JP2000222019A - Mechanism controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To evade a case where the different types of jobs such as the generation of a path and a velocity are processed on the same coordinates by setting at least one of four coordinate systems independently of other systems. SOLUTION: This mechanism controller 1 includes a conversion part 2 which converts the coordinates used in a user coordinate system into the world coordinates, an auxiliary point generation part 3, a path generation part 4, a velocity generation part 5 and an interference check part 6. A selection part 7 is added to those parts 2 to 6 respectively to select and allocate the coordinates. An instruction is given to every part 7 from a user program 12 to select a conversion expression that converts the world coordinates into a coordinate system at each of parts 2 to 6 and a conversion expression that converts the coordinate systems of the parts 2 to 6 into the world coordinates from a group 13 of conversion expressions. Thus, the parts 2 to 6 and an inverse mechanism conversion part 16 can select each individual coordinate system.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a mechanism control device for controlling the operation of a machine. More specifically, the present invention relates to setting of a coordinate system in a mechanism control device.

[0002]

2. Description of the Related Art A mechanism control device generates operation information of mechanisms such as a robot and an NC apparatus, and operates these mechanisms according to the information. When the operation information is generated by the mechanism control device, for example, a representative point of a route that the user wants the robot or the like to operate is given. As a result, the mechanism control device generates auxiliary points necessary for performing interpolation for connecting the input representative points. Then, interpolation is performed based on the auxiliary points, and a path is generated by connecting the representative points. Here, it is necessary to check whether the route does not exceed the limit of the mechanism, and if so, change the route or terminate the operation. After the route is determined, the speed at each position on the route is mapped to generate a trajectory including the route and the speed. Again, check that the trajectory does not exceed the limits of the mechanism, and if so, adjust the speed.

As shown in FIG. 12, when a user inputs a representative point, a so-called user coordinate system 100 is used.
Is used. The user coordinate system 100 uses, for example, the traveling direction of the robot hand as a coordinate axis, and makes it easy for the user to intuitively specify the coordinate position (point or point sequence). After the input of the representative point, the user coordinate system 100 is automatically converted into the motion coordinate system 101 and processed.

The coordinates used in the motion coordinate system 101 are, for example, world coordinates set based on the installation position of the robot. Therefore, the generation of the route and the speed and the interference check are all performed in world coordinates. Or,
Depending on the operation of the operating mechanism, the coordinates used in the user coordinate system are used as they are without using the world coordinates, and the local rectangular coordinates, the local cylindrical coordinates, the hand coordinates, the dynamic rectangular coordinates, the joint coordinates, and the actuator coordinates are used. May be used. Regardless of which coordinate is used, the generation of the path and the speed and the interference check are performed in a single coordinate as the motion coordinate system 101. Further, the interference check 102 can be operated only in world coordinates, joint coordinates, and actuator coordinates.

[0005]

However, in the mechanism control device described above, since a single coordinate is adopted as the operation coordinate system 101, coordinates suitable for all of the route generation, the speed generation, and the interference check are set. Not always available. For example, there may be a case where the coordinates are suitable for generating a route but not for generating a speed, and conversely, a case where the coordinates are suitable for generating a speed but not for generating a route. For this reason, the use of unsuitable coordinates makes the calculation of speed and route very complicated, making it difficult for the user to understand and set.

In addition, when inputting a preliminarily operable range for the interference check 102, only a given single coordinate system can be used. Therefore, it is difficult to input a complicated interference check. Was.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a mechanism control device for preventing operations having different properties, such as route generation and speed generation, from being processed on the same coordinates.

[0008]

In order to achieve the above object, a mechanism control device according to a first aspect of the present invention includes a path generation coordinate system that generates a path in a coordinate system of a device that controls the operation of a machine. A speed generating coordinate system for calculating the speed on the route, an auxiliary point generating coordinate system for generating auxiliary points necessary for generating the route, and an interference check coordinate system for setting the operable range of the machine. System and velocity generating coordinate system,
At least one of the four coordinate systems of the auxiliary point generation coordinate system and the interference check coordinate system can be set as a coordinate system independent of other coordinate systems.

Therefore, in the operations of path generation, velocity generation, auxiliary point generation, and interference check, coordinates suitable for each operation can be selected and used. Therefore, the generation of the speed and the route can be easily and quickly performed.

According to a second aspect of the present invention, there is provided a mechanism control device, wherein a path generating coordinate system for generating a path and a speed generating coordinate for calculating a speed on the generated path are included in a coordinate system of a device for controlling the operation of the machine. The coordinate system can be set to a coordinate system independent of each other.

Therefore, it is possible to select and use coordinates suitable for each operation during the operation of generating the route and the operation of generating the speed. Therefore, the generation of the speed and the route can be easily and quickly performed.

Further, the invention according to claim 3 is the invention according to claim 1.
In the mechanism control device described above, an auxiliary point generation coordinate system for generating auxiliary points required for generating a path can be set to an independent coordinate system with respect to a path generation coordinate system for generating a path.

Therefore, it is possible to select and use coordinates suitable for each operation during the operation of generating the route and the operation of generating the auxiliary point. Therefore, the generation of the speed and the route can be easily and quickly performed.

According to a fourth aspect of the present invention, in the mechanism control device of the first aspect, an interference check coordinate system for setting an operable range of a machine is independent of a path generating coordinate system for generating a path. The coordinate system can be set.

[0015] Therefore, it is possible to select and use coordinates suitable for each operation in the operations of the route generation and the interference check. Therefore, it is possible to easily and quickly generate a route and check for interference.

According to a fifth aspect of the present invention, in the mechanism control device according to the first aspect, each of the four coordinate systems can be set as a coordinate system having a higher dimension than a coordinate system which the machine originally has. Therefore, since the coordinates can be distorted due to the presence of a portion having a high dimension, the degree of freedom in speed generation and route generation can be improved.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of the present invention will be described below in detail based on an example of an embodiment shown in the drawings. 1 to 11 show an embodiment of the mechanism control device 1 of the present invention. The mechanism control device 1 generates operation information of mechanisms such as a robot and an NC apparatus, and operates these mechanisms according to the information. The mechanism control device 1 includes a path generation coordinate system for generating a path on which the mechanism moves, a speed generation coordinate system for calculating the movement speed of the mechanism on the generated path, and auxiliary points required for path generation. And an interference check coordinate system for setting the operable range of the mechanism. Then, at least one of the four coordinate systems of the route generation coordinate system, the velocity generation coordinate system, the auxiliary point generation coordinate system, and the interference check coordinate system is changed to a coordinate system independent of other coordinate systems. Configurable. This makes it possible to select and use coordinates suitable for each operation during the operations of path generation, velocity generation, auxiliary point generation, and interference check, and facilitate coordinate acquisition in each operation. Thus, the generation of speed, route, and the like can be performed easily and quickly.

As a form of making the coordinate system of each operation different, for example, the route generation coordinate system and the speed generation coordinate system are set to mutually independent coordinate systems, or the auxiliary point generation coordinate system with respect to the route generation coordinate system. And the interference check coordinate system can be set to an independent coordinate system. In any case, it is possible to select and use coordinates suitable for each operation, so that coordinates can be easily obtained in each operation, and the processing speed can be improved.

The mechanism control device 1 has a user coordinate system for a user to input a representative point of the movement of the mechanism. The mechanism control device 1 converts a coordinate used in the user coordinate system into world coordinates, an auxiliary point generator 3 that generates an auxiliary point, a path generator 4 that generates a path, and a speed generator. It has a speed generation unit 5 for performing generation and an interference check unit 6 for performing interference check. further,
Each of the conversion unit 2, the auxiliary point generation unit 3, the route generation unit 4, the speed generation unit 5, and the interference check unit 6 is provided with a selection unit 7 for selecting and assigning coordinates.

As the coordinates used for designating the representative point in the user coordinate system, basically any coordinates suitable for indicating a point are used. However, the user designates the points and designates the operation of the mechanism as a path connecting these points.

The route generation coordinate system is a coordinate system for forming a route by connecting representative points designated by the user.

The speed generating coordinate system is a coordinate system for generating a speed when the mechanism moves on a route, and must be the same as the route generating coordinate system from the original concept of speed control. By allowing this to be defined separately, the trajectory generation ability is improved compared to using the same coordinate system,
The degree of freedom in speed control is increased, and a new operation can be realized.

Further, the auxiliary point generating coordinate system is a coordinate system for generating an interpolation method auxiliary point when an interpolation method auxiliary point is required to generate a path. The interpolation method auxiliary points include a handle of a Bezier curve, a center point of a circle at the designation of a start point and an end point, and, for example, are automatically calculated as center coordinates of a circle calculated from two representative points and a radius, and as a via point. And a point for defining the direction vector of the free curve. More specifically, as shown in FIG. 2, when a number of designated representative points 8 are to be smoothly connected, a point defining a tangent line for generating a smooth curve at each representative point 8 is assisted. Points 9 and 9. And the auxiliary point 9,
9, a tangent is obtained to connect the representative points 8 with a curve tangent to the tangent to generate a path.

The interference check coordinate system is a coordinate system for defining an interfering object that cannot be mechanically moved on a set path. Is not hit. This interference check coordinate system can actually check an operation limit defined by a plurality of coordinate systems.

The coordinates used in each coordinate system can be classified as shown in Table 1 by layer.
That is, the coordinates in each layer shown in the table can be used alternatively.

[0026]

[Table 1] Here, the world coordinates are the only coordinates that exist in the mechanism, and are generally an orthogonal coordinate system whose origin is the mounting reference position of the device. For this reason, the coordinate conversion performed in each coordinate system needs to at least perform conversion and inverse conversion on the world coordinates. The local coordinates are appropriately used in accordance with various scenes in the operation of the mechanism, and allow the user to easily and intuitively specify the coordinates (points or point sequence) of the mechanism. . For example, a coordinate system that moves with the operation of the robot hand, a camera coordinate system, a work coordinate system, or the like is used.

The joint coordinate system is for performing coordinate conversion depending on a mechanism. Conventionally, one joint point is provided for one mechanism with a tool point as a coordinate position. In addition, the inverse mechanism solution is treated as coordinate transformation, and can be appropriately replaced as local coordinates depending on the scene. For this reason, the conversion of the coordinate system mounted on the robot arm such as the “camera coordinate system” in the conventional robot can be handled with a unified concept. The motor coordinate system is independent of the mechanism and is a coordinate system of the moving distance of the actuator itself.

Further, with respect to the relative movement between the coordinate systems,
It can be categorized by the concepts of static, dynamic, and dynamic at startup. Static coordinates are stationary coordinates and include the concept of a conventional coordinate system. Dynamic coordinates are those in which the relative relationship between a plurality of coordinates changes. The concept of “dynamic at start-up” is such that a dynamic coordinate system is fixed when an operation starts and becomes a static coordinate system, and is used as a coordinate system in this fixed state. For example, when trying to move a camera attached to the robot arm forward by a predetermined distance, fixing the coordinates when the camera tries to move,
It moves by a predetermined distance with respect to the fixed coordinates.

The arbitrary distortion coordinates can be effectively used for local position correction and the like. The multiple joint coordinates are a coordinate system created by connecting a plurality of coordinates in the definition area.

The mechanism solution coordinates are intended to be coordinate transformed by a mechanism transformation / inverse transformation. Here, the mechanical transformation is not a coordinate transformation in a strict sense. For example, in the two-joint robot 10 shown in FIG.
Is determined as one coordinate, and the angle and position of the arm are calculated by the inverse transformation, so that multiple solutions cannot be obtained as shown in FIGS. However, also in this example, by taking the position with the right hand or the left hand and clarifying the domain that can be converted, the solution in the mechanical conversion / inverse conversion can be uniquely determined and the coordinate conversion can be performed. Become. In other words, if the robot to be positioned by the right hand is different from the robot to be positioned by the left hand, and the domain of the second arm is different, a one-to-one mapping can be obtained and treated as coordinate transformation. In this case, the user only has to use the right-hand mechanism conversion and the left-hand mechanism conversion of the coordinate system properly in the input program, and the operability can be maintained at the same level as before. As a result, for example, a robot having a plurality of tool ends can be handled uniformly. That is, by treating the case where the first tool end is used and the case where the second tool end is used as completely different mechanisms, it is possible to perform control with a concept unified to various mechanisms.

The mechanism control device 1 is constituted by a computer system. Although not shown, the computer system includes, for example, a central processing unit that executes various types of arithmetic processing, a main storage device that stores programs and data required for executing the arithmetic processing, and an input / output port. And a variety of interfaces, such as a hard disk drive for storing a program for realizing the mechanism control device 1 and various data and constants necessary for executing the processing, and an input device for inputting data and necessary commands. And an output device for outputting a result processed by the central processing unit.

The operation procedure of the mechanism control device 1 described above is shown in FIG.
This will be described based on the flowchart shown in FIG.

The representative point of the path on which the user wants to move the mechanism is given to the mechanism controller 1 (step 1). This is input in the user program 12, for example. This user program 12 is used, for example, on application software. The coordinate system at this time is a user coordinate system. In addition, the user program 12 gives an instruction to each of the selection units 7 to convert the world coordinates into a coordinate system in each of the processing units 2 to 6, and inversely converts the coordinate system of each of the processing units 2 to 6 into world coordinates. The conversion formula to be performed is selected from the registered coordinate conversion formula group 13 in advance.

Then, the conversion unit 2 reversely converts the user coordinate system into the world coordinate system. Therefore, the designated representative point is designated in the world coordinate system.

Further, the auxiliary point generator 3 generates auxiliary points necessary for performing interpolation for connecting the representative points (step 2). The auxiliary point generation unit 3 converts the world coordinates into an auxiliary point generation coordinate system, and generates an auxiliary point on the auxiliary point generation coordinate system by using a registered predetermined algorithm 14. After the generation, the auxiliary point generation coordinate system is inversely transformed into world coordinates.

Then, the path generation unit 4 generates a path by connecting the representative points while performing interpolation based on the auxiliary points (step 3). The path generation unit 4 converts the world coordinates into a path generation coordinate system, and registers the coordinates based on the coordinates of the auxiliary points input from the auxiliary point generation unit 3 and the coordinates of the representative points input from the conversion unit. Predetermined algorithm 14
Is used to generate a route on the route generation coordinate system. After generation, the path generation coordinate system is inversely transformed into world coordinates.

The interference check unit 6 checks whether the generated route does not exceed the limit of the mechanism, and if so, changes the route (step 4). The interference check unit 6 converts the world coordinates into an interference check coordinate system, and performs an interference check on the interference check coordinate system using a predetermined algorithm. As a result of the interference check, if there is no problem, the data is passed from the route generator 4 to the speed generator 5, but if there is a problem, the route is corrected and the interference check coordinate system is inversely transformed into world coordinates to generate the speed. The corrected data is transmitted to the unit 5.

Further, the speed generation unit 5 maps the moving speed of the mechanism at each position on the determined route to generate a trajectory including the route and the speed (step 5).
The speed generation unit 5 converts the world coordinates into a speed generation coordinate system, and generates a speed on the speed generation coordinate system using a registered predetermined algorithm 15. Here, various parameters for speed control are determined (step 6).
The various parameters include a steady speed, an acceleration, an acceleration differential value, a deceleration, a deceleration differential value, and the like. After the trajectory is generated, the velocity generating coordinate system is inversely transformed into world coordinates.

The interference check unit 6 (not shown) checks whether the generated trajectory does not exceed the limit of the mechanism, and if it does, changes the speed (step 7). The interference check unit 6 converts the world coordinates into an interference check coordinate system, and performs an interference check on the interference check coordinate system using a predetermined algorithm.
As a result of the interference check, if there is no problem, the data is passed from the speed generation unit 5 to the reverse mechanism conversion unit 16. However, if there is a problem, the speed is corrected and the interference check coordinate system is inversely transformed into world coordinates. The corrected data is transmitted to the mechanism conversion unit 16.

The reverse mechanism converter 16 selects a mechanism solution and sends a control command to a motor drive device (not shown). This allows the mechanism to operate according to the user's instructions.

In the above-described embodiment, the processing units 2 to 6 convert the world coordinates into the processing coordinate system, and perform the inverse conversion to the world coordinates after the processing. However, the present invention is not limited to this. When the same coordinate system is used in the processing units 2 to 6 where the processing is performed, the processing may be performed continuously without performing the inverse transformation to the world coordinates. According to this, the processing speed can be improved by omitting the inverse transformation to the world coordinates and the transformation to the next coordinate system.

As described above, according to the mechanism control device 1 of the present embodiment, the conversion unit 2, the auxiliary point generation unit 3, the route generation unit 4, the speed generation unit 5, the interference check unit 6, and the reverse mechanism conversion unit 1
6 can select a different coordinate system, so that a coordinate system suitable for each process can be selected and each process can be performed easily and quickly.

Here, a case where the above-described mechanism control device 1 is used for a moving device 19 of a slider 18 using a ball screw 17 shown in FIG. 5 will be described.

The ball screw 17 is rotated to move the slider 18
When the linear motion is performed, the feed speed of the slider 18 may be limited by the rotation speed of the ball screw 17. That is, when the ball screw 17 is rotated at a high speed, string vibration occurs in the ball screw 17 and it becomes difficult to drive the device 19 stably. For example, as shown in FIG.
Is located at the end, string vibration of the first-order mode having a low frequency is generated, and the limit value of the number of rotations is reduced. Also,
When the slider 18 is located at the center as shown in FIG. 5B, string vibration in the second mode having a high frequency is generated, and the limit value of the number of revolutions is increased.

When such a moving device 19 for the slider 18 is applied to a two-axis orthogonal robot 20 as shown in FIG. 6, the path generating coordinate system is set to the rectangular coordinates at equal intervals, and the speed generating coordinate system 21 is set to the same. As shown in the figure, a distorted coordinate system in which the interval between the center portions is larger than the interval between the end portions is used. Then, the route created in the route generating coordinate system is directly mapped to the speed generating coordinate system 21 using a normal orthogonal coordinate transformation formula, and the speed generating process is performed using the speed generating coordinate system 21. . Thus, the slider 18 can easily control the maximum speed that the mechanism can provide.

Next, a case where the above-described mechanism control device 1 is used for a two-joint robot 21 shown in FIG. 7 will be described.

The first case in which the arm tip 22 of the two-joint robot 21 is linearly moved at a constant velocity as shown by a thick solid line in the figure.
FIG. 8 shows the angular velocities of the joint 23 and the second joint 24. As is apparent from FIG.
Is a singular point P, and before and after this singular point P, the rotation of the first joint 23 reaches a peak and rotates at a very high speed. This peak value must be limited by the allowable maximum number of rotations of the motor and the speed reduction mechanism of the robot 21 (indicated by a two-dot chain line in the figure). The moving speed in other parts must be very slow.

On the other hand, if the movement of the arm tip 22 is not necessarily at a constant speed with emphasis only on the linearity, the linear velocity of the arm tip 22 is changed to the acceleration speed as shown in FIG. It can be divided into the highest speed section and the deceleration section, and can be decelerated only near the singular point P at the highest speed section. In this case, the robot 21 is decelerated in the vicinity of the singular point P and can be controlled to be equal to or less than the allowable maximum number of rotations of the robot 21 (indicated by a two-dot chain line in the figure). As a result, the arm movement time can be reduced.

Here, if orthogonal coordinates based on world coordinates as the route generation coordinate system and the speed generation coordinate system are used to perform such a complicated speed generation, the speed generation becomes very complicated and rapid. Processing becomes difficult. On the other hand, using the mechanism control device 1 described above, orthogonal coordinates are used for the path generation coordinate system, and motor axis coordinates using the rotation angles θ1 and θ2 of the joints 23 and 24 as the coordinate axes are used for the speed generation coordinate system. Then, the speed can be easily generated.

Next, a case will be described in which the above-described mechanism control device 1 is applied to a two-joint robot that radially moves a work in and out.

For example, when a work stocker is arranged radially around a two-joint robot and a work is taken in and out of each stocker, the hand of the arm approaches each stocker so as not to interfere with the frame of the stocker. Check for interference. If the interference check coordinate system for performing the interference check is rectangular coordinates, the determination process becomes very complicated. On the other hand, when the interference check coordinate system is a polar coordinate centered on the robot, the determination processing can be performed very easily.

The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this embodiment, and various modifications can be made without departing from the gist of the present invention. For example, in the above-described embodiment, the speed generation coordinate system is two-dimensional, but is not limited thereto, and may be three-dimensional. For example, in a robot moving in two-dimensional orthogonal coordinates, a speed generating coordinate system 25 having three-dimensional coordinates with a part raised in the Z direction as shown in FIG. 11 can be employed. In this speed generation coordinate system 25, a specific part 2
By setting 6 to three-dimensional coordinates, the speed at the specific portion 26 can be reduced. Then, by setting the specific portion 26 to, for example, a portion where there is a possibility of mechanical interference, it is possible to reduce the speed at that portion and prevent the mechanism from interfering.

Since this can be decelerated by coordinate transformation and is different from the speed designation using a program,
The deceleration at a specific point can be effectively performed even during the teaching work separate from the program. Therefore, even when the MDI operation is performed during the teaching operation, the speed at the specific point can be sufficiently suppressed.

In the above-described embodiment, for generating a trajectory, a path is generated by connecting the given representative points, and the velocity at each position on the path is mapped to include the path and the velocity. While the trajectory is generated, an interference check is performed at the time of generating the route and at the time of generating the speed. However, it is needless to say that the present invention is not limited to this. Also in this case, the auxiliary point generation unit 3
Since a separate coordinate system can be selected by the route generation unit 4, the speed generation unit 5, and the interference check unit 6, it is possible to select a coordinate system suitable for each process and perform each process easily and quickly. Will be able to

[0055]

As is apparent from the above description, according to the mechanism control device of the first aspect, when performing the operation of the path generation, the speed generation, the auxiliary point generation, and the interference check, it is suitable for each operation. Coordinate can be selected and used, so coordinate acquisition in each operation becomes easy,
It is possible to easily and quickly generate a route, an auxiliary point, a speed, and perform an interference check process. Moreover, the degree of freedom of processing can be improved as compared with the case where each processing is performed using the same coordinate system.

Further, according to the mechanism control device of the second aspect, it is possible to select and use coordinates suitable for each operation when performing the path generation and the speed generation.
Coordinates can be easily obtained in each operation, and a route and a speed can be easily and quickly generated. For this reason,
Compared to performing each process using the same coordinate system, it is possible to improve the path generation capability, increase the degree of freedom in speed control, and realize a new operation.

Further, according to the mechanism control device of the third aspect, it is possible to select and use coordinates suitable for each operation at the time of the operation of the path generation and the auxiliary point generation. The auxiliary points can be generated easily and quickly. For this reason, it is possible to improve the degree of freedom in generating the auxiliary point and improve the path generation capability, as compared with performing each processing using the same coordinate system.

According to the mechanism control device of the fourth aspect, it is possible to select and use coordinates suitable for each operation at the time of the path generation and the interference check operation. In addition, interference check can be performed easily and quickly. In addition, when an operable range is input in advance for interference check, coordinates suitable for the operation can be selected to simplify the operation of inputting the operating range.

Further, according to the mechanism control device of the fifth aspect, since the coordinates can be distorted due to the presence of a portion having a high dimension, the degree of freedom in speed generation and path generation can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a mechanism control device of the present invention.

FIG. 2 is a diagram illustrating a state where a representative point is connected to generate a route.

FIG. 3 is a plan view showing an example in which multiple solutions can be obtained by a two-joint robot, wherein (A) and (B) are separate solutions.

FIG. 4 is a flowchart illustrating a procedure of generating a trajectory by the mechanism control device of the present invention.

FIGS. 5A and 5B are side views illustrating a slider driving device using a ball screw, wherein FIG. 5A illustrates a case where the slider is located at an end portion, and FIG. 5B illustrates a case where the slider is located at a center portion.

6 is a plan view showing a two-axis orthogonal robot using the slider driving device shown in FIG.

FIG. 7 is a plan view showing a two-joint robot.

FIG. 8 is a graph showing the angular velocities of the joints when the two-joint robot moves at a constant linear velocity.

FIG. 9 is a graph showing the linear velocity of the tip of the arm during linear motion of the two-joint robot.

FIG. 10 is a plan view showing a difference in speed depending on a moving direction of an arm tip of the two-joint robot.

FIG. 11 is a diagram showing a speed generating coordinate system having three-dimensional coordinates with a part raised in the Z direction.

FIG. 12 is a diagram showing a procedure for generating a trajectory by a conventional mechanism control device.

[Explanation of symbols]

 1 Mechanism control device

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F059 CA06 FB05 FC13 5H269 AB01 AB33 BB08 BB14 CC01 CC09 DD08 GG08 JJ09 MM08 QC06 QC10

Claims (5)

[Claims] In a coordinate system of a device for controlling operation of a machine, a route generating coordinate system for generating a route, a speed generating coordinate system for calculating a speed on the generated route, and an auxiliary point required for generating a route. , An interference check coordinate system for setting the operable range of the machine, and the above-mentioned route generation coordinate system, speed generation coordinate system, auxiliary point generation coordinate system, and interference check coordinate system. At least one of the two coordinate systems
A mechanism control device wherein one coordinate system can be set as a coordinate system independent of another coordinate system. 2. In a coordinate system of a device for controlling the operation of a machine, a route generating coordinate system for generating a route and a speed generating coordinate system for calculating a speed on the generated route are set to coordinate systems independent of each other. A mechanism control device characterized by being made possible. 3. The mechanism control device according to claim 1, wherein an auxiliary point generating coordinate system for generating auxiliary points required for generating a path can be set to an independent coordinate system with respect to a path generating coordinate system for generating a path. . 4. The mechanism control device according to claim 1, wherein an interference check coordinate system for setting a machine operable range can be set to an independent coordinate system with respect to a path generation coordinate system for generating a path. 5. The mechanism control device according to claim 1, wherein each of the four coordinate systems can be set as a coordinate system having a higher dimension than a coordinate system inherent in the machine.