Robot control apparatus robot control method and program

A control device and robot technology, applied in the direction of program control manipulator, program control, general control system, etc., can solve the problem that PTP control cannot guarantee the moving path and cannot move at high speed.

Inactive Publication Date: 2019-10-22
NIPPON DENSAN CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] When moving the tip of the arm of the robot from the start point to the end point, the movement time can be minimized by applying PTP control, but the PTP control cannot guarantee the movement path, so there may be collisions with other objects or walls in th

Method used

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  • Robot control apparatus robot control method and program
  • Robot control apparatus robot control method and program
  • Robot control apparatus robot control method and program

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Embodiment Construction

[0031] Hereinafter, a robot system including the robot controller according to the embodiment of the present invention will be described.

[0032] In the robot system according to each embodiment, when the robot's arm tip, which is the position of the attachment reference of the end effector as the reference point of the robot, is moved from the start point to the end point, the movement is controlled by linear interpolation control. In the linear interpolation control, the straight line connecting the start point and the end point is divided into a plurality of line segments, and the robot is moved by PTP control in each line segment. At this time, the PTP motion in each line segment is set to a fixed angular velocity, and the angular velocity on each line segment is optimally determined, thereby realizing high-speed approximate linear motion.

[0033] In the following description, the reference point of the robot refers to the position of the robot as a reference for teachin...

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PUM

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Abstract

The invention provides a robot control apparatus, a robot control method and a storage medium. The robot control apparatus includes a section setter to set, on a straight line connecting a start pointto an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a pluralityof segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, andthe deceleration section.

Description

technical field [0001] The invention relates to a robot control device, a robot control method and a storage medium. Background technique [0002] Conventionally, PTP (Point to Point: Point to Point) is known as a path control method for moving the position of the arm tip (finger side) of the robot from the start point (teaching point) to the end point (teaching point). )control. In addition, linear interpolation control for moving the tip position of the arm of the robot along a linear path is known. [0003] In Japanese Laid-Open Publication No. 1997-265313, a speed calculation device of a robot is described, and the speed calculation device of the robot has: a unit for obtaining the current position information of the robot; a unit for obtaining the rated maximum speed information of the joints of the robot and a unit for calculating the allowable limit speed that can be obtained in the linear interpolation motion of the front end of the robot based on the current posit...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/00B25J17/02
CPCB25J9/1664B25J9/1651B25J9/0081B25J17/02G05B2219/43033B25J9/1633B25J9/1658B25J9/06
Inventor T·N·段吉田昌弘常田晴弘
Owner NIPPON DENSAN CORP
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