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Collision avoidance method, control device, and program

一种机械臂、区域的技术，应用在程序控制、通用控制系统、程序控制机械手等方向，能够解决计算干涉避免解、花费大时间等问题

Active Publication Date: 2016-06-22
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There is a concern that it takes a lot of time to prepare the pattern sheet
Therefore, even if the technique described in JP-A-2011-093015 is used, it is difficult to calculate the interference avoidance solution in real time.

Method used

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  • Collision avoidance method, control device, and program
  • Collision avoidance method, control device, and program
  • Collision avoidance method, control device, and program

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0054] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0055] figure 1 It is a schematic diagram showing the robot system 1 according to the first embodiment. The robot system 1 has a robot 100 and a control device 2 for controlling the operation of the robot. The robot 100 has a body 110 and a robot arm 120 . The body 110 has a body front surface 112 and a body side surface 114 .

[0056] In addition, the main body (actual body) of the actual robot 100 is formed in a shape composed of arbitrarily many curved surfaces, but in this embodiment, the body 110 is schematically regarded as a cuboid Bd enveloping the actual body. In addition, in the present embodiment, the body 110 is used as an obstacle to be interfered by the robot arm 120 . Therefore, in this embodiment, the body 110 is an obstacle region including obstacles (corresponding to the above-mentioned "cuboid Bd"), and the body front surface 112 and body side sur...

Embodiment approach 2

[0189] Next, Embodiment 2 will be described. In Embodiment 1, the body 110 is schematically formed as a cuboid. On the other hand, Embodiment 2 differs from Embodiment 1 in that the corners of the body 110 are simulated in a curved shape. Hereinafter, a comparison between Embodiment 1 and Embodiment 2 will be described using the drawings.

[0190] Figure 15 It is a plan view showing the operation of the robot arm 120 when the target hand position is near the corner 110 a of the body 110 according to the first embodiment. in addition, Figure 16 It is a plan view showing the operation of the robot arm 120 in the case where the target hand position is near the corner 110 b of the body 110 according to the second embodiment. exist Figure 15 as well as Figure 16 In , the upper side of the robot 100, that is, the robot 100 viewed from the positive direction of the z-axis is shown.

[0191] As described above, in Embodiment 1, the body 110 is simulated as a cuboid, so the ...

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Abstract

A collision avoidance method according to the present invention avoids collision of a robot arm 120 including an upper arm part 122 and a forearm part 124 connected to each other via an elbow part 134 with an obstacle. Movable areas of the upper arm part 122 and the forearm part 124 in a state in which positions of both ends of the robot arm 120 have been fixed are calculated. Intersections of the movable areas with a first line on a boundary surface of an obstacle area including the obstacle are calculated. A collision avoidance range in which the robot arm 120 does not collide against the obstacle area in the movable areas is determined based on the intersections that have been calculated.

Description

technical field [0001] The present invention relates to an interference avoidance method, a control device, and a program, and particularly relates to an interference avoidance method, a control device, and a program for avoiding interference of a robot arm. Background technique [0002] As a method of controlling the motion of a robot arm having a plurality of joints to operate the robot arm in real time, there is, for example, a master-slave method. In the master-slave method, a master-side device (control device) designates a control value, and a slave-side device (robot) operates according to the designated control value. When the hand position of the robot arm is specified as the specified control value, the joint angle of each joint is calculated using kinematics inverse calculation. [0003] Here, obstacles such as the body of the robot exist around the robot. Therefore, when controlling the robot arm by specifying the hand position, it is necessary to calculate not...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J13/08B25J9/16G06F19/00
CPCB25J9/1666G05B2219/39082Y10S901/02B25J9/1623B25J9/1676
Inventor 森平智久
Owner TOYOTA JIDOSHA KK
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