Robot control system, control unit, and robot control method

Abstract

To enhance the flexibility and scalability of robot control while ensuring functional safety. [Solution] In the robot control system 30, a speed command or torque command is transmitted from the computer 31 to the controller 41. The controller 41 receives the speed command or torque command as an input command, generates and outputs a drive signal to drive the actuator AC based on the input command, and estimates the command position of the actuator AC corresponding to the input command. The safety unit 44 acquires the estimated command position and the position of the actuator AC detected using the sensor Da, and determines an abnormality in the operation of the actuator AC based on the command position and the position of the actuator AC.

Claims

1. A control unit comprising a controller for controlling the drive of multiple actuators of a robot, and a safety unit for determining abnormal operation of the multiple actuators, The controller comprises a computer housed in a different enclosure from the aforementioned control unit, and connected to the controller in a manner that enables bidirectional communication using a predetermined communication protocol. The aforementioned computer, The controller receives a speed command that specifies the operating speed of the multiple actuators or a torque command that specifies the torque of the actuators. The aforementioned controller Upon receiving the speed command or torque command, Based on the speed command or torque command, a drive signal is generated and output to drive the plurality of actuators. Based on the speed command or torque command, the command positions of the plurality of actuators corresponding to the speed command or torque command are estimated. The aforementioned safety unit, The command position of each actuator estimated by the controller and the position of each actuator detected using a sensor for detecting the position of the actuator are obtained. Based on the command position of each actuator estimated by the controller and the position of each actuator detected using the sensor, the system determines an abnormal operation of the multiple actuators. Robot control system.

2. In the robot control system according to claim 1, The multiple actuators are each located at the joints of the robot, Robot control system.

3. In the robot control system according to claim 2, The robot has a vertically articulated robotic arm, The robot arm has multiple links, and each of the links is connected by the joints. The controller estimates the command position of the joint corresponding to the speed command or the torque command, The safety unit determines an abnormal operation of the plurality of actuators based on the command position of each joint estimated by the controller and the position of each joint detected using the sensor. Robot control system.

4. In the robot control system according to claim 1, The aforementioned controller, The speed command or torque command is received from the torque command, Based on the torque command, the drive signal is generated and output. Based on the torque command, the command positions of the plurality of actuators corresponding to the torque command are estimated. Robot control system.

5. In the robot control system according to claim 1, The sensor is one or more selected from the group consisting of encoders, resolvers, and magnetic sensors. Robot control system.

6. In the robot control system according to claim 1, The multiple actuators are servo motors, The sensor is an encoder that measures the rotation direction and rotation angle of the servo motor. The position of each actuator detected using the aforementioned sensor is calculated based on the measurement value of the encoder. Robot control system.

7. In the robot control system according to claim 1, The aforementioned predetermined communication protocol has a communication bandwidth of GHz or higher. Robot control system.

8. In the robot control system according to claim 1, The controller, when estimating the command positions of the plurality of actuators, resets the deviation of the command positions estimated for the plurality of actuators at predetermined intervals. Robot control system.

9. In the robot control system according to claim 8, The command positions estimated for the multiple actuators are the command positions of the robot's joints. The controller resets the deviation of the command position by substituting the position of each joint of the robot detected using the sensor into the command position estimated for each joint. Robot control system.

10. A control unit, A controller that controls the operation of multiple actuators of a robot, The system includes a safety unit for determining abnormal operation of multiple actuators, The aforementioned controller The control unit receives speed commands or torque commands from a computer located outside its enclosure. Based on the speed command or torque command, a drive signal is generated and output to drive the plurality of actuators. Based on the speed command or torque command, the command positions of the plurality of actuators corresponding to the speed command or torque command are estimated. The aforementioned safety unit, The command position of each actuator estimated by the controller and the position of each actuator detected using a sensor for detecting the position of the actuator are obtained. Based on the command position of each actuator estimated by the controller and the position of each actuator detected using the sensor, the system determines an abnormal operation of the multiple actuators. Control unit.

11. A method for controlling a robot using a control unit that controls the driving of multiple actuators of the robot, The aforementioned control unit The control unit receives speed commands or torque commands from a computer located outside its enclosure. Based on the speed command or torque command, a drive signal is generated and output to drive the plurality of actuators. Based on the speed command or torque command, the command positions of the plurality of actuators corresponding to the speed command or torque command are estimated. The position of each actuator detected using a sensor for detecting the position of the actuator is obtained, Based on the estimated command position of each of the actuators and the position of each of the actuators detected using the sensors, an abnormality in the operation of the multiple actuators is determined. Robot control methods.

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