between teaching point P2 and teaching point P3 will accelerate more rapidly than the rate of change in the tool's orientation between teaching point P1 and teaching point P2, as shown in Figure 15C. This will cause a decrease in the quality of work performed by the machine, such as welding quality, painting quality, deburring quality, sealing quality, cutting quality, and polishing quality.

[0006] As can be seen from Figure 15B, teaching a tool's posture in three-dimensional space so that the amount of change in the tool's posture triples requires trial and error and experience. A skilled teacher can teach the tool's posture so that the rate of change in the tool's posture between teaching points P1 to P3 is approximately constant, but it is not easy for an inexperienced teacher to teach the tool's posture so that the rate of change in the tool's posture is approximately constant. Related technologies related to this invention are known, as described below.

[0007] Patent Document 1 describes a tool path correction device for machining using a tool, in which the ratio AC5 / D5 of the tool angle change amount AC5 to the tool movement amount D5 is calculated for adjacent command points CP5 and command point CP6 in the tool movement path, and if the calculated ratio AC5 / D5 of the tool angle change amount AC5 is greater than or equal to a threshold, the location EP5 in the tool movement path, which is the combination of command points CP5 and command point CP6, is determined to be subject to correction.

[0008] Patent Document 2 describes reading the posture data portion of the first line in the teaching data file output from the CAD system into the variable Dpre, then reading the posture data portion of the next line into the variable Dcur, evaluating the magnitude of the difference between Dpre and Dcur |Dpre-Dcur|, and if the difference is greater than a reference amount, considering that the joint angle has changed abruptly, converting it to alternative posture data and assigning it to the variable Dcur, thereby updating the contents of the variable Dpre to the contents of the variable Dcur.

[0009] Patent Document 3 describes calculating the orientation of a tool attached to the tip of an industrial robot so that it corresponds to a plane-perpendicular vector perpendicular to the surface of the workpiece at each teaching point, detecting teaching points where the calculated orientation of the tool is uncertain, designating the detected teaching points as singular points, and recalculating the orientation of the tool at the singular points to determine the orientation of the tool at each teaching point.

[0010] Patent Document 4 describes reducing the velocity vP to a first condition velocity v1 when the angle θ between the line segment from the upstream teaching point P-1 of the movement path to the teaching point P where the velocity should be set and the line segment from the teaching point P to the downstream teaching point P+1 is large, or reducing the velocity vP to a second condition velocity when the posture of the teaching point P changes significantly from the posture of the robot at the upstream teaching point P-1 of the movement path. [Prior art documents] [Patent Documents]

[0011] [Patent Document 1] International Publication No. 2020 / 021793 [Patent Document 2] Japanese Patent Application Publication No. 04-268607 [Patent Document 3] Japanese Patent Application Publication No. 09-254062 [Patent Document 4] Japanese Patent Application Publication No. 2015-123517 [Overview of the Initiative] [Problems that the invention aims to solve]

[0012] In view of the problems of the conventional invention, the present invention aims to provide a technology that suppresses rapid changes in the posture of a controlled part of a machine. [Means for solving the problem]

[0013] One aspect of the present disclosure provides a control device comprising: an attitude adjustment unit that adjusts the attitude of a controlled part of a machine in the operating trajectory of the controlled part based on reference information of the attitude of the controlled part of the machine; and a control unit that controls the operation of the machine based on the adjusted attitude, wherein the attitude adjustment unit uses at least one of a reference point and a reference line as reference information. Another aspect of the present disclosure provides a teaching device comprising a posture adjustment unit that adjusts the posture of a controlled part in the operating trajectory of a controlled part of a machine based on reference information of the posture of the controlled part of the machine, wherein the posture adjustment unit uses at least one of a reference point and a reference line as reference information. Another aspect of the present disclosure provides a machine system comprising: a machine; an attitude adjustment unit that adjusts the attitude of a controlled part in the operating trajectory of the controlled part based on reference information of the attitude of the controlled part of the machine; and a control unit that controls the operation of the machine based on the adjusted attitude, wherein the attitude adjustment unit uses at least one of a reference point and a reference line as reference information. [Effects of the Invention]

[0014] According to any one aspect of this disclosure, the difference in the rate of change of posture of the controlled part for each motion command is automatically reduced, so that the controlled part of the machine changes at a generally constant rate of change of posture. In other words, because rapid changes in the posture of the controlled part are suppressed, a decrease in the quality of work performed by the machine can be suppressed. [Brief explanation of the drawing]

[0015] [Figure 1] This is a diagram showing the configuration of the mechanical system of the first embodiment. [Figure 2] This is a functional block diagram of the mechanical system of the first embodiment. [Figure 3]It is an explanatory diagram for explaining an example of an operation for performing posture adjustment according to a reference point. [Figure 4] It is a top view of the tool before posture adjustment according to a reference point and the tool after posture adjustment. [Figure 5] It is a top view of a tool showing an example of the amount of posture correction according to a reference point. [Figure 6] It is a diagram showing an example of a posture adjustment screen according to a reference point. [Figure 7] It is an explanatory diagram for explaining an example of an operation for performing posture adjustment according to a reference line. [Figure 8] It is a top view of a tool whose posture has been adjusted according to a reference line. [Figure 9A] It is a perspective view of a tool showing an example of the amount of posture correction according to a reference line. [Figure 9B] It is a top view of a tool showing an example of the amount of posture correction according to a reference line. [Figure 10] It is a diagram showing an example of a posture adjustment screen according to a reference line. [Figure 11] It is a flowchart showing an example of the posture adjustment method of the first embodiment. [Figure 12] It is a functional block diagram of the machine system of the second embodiment. [Figure 13] It is a flowchart showing an example of the posture adjustment method of the second embodiment. [Figure 14] It is a functional block diagram of the machine system of the third embodiment. [Figure 15A] It is an explanatory diagram for explaining the problems of the conventional posture teaching. [Figure 15B] It is an explanatory diagram for explaining the problems of the conventional posture teaching. [ [Figure 15C] It is an explanatory diagram for explaining the problems of the conventional posture teaching.

Modes for Carrying Out the Invention

[0016] Embodiments of this disclosure will be described in detail below with reference to the attached drawings. In each drawing, identical or similar components are denoted by the same or similar reference numerals. Furthermore, the embodiments described below are not intended to limit the technical scope of the invention as described in the claims or the meaning of the terms used.

[0017] The configuration of the first embodiment of the mechanical system 1 will be described below. Figure 1 is a diagram of the configuration of the mechanical system 1 of the first embodiment. The mechanical system 1 comprises a machine 2 and a control device 3 that controls the operation of the machine 2. The mechanical system 1 also includes a teaching device 4, which is not essential, for teaching the operation of the machine 2. The machine 2, the control device 3, and the teaching device 4 are connected to each other so as to be able to communicate with each other via wired or wireless connections.

[0018] Machine 2 is composed of a multi-joint robot, but is not limited to this, and in other embodiments, it may be composed of other industrial robots such as a single-joint robot, a parallel-link robot, or a dual-arm robot. In yet another embodiment, Machine 2 may be composed of other forms of robots such as humanoids instead of industrial robots. Or, in yet another embodiment, Machine 2 may be composed of other industrial machinery such as machine tools, construction machinery, agricultural machinery, or other forms of machinery such as vehicles, aircraft, or rockets instead of robots.

[0019] The machine 2 comprises one or more interconnected links 10 to 16. Links 11 to 16 are composed of pivot links that rotate around predetermined axes J1 to J6, but are not limited to this, and in other embodiments they may be composed of linear links that move linearly along predetermined axes. The zeroth link 10 is, for example, a base fixed in a predetermined position, and the first link 11 is, for example, a slewing body rotatably supported relative to the zeroth link 10 around the first axis J1. The second link 12 is, for example, an upper arm rotatably supported relative to the first link 11 around a second axis J2 perpendicular to the first axis J1, and the third link 13 is, for example, a forearm rotatably supported relative to the second link 12 around a third axis J3 parallel to the second axis J2.

[0020] The fourth link 14 to the sixth link 16 are, for example, a three-axis wrist attached to the third link 13. The fourth link 14 is, for example, a first wrist element rotatably supported relative to the third link 13 around a fourth axis J4 perpendicular to the third axis J3; the fifth link 15 is, for example, a second wrist element rotatably supported relative to the fourth link 14 around a fifth axis J5 perpendicular to the fourth axis J4; and the sixth link 16 is, for example, a third wrist element rotatably supported relative to the fifth link 15 around a sixth axis J6 perpendicular to the fifth axis J5.

[0021] Although not required, machine 2 may be equipped with a visual sensor 17 that acquires images of the workspace in which the workpiece or tool is located. The visual sensor 17 is located near the controlled part P of machine 2 (the tip of the tool 19 in this example), but is not limited to this, and may be located elsewhere in other embodiments. The visual sensor 17 is composed of a two-dimensional camera, but is not limited to this, and may be composed of a three-dimensional camera in other embodiments. The control device 3 or teaching device 4 may also obtain parameters such as the state of the workpiece, the position and orientation of the workpiece, the movement speed of the workpiece, the position and orientation of the controlled part P of machine 2, and the movement speed of the controlled part P of machine 2 from the detection information of the visual sensor 17.

[0022] Although not required, machine 2 may be equipped with a force detector 18 that detects the force acting on the controlled part P of machine 2. The force detector 18 consists of force sensors that detect force in the three axes and moment components around the three axes, but is not limited to this, and in other embodiments it may consist of force sensors that detect at least one force. Alternatively, in another embodiment, the force detector 18 may consist of one or more torque sensors provided at the connection points of links 11-16, rather than force sensors attached to the wrist. The torque sensors detect the torque acting on links 11-16. The control device 3 or teaching device 4 determines the magnitude and direction of the force applied to the workpiece (i.e., force parameters) from the detection information of the force detector 18, but is not limited to this, and in other embodiments it may also determine parameters such as the position and orientation of the workpiece, the movement speed of the workpiece, the position and orientation of the controlled part P of machine 2, and the movement speed of the controlled part P of machine 2.

[0023] Machine 2 further includes a tool 19 attached to the tip of machine 2. In this embodiment, the tool 19 consists of a welding tool for welding a workpiece, but is not limited thereto. In other embodiments, it may consist of other forms of tools such as a hand tool, a painting tool, a deburring tool, a sealing tool, a cutting tool, a polishing tool, or a hemming tool. In this embodiment, machine 2 performs a welding operation in which it welds workpiece W1 to workpiece W2 while moving the welding tool along a predetermined operating trajectory, but is not limited thereto. In other embodiments, it may perform a deburring operation in which it presses a workpiece held by a hand tool against a tool such as a deburring tool or a polishing tool while moving it along a predetermined operating trajectory to deburr or polish it, or it may perform various operations on a workpiece such as painting, sealing, cutting, or hemming while moving a painting tool, a sealing tool, a cutting tool, a hemming tool, etc., along a predetermined operating trajectory.

[0024] Machine 2 includes one or more actuators 20 that drive links 11 to 16, and an motion detector 21 that detects the operation of the actuators 20 (see Figure 2). The actuators 20 are located near the connection points of links 11 to 16. The actuators 20 are composed of electric actuators including electric motors, speed reducers, etc., but are not limited to these, and in other embodiments, they may be composed of other actuators such as hydraulic or pneumatic actuators. The motion detector 21 is composed of an encoder, but is not limited to this, and in other embodiments, it may be composed of other forms of motion detectors such as resolvers or Hall sensors. The control device 3 or teaching device 4 detects the operation of the actuators 20, including the position, velocity, acceleration, etc., from the detection information of the motion detector 21, but is not limited to these, and in other embodiments, it may also determine the position and orientation of the controlled part P of Machine 2, the moving speed of the controlled part P of Machine 2, etc.

[0025] The control device 3 includes a programmable logic controller (PLC), but is not limited thereto. In other embodiments, it may consist of other types of computer devices, such as processors, memory, and input / output interfaces, which are interconnected by a bus. The control device 3 includes a drive circuit for driving the actuator 20, but is not limited thereto. In other embodiments, the machine 2 may also include a drive circuit for driving the actuator 20. The control device 3 controls the operation of the machine 2 by driving the actuator 20. The control device 3 receives detection information from the vision sensor 17, force detector 18, motion detector 21, etc., and controls the operation of the machine 2 based on the detection information.

[0026] The control device 3 sets various coordinate systems, such as a world coordinate system, a machine coordinate system, a flange coordinate system, a tool coordinate system, a camera coordinate system, and a user coordinate system. These coordinate systems are composed of, for example, Cartesian coordinate systems. For the sake of simplicity, let's assume that the control device 3 has set a machine coordinate system C1, a tool coordinate system C2, and a user coordinate system C3. The machine coordinate system C1 is fixed to the reference position of the machine 2, for example, the base; the tool coordinate system C2 is fixed to the reference position of the tool 19, for example, the tool center point (TP); and the user coordinate system C3 is fixed to an arbitrary position, for example, the reference position of the workpiece W2.

[0027] The control device 3 sets the origin of the tool coordinate system C2 (i.e., the tool center point: TCP) to the controlled part P of the machine 2 (tool 19 in this example). Therefore, the position and orientation of the controlled part P of the machine 2 (also referred to as the position and orientation of the machine 2) are expressed as the position and orientation of the tool coordinate system C2 in the machine coordinate system C1, but are not limited to this. In other embodiments, the position and orientation of the controlled part P may also be expressed as the position and orientation of the flange coordinate system in the machine coordinate system C1, or as the tool coordinate system C2 in the user coordinate system C3. The control device 3 controls the operation of the machine 2 according to the operation program created by the teaching device 4.

[0028] The operation program includes various control commands, such as movement commands that move the controlled part P of machine 2 to teaching points that constitute the operation trajectory T of machine 2, force control commands that control the force applied to the workpiece, application commands that cause machine 2 to execute a predetermined operation pattern (palletizing, depalletizing, etc.), conditional branch commands that branch control commands under predetermined conditions, and loop commands that loop predetermined control commands under predetermined conditions. Movement commands, force control commands, and application commands are examples of operation commands that operate the controlled part P.

[0029] The teaching device 4 consists of a portable teach pendant that is wired or wirelessly connected to the control device 3 for communication, but is not limited to this. In other embodiments, it may consist of other forms of computer devices such as a teaching control panel, tablet, personal computer, or server device that are directly attached to the control device 3. The teaching device 4 includes a processor, memory, input / output interface, user interface, etc., which are interconnected by a bus. The user interface consists of a display such as a touch panel or display, and an input device such as a keyboard, buttons, or switches. The teaching device 4 includes program creation software that creates an operation program for the machine 2. The teaching device 4 sends the created operation program to the control device 3.

[0030] In the machine system 1 configured as described above, the control device 3 operates the machine 2 according to the operation program, and the machine 2 performs a welding operation in which it welds the first workpiece W1 to the second workpiece W2 using the tool 19. In addition to welding operations, in operations that utilize the movement trajectory of the tool 19, such as painting, deburring, sealing, cutting, polishing, and hemming, the quality of the work may deteriorate if the posture of the tool 19 changes abruptly. Therefore, the teacher teaches the posture of the tool 19 so that the posture of the tool 19 does not change abruptly. However, it is not easy to teach the posture of the tool 19 so that the posture of the tool 19 changes smoothly (i.e., so that the speed of posture change is approximately constant).

[0031] Therefore, the mechanical system 1 of this disclosure adjusts the posture of the tool 19 in the operating trajectory of the tool 19 based on reference information of the posture of the tool 19. In the mechanical system 1 of the first embodiment, the amount of posture correction for the tool 19 in the operating trajectory of the tool 19 is calculated based on reference information of the posture of the tool 19, and the posture information of the tool 19 used in the operating program of the machine 2 is corrected based on the posture correction amount.

[0032] The functional blocks of the first embodiment of the mechanical system 1 are described below. Figure 2 is a functional block diagram of the first embodiment of the mechanical system 1. The machine 2 includes one or more actuators 20 that drive links, and one or more motion detectors 21 that detect the operation of the actuators 20. The teaching device 4 includes a user interface (UI) unit 40 that teaches the operation of the machine 2 or checks the state of the machine 2. The sensor 5 consists of various sensors (such as a vision sensor 17 and a force detector 18) that detect various kinds of information.

[0033] The control device 3 includes a posture adjustment unit 30 for adjusting the posture of the tool 19, a storage unit 31 for storing various information such as the operation program 31a of the machine 2 and the position and posture of the tool 19 used in the operation program 31a, and a control unit 32 for controlling the operation of one or more actuators 20 (i.e., the machine 2) according to the operation program 31a and detection information from the motion detector 21 or sensor 5 (such as the vision sensor 17 or force detector 18).

[0034] The attitude adjustment unit 30, the reference information setting unit 30a, and the attitude correction amount calculation unit 30b are composed of one or more programs or program sections that are read and executed by a processor such as a PLC, CPU (central processing unit), or MPU (micro processing unit), but are not limited thereto, and in other embodiments they may be composed of one or more semiconductor integrated circuits.

[0035] The memory unit 31 consists of memory such as RAM (random access memory), ROM (read-only memory), and SSD (solid-state drive). The control unit 32 consists of one or more programs or program sections that are read and executed by a processor such as a PLC, CPU, or MPU, but is not limited to this, and in other embodiments it may consist of one or more semiconductor integrated circuits or one or more drive circuits.

[0036] The posture adjustment unit 30 includes a reference information setting unit 30a that sets reference information for the posture of the tool 19 based on various input information such as the UI unit 40, motion detector 21, and sensors 5 (such as the vision sensor 17 and force detector 18), and a posture correction amount calculation unit 30b that calculates the amount of posture correction for the tool 19 in the operating trajectory of the tool 19 based on the set reference information.

[0037] The posture adjustment unit 30 uses at least one of a reference point and a reference line as reference information for the posture of the tool 19. When the tool 19 moves along a curve, the reference information setting unit 30a sets the reference point as the rotation center point of the tool 19 in the movement trajectory of the tool 19. When the tool 19 moves along a curve while maintaining predetermined posture information, the reference information setting unit 30a sets the reference line as the rotation center axis of the tool 19 in the movement trajectory of the tool 19.

[0038] When the operating trajectory of tool 19 consists of curves, straight lines, and combinations thereof, the reference information setting unit 30a sets reference information for each teaching point or operating section that constitutes the operating trajectory. Therefore, the reference information setting unit 30a associates and records reference information for each teaching point or operating section that constitutes the operating trajectory of tool 19. In other words, the reference information setting unit 30a should switch and set the reference information for each teaching point or operating section that constitutes the operating trajectory of tool 19.

[0039] If the reference information is a reference point, the posture adjustment unit 30 adjusts the posture of the tool 19 using the reference point as the rotation center point of the tool 19 in the tool 19's movement trajectory. In other words, the posture correction amount calculation unit 30b calculates a posture correction amount that corrects the posture of the tool 19 in the direction of a straight line that passes through the reference point and the position of the tool 19 in the tool 19's movement trajectory. More specifically, the posture correction amount calculation unit 30b rotates the posture vector of the tool 19 around a correction rotation axis that is perpendicular to the plane in which the posture vector of the tool 19 before posture adjustment and the reference point exist, and passes through the position of the tool 19 in the tool 19's movement trajectory, and calculates a posture correction amount such that the posture vector passes through the reference point.

[0040] If the reference information is a reference line, the posture adjustment unit 30 adjusts the posture of the tool 19 using the reference line as the rotational axis of the tool 19 in the tool 19's movement trajectory. In other words, the posture correction amount calculation unit 30b calculates a posture correction amount that corrects the posture of the tool 19 in a direction in which the posture vector of the tool 19 passes through the position of the tool 19 in the tool 19's movement trajectory and intersects the reference line. More specifically, the posture correction amount calculation unit 30b rotates the posture vector of the tool 19 around a correction rotation axis that is parallel to the reference line and passes through the position of the tool 19 in the tool 19's movement trajectory, and calculates a posture correction amount that corrects the posture of the tool 19 in a direction in which the posture vector intersects the reference line.

[0041] The posture correction amount calculation unit 30b calculates the posture correction amount for each position of the tool 19 in the movement trajectory of the tool 19. Furthermore, if the movement trajectory of the tool 19 consists of a curve, a straight line, or a combination thereof, the posture correction amount calculation unit 30b calculates the posture correction amount by switching reference information for each position of the tool 19 in the movement trajectory of the tool 19 or for each movement section.

[0042] In the first embodiment, the posture correction amount calculation unit 30b corrects the posture information of the tool 19 used in the operation program 31a based on the calculated posture correction amount. The position information of the tool 19 used in the operation program 31a is not corrected by the posture correction amount calculation unit 30b. The control unit 32 controls the operation of the machine 2 according to the operation program 31a that uses the corrected posture of the tool 19.

[0043] As described above, when tool 19 moves along a curve, the posture of tool 19 is automatically adjusted based on the reference point, and when tool 19 moves along a curve while maintaining predetermined posture information, the posture of tool 19 is automatically adjusted based on the reference line. Furthermore, when the movement trajectory of tool 19 consists of a curve, a straight line, or a combination thereof, the posture of tool 19 is automatically adjusted based on a combination of the reference point and the reference line.

[0044] Therefore, even if the movement trajectory of tool 19 is complex, the attitude of tool 19 changes smoothly with simpler teaching compared to conventional methods, regardless of the teacher's experience level. In other words, abrupt changes in the attitude of tool 19 are suppressed. Consequently, differences in work quality due to differences in the teacher's skill level are reduced.

[0045] The following describes in detail an example of adjusting the orientation of tool 19 according to a reference point. Figure 3 is an explanatory diagram illustrating an example of the operation of adjusting the orientation according to a reference point. Figure 3 shows a welding operation in which a cylindrical first workpiece W1 is welded to a cylindrical second workpiece W2 while it is perpendicular to the workpiece. Since the machining line ML is composed of a curve, the operation trajectory of tool 19 is also composed of a curve along the machining line ML.

[0046] When the tool 19 moves along a curve, the reference information setting unit 30a sets a reference point RP as the rotation center point of the tool 19 in the tool 19's movement trajectory. In this example, the reference point RP is set to the intersection of the central axis O1 of the first workpiece W1 and the central axis O2 of the second workpiece W2. The posture adjustment unit 30 adjusts the posture of the tool 19 using the reference point RP as the rotation center point of the tool 19 in the tool 19's movement trajectory.

[0047] Figure 4 is a top view of tool 19 before posture adjustment (shown in white) and tool 19' after posture adjustment (shown in black) according to the reference point RP. The posture correction amount calculation unit 30b calculates a posture correction amount to correct the posture of tool 19 in the direction of a straight line L through which the posture vector of tool 19 passes the reference point RP and the teaching points P1 to P3 that constitute the movement trajectory of tool 19.

[0048] Figure 5 is a top view of tool 19 showing an example of an attitude correction amount θ corresponding to a reference point RP. The attitude correction amount calculation unit 30b rotates the attitude vector of tool 19 around a correction rotation axis CA that is perpendicular to the plane in which the attitude vector of tool 19 before attitude adjustment and the reference point RP exist, and passes through the teaching point P1, and calculates the attitude correction amount θ at which the attitude vector passes through the reference point RP. Since the attitude correction amount θ is a one-dimensional rotation amount around the correction rotation axis CA, the teacher can easily imagine the attitude of tool 19' after attitude adjustment.

[0049] As described above, when performing attitude adjustment according to the reference point RP, the teacher sets the attitude adjustment in advance using the teaching device 4. Figure 6 shows an example of the attitude adjustment screen 41 according to the reference point RP. The attitude adjustment screen 41 is generated by the attitude adjustment unit 30 and displayed on the UI unit 40. The attitude adjustment screen 41 has setting functions for reference information type 42, reference information setting button 44, attitude adjustment mode 45, attitude correction amount record 46, and trajectory history table 47. The setting functions for reference information type 42 and reference information setting 44 are implemented by the reference information setting unit 30a, and the setting functions for attitude adjustment mode 45, attitude correction amount record 46, and trajectory history table 47 are implemented by the attitude correction amount calculation unit 30b.

[0050] When performing posture adjustments according to a reference point RP, the instructor sets the reference information type 42 to "reference point". When reference information type 42 is set, the reference information number 43, "1", which identifies the reference point RP, is automatically assigned to the reference information. In other words, the reference information setting unit 30a is configured to allow setting multiple reference points for a single movement trajectory of the tool 19.

[0051] Next, the instructor presses the reference information setting button 44 to display the reference information setting window (not shown), and sets the reference point RP in the reference information setting window.

[0052] One possible method for setting the reference point RP is as follows: (1) The instructor inputs the position (X, Y, Z) of one point. The reference information setting unit 30a sets the input point as the reference point RP. (2) The instructor inputs the positions (X, Y, Z) of two points. The reference information setting unit 30a sets the midpoint of the two points as the reference point RP. (3) The instructor inputs the position and orientation (X,Y,Z,W,P,R) and distance of a point. The reference information setting unit 30a sets a reference point RP which is located at a specified distance from position (X,Y,Z) on a straight line passing through position (X,Y,Z) and is in the same direction as the orientation vector obtained from orientation (W,P,R). (4) The instructor inputs the positions (X, Y, Z) and distance between the two points. The reference information setting unit 30a sets a reference point RP that is located at a specified distance from one of the points on the straight line connecting the two points. (5) The instructor inputs the positions (X, Y, Z) of three points. The reference information setting unit 30a sets the center point of the circle passing through the three points as the reference point RP. (6) The instructor inputs four or more points (X, Y, Z). The reference information setting unit 30a calculates the center point of a circle passing through three points for each combination of three points, and then sets the average position of all the center points of the circles as the reference point RP.

[0053] Furthermore, the following methods can be used to input the source information for the reference point RP (information such as the position, orientation, and distance of the above-mentioned point). (1) The original information of the reference point RP is input by actually moving the machine 2 using the teaching device 4 and touching up the tool 19 on the workpiece. Alternatively, the original information of the reference point RP is input by moving the model of the machine 2 in a virtual space using the teaching device 4 and touching up the tool 19 on the model of the workpiece. (2) The numerical values ​​of the original information for the reference point RP are directly entered manually on the teaching device 4. (3) The machine 2 is actually operated using the teaching device 4, and the original information of the reference point RP is automatically input from the detection information of the motion detector 21 and sensors 5 (such as the vision sensor 17 and force detector 18). Alternatively, the machine 2 model is operated in a virtual space using the teaching device 4, and the original information of the reference point RP is automatically input from the detection information of the model of the motion detector 21.

[0054] Next, the teacher sets the posture adjustment mode 45 to "enabled". When the posture adjustment mode 45 is set to "enabled", when the teacher is teaching the movement trajectory of the tool 19, or when already taught teaching points P1, P2, P3 or movement interval P1~P3 are selected in the trajectory history table 47, the posture correction amount calculation unit 30b calculates the posture correction amount θ of the tool 19 based on the reference point RP and the positions and postures (X,Y,Z,W,P,R) of the teaching points P1~P3 that constitute the movement trajectory of the tool 19, and overwrites the posture (W,P,R) information of the tool 19 used in the operation program 31a of the machine 2 based on the posture correction amount θ.

[0055] On the other hand, if the instructor sets the posture adjustment mode 45 to "disabled", the posture correction amount calculation unit 30b does not calculate the posture correction amount θ of the tool 19, nor does it overwrite the posture (W, P, R) information of the controlled part P used in the operation program 31a of the machine 2.

[0056] Furthermore, if the calculated posture correction amount θ is not recorded, the instructor sets the posture correction amount record 46 to "disabled". When the posture correction amount record 46 is set to "disabled", the posture correction amount θ is not recorded, and therefore the overwritten posture (W, P, R) information used in the operation program 31a cannot be restored to its original state.

[0057] On the other hand, when recording the calculated posture correction amount θ, the instructor sets the posture correction amount record 46 to "enabled". When the posture correction amount record 46 is set to "enabled", the posture adjustment unit 30 records the posture correction amount θ for each position of the tool 19 in the movement trajectory of the tool 19. When the posture adjustment mode 45 is changed from "enabled" to "disabled", the posture adjustment unit 30 restores the overwritten posture (W, P, R) information used in the operation program 31a based on the recorded posture correction amount θ.

[0058] As described above, the instructor simply sets the reference point RP on the posture adjustment screen 41 and sets the posture adjustment mode 45 to "enabled," and the posture of the tool 19 is automatically adjusted based on the reference point RP. Therefore, even when the tool 19 moves along a curve, the posture of the tool 19 changes smoothly with simpler teaching compared to conventional methods, regardless of the instructor's experience level. In other words, abrupt changes in the posture of the tool 19 are suppressed. Consequently, differences in work quality due to differences in the instructor's skill level are reduced.

[0059] The following describes in detail an example of adjusting the orientation of tool 19 according to a reference line. Figure 7 is an explanatory diagram illustrating an example of the operation of adjusting the orientation according to a reference line. Figure 7 shows a welding operation in which an S-shaped first workpiece W1 is welded perpendicularly to a plate-shaped second workpiece W2. Since the machining line ML is composed of a curve, the operating trajectory of tool 19 is also composed of a curve along the machining line ML. The orientation of tool 19 is taught in advance at a predetermined angle α so as not to interfere with the first workpiece W1 or the second workpiece W2.

[0060] When the tool 19 moves along the curve while maintaining a predetermined angle α, the reference information setting unit 30a sets reference lines RL1 and RL2 as the rotational axis of the tool 19 in the tool 19's movement trajectory. In this example, the two reference lines RL1 and RL2 are set for each peak of the curve that constitutes the machining line ML. The posture adjustment unit 30 adjusts the posture of the tool 19 using the two reference lines RL1 and RL2 as the rotational axis of the tool 19 in the tool 19's movement trajectory.

[0061] Figure 8 is a top view of tool 19 before posture adjustment (shown in white) and tool 19' after posture adjustment (shown in black) according to reference lines RL1 and RL2. The posture correction amount calculation unit 30b calculates a posture correction amount to correct the posture of tool 19 in the direction in which the posture vector of tool 19 passes through teaching points P1 to P3 that constitute the movement trajectory of tool 19 and intersects with the first reference line RL1. Similarly, the posture correction amount calculation unit 30b calculates a posture correction amount to correct the posture of tool 19 in the direction in which the posture vector of tool 19 passes through teaching points P4 to P7 that constitute the movement trajectory of tool 19 and intersects with the second reference line RL2.

[0062] Figure 9A is a perspective view of tool 19 showing an example of an attitude correction amount θ corresponding to the reference line RL1, and Figure 9B is a top view of tool 19 showing an example of an attitude correction amount θ corresponding to the reference line RL1. The attitude correction amount calculation unit 30b rotates the attitude vector of tool 19 around the correction rotation axis CA1, which is parallel to the reference line RL1 and passes through the teaching point P1 that constitutes the operation trajectory of tool 19, and calculates an attitude correction amount θ that corrects the attitude of tool 19 in the direction in which the attitude vector intersects the reference line RL1. Since the attitude correction amount θ is a one-dimensional rotation amount around the correction rotation axis CA1, the teacher can easily imagine the attitude of tool 19' after attitude adjustment.

[0063] As described above, when performing attitude adjustments according to the reference lines RL1 and RL2, the teacher pre-configures the attitude adjustment settings using the teaching device 4. Figure 10 shows an example of the attitude adjustment screen 41 according to the reference lines RL1 and RL2. The attitude adjustment screen 41 is generated by the attitude adjustment unit 30 and displayed on the UI unit 40. The attitude adjustment screen 41 includes setting functions for reference information type 42, reference information setting button 44, attitude adjustment mode 45, attitude correction amount record 46, and trajectory history table 47. The setting functions for reference information type 42 and reference information setting button 44 are implemented by the reference information setting unit 30a, and the setting functions for attitude adjustment mode 45, attitude correction amount record 46, and trajectory history table 47 are implemented by the attitude correction amount calculation unit 30b.

[0064] When performing attitude adjustments according to reference lines RL1 and RL2, the instructor sets the reference information type 42 to "reference line". When reference information type 42 is set, the reference information number 43, "2", which identifies reference line RL2, is automatically assigned to the reference information. In other words, the reference information setting unit 30a is configured to allow setting multiple reference lines for a single operating trajectory of the tool 19.

[0065] In this example, the baseline RL1 is already set, and the instructor presses the baseline information setting button 44 to display the baseline information setting window (not shown), and sets the baseline RL2 in the baseline information setting window.

[0066] One possible method for setting the reference line RL2 is as follows: (1) The instructor inputs the position and orientation (X, Y, Z, W, P, R) of a point. The reference information setting unit 30a sets a straight line passing through the position and orientation (X, Y, Z, W, P, R) of the input point as the reference line RL2. (2) The instructor inputs the positions (X, Y, Z) of two points. The reference information setting unit 30a sets the straight line passing through the two points as the reference line RL2.

[0067] Furthermore, the following methods can be used to input the original information of the reference line RL2 (information such as the position and orientation of the above points). (1) The original information of the reference line RL2 is input by actually moving the machine 2 using the teaching device 4 and touching up the tool 19 on the workpiece. Alternatively, the original information of the reference line RL2 is input by moving the model of the machine 2 in a virtual space using the teaching device 4 and touching up the tool 19 on the model of the workpiece. (2) The numerical values ​​of the original information for the reference line RL2 are directly entered manually on the teaching device 4. (3) The machine 2 is actually operated using the teaching device 4, and the original information of the reference line RL2 is automatically input from the detection information of the motion detector 21 and sensors 5 (such as the vision sensor 17 and force detector 18). Alternatively, the machine 2 model is operated in a virtual space using the teaching device 4, and the original information of the reference line RL2 is automatically input from the detection information of the model of the motion detector 21.

[0068] Next, the instructor sets the posture adjustment mode 45 to "enabled". When the posture adjustment mode 45 is set to "enabled", when the instructor is teaching the movement trajectory of the tool 19, or when a previously taught teaching point or movement section is selected in the trajectory history table 47, the posture correction amount calculation unit 30b calculates the posture correction amount θ of the tool 19 based on the reference line RL2 and the position and posture (X,Y,Z,W,P,R) of the teaching point P5 that constitutes the movement trajectory of the tool 19, and overwrites the posture (W,P,R) information of the controlled part P used in the operation program 31a of the machine 2 based on the calculated posture correction amount θ.

[0069] On the other hand, if the instructor sets the posture adjustment mode 45 to "disabled", the posture correction amount calculation unit 30b does not calculate the posture correction amount θ of the tool 19, nor does it overwrite the posture (W, P, R) information of the tool 19 used in the operation program 31a of the machine 2.

[0070] Furthermore, if the calculated posture correction amount θ is not recorded, the instructor sets the posture correction amount record 46 to "disabled". When the posture correction amount record 46 is set to "disabled", the posture correction amount θ is not recorded, and therefore the overwritten posture (W, P, R) information of the tool 19 used in the operation program 31a cannot be restored to its original state.

[0071] On the other hand, when recording the calculated posture correction amount θ, the instructor sets the posture correction amount record 46 to "enabled". When the posture correction amount record 46 is set to "enabled", the posture adjustment unit 30 records the posture correction amount θ for each position of the tool 19 in the movement trajectory of the tool 19. When the posture adjustment mode 45 is changed from "enabled" to "disabled", the posture adjustment unit 30 restores the overwritten posture (W, P, R) information of the tool 19 used in the operation program 31a based on the recorded posture correction amount θ.

[0072] As described above, the instructor simply sets the reference lines RL1 and RL2 on the posture adjustment screen 41 and sets the posture adjustment mode 45 to "enabled," and the posture of the tool 19 is automatically adjusted based on the reference lines RL1 and RL2. Therefore, even when the tool 19 moves along a curve while maintaining a predetermined angle α, the posture of the tool 19 changes smoothly with simpler instruction compared to conventional methods, regardless of the instructor's experience level. In other words, abrupt changes in the posture of the tool 19 are suppressed. Consequently, differences in work quality due to differences in the instructor's skill level are reduced.

[0073] The following describes an example of the posture adjustment method of the first embodiment. Figure 11 is a flowchart of an example of the posture adjustment method of the first embodiment. In step S10, reference information including at least one of a reference point and a reference is set. The reference information is set on the posture adjustment screen 41 described above. In step S11, the position and posture of the tool 19 in the operating trajectory of the tool 19 are obtained during or after teaching of the machine 2.

[0074] The following are some examples of methods for obtaining the position and orientation of tool 19 in the operating trajectory of tool 19. (1) The position and orientation (X, Y, Z, W, P, R) of the tool 19 in the operating trajectory of the tool 19 are obtained by actually moving the machine 2 using the teaching device 4 or by moving a model of the machine 2 in a virtual space using the teaching device 4. (2) The numerical values ​​of the position and orientation (X, Y, Z, W, P, R) of the tool 19 in the operating trajectory of the tool 19 are directly input manually on the teaching device 4. (3) The machine 2 is actually moved using the teaching device 4, or a model of the machine 2 is moved in a virtual space using the teaching device 4, and the position and orientation (X, Y, Z, W, P, R) of the tool 19 in the movement trajectory of the tool 19 are automatically input from the detection information of the motion detector 21 and the sensors 5 (such as the vision sensor 17 and the force detector 18). (4) The position and orientation (X, Y, Z, W, P, R) of the tool 19 in the operating trajectory of the tool 19 used in the created operating program 31a are obtained from the information of the tool 19.

[0075] In step S12, the attitude correction amount for tool 19 is calculated from the reference information and the position and attitude of tool 19 in the operating trajectory of tool 19. In step S13, the attitude (W, P, R) information used in the operation program 31a is corrected based on the attitude correction amount. In step S12 or step S13, the attitude correction amount may be recorded so that the overwritten attitude (W, P, R) information in the operation program 31a can be restored to its original state.

[0076] As described above, in the posture adjustment method of the first embodiment, the posture information (W, P, R) of the tool 19 used in the operation program 31a is corrected during or after teaching of the machine 2. Therefore, regardless of the teacher's experience level, rapid changes in the posture of the tool 19 are suppressed with simpler teaching compared to conventional methods. Consequently, differences in work quality due to differences in the teacher's skill level are reduced.

[0077] The functional blocks of the second embodiment of the mechanical system 1 will be described below. Figure 12 is a functional block diagram of the second embodiment of the mechanical system 1. The second embodiment of the mechanical system 1 differs from the first embodiment of the mechanical system 1 in that the posture adjustment unit 30 calculates the posture correction amount 31b of the tool 19 during the operation of the machine 2, and the control unit 32 corrects the posture of the tool 19 during the operation of the machine 2 based on the posture correction amount 31b. In addition, the posture adjustment unit 30 may record the calculated posture correction amount 31b in the storage unit 31, and the control unit 32 may correct the posture of the tool 19 based on the recorded posture correction amount 31b in subsequent operations of the machine 2.

[0078] In the second embodiment, the teacher pre-sets at least one of the reference point and reference line on the posture adjustment screen 41, as shown in Figures 6 and 10. The teacher also sets the posture adjustment mode 45 to "enabled". When the posture adjustment mode 45 is set to "enabled", the control unit 32 controls the operation of the machine 2 according to the operation program 31a and detection information from the motion detector 21 or sensor 5 (such as the visual sensor 17 or force detector 18). The posture correction amount calculation unit 30b calculates the posture correction amount 31b of the tool 19 based on reference information including at least one of the reference point and reference line, and the position and posture (X, Y, Z, W, P, R) of the tool 19 in the operation trajectory of the tool 19. The control unit 32 then corrects the posture of the tool 19 during the operation of the machine 2 based on the posture correction amount 31b.

[0079] On the other hand, if the posture adjustment mode 45 is set to "disabled", the posture correction amount calculation unit 30b does not calculate the posture correction amount 31b of the tool 19 during the operation of the machine 2, and the control unit 32 does not correct the posture of the tool 19 during the operation of the machine 2.

[0080] Furthermore, if the previously calculated posture correction amount 31b for tool 19 is to be used in subsequent operations of machine 2, the instructor sets the posture correction amount record 46 to "enabled". When the posture correction amount record 46 is set to "enabled", the posture correction amount calculation unit 30b calculates the posture correction amount 31b during the operation of machine 2, records the posture correction amount 31b in the storage unit 31, and the control unit 32 corrects the posture of tool 19 during the operation of machine 2 based on the recorded past posture correction amount 31b.

[0081] On the other hand, if the posture correction amount record 46 is set to "disabled", the posture correction amount calculation unit 30b recalculates the posture correction amount 31b of the tool 19 each time the machine 2 operates, and the control unit 32 corrects the posture of the tool 19 during the operation of the machine 2 based on the recalculated posture correction amount 31b. In other words, even if the position and posture of the tool 19 are changed by other functions while the operation program 31a of the machine 2 is being executed, the control unit 32 corrects the posture of the tool 19 during the operation of the machine 2 based on the recalculated posture correction amount 31b of the tool 19, so that sudden changes in the posture of the tool 19 are suppressed regardless of whether the position and posture of the tool 19 are changed by other functions.

[0082] The following describes an example of the posture adjustment method of the second embodiment. Figure 13 is a flowchart of an example of the posture adjustment method of the second embodiment. In step S20, reference information including at least one of a reference point and a reference line is set. The reference information is set on the posture adjustment screen 41 described above. In step S21, the position and posture of the tool 19 in the operating trajectory of the tool 19 are acquired while the machine 2 is in operation.

[0083] The following are some examples of methods for obtaining the position and orientation of tool 19 in the operating trajectory of tool 19. (1) Obtain the position and orientation (X, Y, Z, W, P, R) information of the tool 19 used in the created operation program 31a. (2) While the machine 2 is in operation, the position and orientation (X, Y, Z, W, P, R) of the tool 19 in the movement trajectory of the tool 19 are automatically input from the motion detector 21 and the sensor 5 (such as the vision sensor 17 and the force detector 18).

[0084] In step S22, the attitude correction amount is calculated from the reference information and the position and attitude of the tool 19 in the operating trajectory of the tool 19. In step S23, the attitude (W, P, R) of the controlled part P is corrected during the operation of the machine 2 based on the attitude correction amount of the tool 19. In step S22 or step S23, the attitude correction amount may be recorded so that the attitude of the tool 19 can be corrected during subsequent operations of the machine 2.

[0085] As described above, in the posture adjustment method of the second embodiment, the posture (W, P, R) of the tool 19 is corrected during the operation of the machine 2. Therefore, even if the position and posture of the tool 19 are changed by other functions during the execution of the operation program 31a, abrupt changes in the posture of the tool 19 are suppressed. Consequently, differences in work quality due to whether or not the position and posture of the tool 19 are changed by other functions are reduced.

[0086] The functional blocks of the mechanical system 1 of the third embodiment will now be described. Figure 14 is a functional block diagram of the mechanical system 1 of the third embodiment. The mechanical system 1 of the third embodiment differs from the mechanical system 1 of the first or second embodiment in that the teaching device 4 has the posture adjustment unit 30, rather than the control device 3 having the posture adjustment unit 30 for adjusting the posture of the tool 19. In addition, although not essential, the teaching device 4 may further include a storage unit 31 for storing various information such as the operation program 31a and the posture correction amount 31b. Note that the posture adjustment method of the third embodiment is the same as the posture adjustment method of the first embodiment and the posture adjustment method of the second embodiment, so a description will be omitted.

[0087] According to the above embodiment, the difference in the rate of change of the tool 19's posture for each operation command is automatically reduced, and the tool 19 changes at a generally constant rate of change of posture. In other words, abrupt changes in the posture of the tool 19 are suppressed, which can suppress a decrease in the quality of work performed by the machine 2.

[0088] Furthermore, when correcting the posture information of the tool 19 used in the operation program 31a during or after teaching the machine 2, rapid changes in the posture of the controlled part P can be suppressed with simpler teaching compared to conventional methods, regardless of the teacher's experience level. Consequently, differences in work quality due to differences in the teacher's skill level are reduced.

[0089] Furthermore, when correcting the posture of tool 19 during the operation of machine 2, even if the position and posture of tool 19 are changed by other functions during the execution of the operation program 31a, abrupt changes in the posture of tool 19 are suppressed. Consequently, differences in work quality due to whether or not the position and posture of tool 19 are changed by other functions are reduced.

[0090] The aforementioned program or software may be provided by recording it on a computer-readable non-temporary recording medium, such as a CD-ROM, or by distributing it via wired or wireless connection from a server device on a WAN (wide area network) or LAN (local area network).

[0091] Although various embodiments have been described herein, it should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the following claims. [Explanation of symbols]

[0092] 1. Mechanical Systems (Robot Systems) 2. Machines (Robots) 3. Control device 4. Teaching device 5 sensors Links 10-16 17 Visual CAM 18 Force detector 19 Tools 19' Tools after posture adjustment 20 Actuators 21. Motion detector 30 Posture adjustment section 30a Reference Information Setting Unit 30b Attitude correction amount calculation unit 31 Storage section 31a Operating Program 31b Posture correction amount 32 Control Unit 40 User Interface Section 41 Posture adjustment screen 42. Reference Information Types 43. Standard Information Number 44 Setting of Reference Information 45 Posture adjustment mode 46. ​​Posture Correction Amount Record 47 Orbital History Table C1 Machine Coordinate System C2 Tool Coordinate System C3 User Coordinate System CA, CA1, CA2 Correction Rotation Axis J1~J6 axis ML processing line O1, O2 Workpiece central axis P: Target area for control P1~P4 teaching points RP reference point RL1, RL2 Reference Lines T motion trajectory W1, W2 Work α Predetermined angle θ Posture correction amount

Claims

1. A posture adjustment unit that adjusts the posture of the controlled part of a machine in the operating trajectory of the controlled part based on reference information of the posture of the controlled part of the machine, A control unit that controls the operation of the machine based on the adjusted posture, Equipped with, The posture adjustment unit uses a reference point as the reference information, A control device wherein, when the reference information is the reference point, the attitude adjustment unit adjusts the attitude of the controlled part using the reference point as the rotation center point of the controlled part in the operating trajectory of the controlled part.

2. A posture adjustment unit that adjusts the posture of the controlled part of a machine in the operating trajectory of the controlled part based on reference information of the posture of the controlled part of the machine, A control unit that controls the operation of the machine based on the adjusted posture, Equipped with, The posture adjustment unit uses the reference line as the reference information, A control device wherein, when the reference information is the reference line, the attitude adjustment unit adjusts the attitude of the controlled part using the reference line as the rotational axis of the controlled part in the operating trajectory of the controlled part.

3. The aforementioned posture adjustment unit is A reference information setting unit for setting the aforementioned reference information, A posture correction amount calculation unit calculates a posture correction amount for the controlled part based on the reference information and the position and posture of the controlled part in the operating trajectory of the controlled part. A control device according to claim 1 or 2, comprising:

4. A posture adjustment unit that adjusts the posture of the controlled part of a machine in the operating trajectory of the controlled part based on reference information of the posture of the controlled part of the machine, A control unit that controls the operation of the machine based on the adjusted posture, Equipped with, The posture adjustment unit uses a reference point as the reference information, The aforementioned posture adjustment unit is A reference information setting unit for setting the aforementioned reference information, A posture correction amount calculation unit calculates a posture correction amount for the controlled part based on the reference information and the position and posture of the controlled part in the operating trajectory of the controlled part. Equipped with, When the reference information is the reference point, the posture correction amount calculation unit rotates the posture vector of the controlled part before posture adjustment around a correction rotation axis perpendicular to the plane in which the reference point exists and which passes through the position of the controlled part in the movement trajectory of the controlled part, and calculates a posture correction amount such that the posture vector passes through the reference point.

5. A posture adjustment unit that adjusts the posture of the controlled part of a machine in the operating trajectory of the controlled part based on reference information of the posture of the controlled part of the machine, A control unit that controls the operation of the machine based on the adjusted posture, Equipped with, The posture adjustment unit uses the reference line as the reference information, The aforementioned posture adjustment unit is A reference information setting unit for setting the aforementioned reference information, A posture correction amount calculation unit calculates a posture correction amount for the controlled part based on the reference information and the position and posture of the controlled part in the operating trajectory of the controlled part. Equipped with, When the reference information is the reference line, the attitude correction amount calculation unit rotates the attitude vector of the controlled part around the correction rotation axis which is parallel to the reference line and passes through the position of the controlled part in the movement trajectory of the controlled part, and calculates an attitude correction amount that corrects the attitude of the controlled part in the direction in which the attitude vector intersects the reference line.

6. The control device according to any one of claims 3 to 5, wherein the reference information setting unit records the reference information associated with each teaching point or each operating interval that constitutes the operating trajectory of the controlled part, or switches and sets the reference information for each teaching point or each operating interval that constitutes the operating trajectory.

7. The control device according to any one of claims 3 to 6, wherein the attitude correction amount calculation unit calculates the attitude correction amount by switching the reference information for each position of the controlled part in the operating trajectory of the controlled part or for each operating interval of the controlled part.

8. The control device according to any one of claims 3 to 7, wherein the posture correction amount calculation unit records the posture correction amount of the controlled part.

9. The control device according to any one of claims 3 to 8, wherein the posture correction amount calculation unit calculates the posture correction amount of the controlled part during or after teaching the machine, and corrects the posture information of the controlled part used in the machine's operation program.

10. The control device according to any one of claims 3 to 9, wherein the posture correction amount calculation unit calculates the posture correction amount of the controlled part during the operation of the machine, and the control unit corrects the posture of the controlled part during the operation of the machine based on the posture correction amount.

11. The machine includes a posture adjustment unit that adjusts the posture of the controlled part in the operating trajectory of the controlled part based on reference information of the posture of the controlled part of the machine, and the posture adjustment unit uses a reference point as the reference information. A teaching device in which, when the reference information is the reference point, the attitude adjustment unit adjusts the attitude of the controlled part using the reference point as the rotation center point of the controlled part in the operating trajectory of the controlled part.

12. The machine includes a posture adjustment unit that adjusts the posture of the controlled part in the operating trajectory of the controlled part based on reference information of the posture of the controlled part of the machine, and the posture adjustment unit uses a reference line as the reference information. A teaching device in which, when the reference information is the reference line, the attitude adjustment unit adjusts the attitude of the controlled part using the reference line as the rotational axis of the controlled part in the operating trajectory of the controlled part.

13. Machines and, A posture adjustment unit that adjusts the posture of the controlled part in the operating trajectory of the controlled part of the machine based on reference information of the posture of the controlled part of the machine, A control unit that controls the operation of the machine based on the adjusted posture, Equipped with, The posture adjustment unit uses a reference point as the reference information, A mechanical system in which, when the reference information is the reference point, the posture adjustment unit adjusts the posture of the controlled part using the reference point as the rotation center point of the controlled part in the operating trajectory of the controlled part.

14. Machines and, A posture adjustment unit that adjusts the posture of the controlled part in the operating trajectory of the controlled part of the machine based on reference information of the posture of the controlled part of the machine, A control unit that controls the operation of the machine based on the adjusted posture, Equipped with, The posture adjustment unit uses the reference line as the reference information, A mechanical system in which, when the reference information is the reference line, the attitude adjustment unit adjusts the attitude of the controlled part using the reference line as the rotational axis of the controlled part in the operating trajectory of the controlled part.

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