JPH04141702A - Robot controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot control device for controlling, for example, an NC robot, and more particularly, to an improvement in confirmation of the positioning status of a robot.

[Prior Art] Conventionally, the method for confirming the positioning state of a driven object (for example, an arm) in an NC robot has mainly been to digitally display the absolute coordinates of the current position on a display device. By visually observing this, the operator can confirm the position of the driven body.

[Problems to be Solved by the Invention] As described above, in the conventional example described above, absolute coordinates are displayed. This is the distance from the origin of robot coordinates.

Generally, humans can recognize the movement of an object by knowing the starting position of the movement, the current position, and the distance from the current position to the target position.

If the driven object of the robot moves not from the above origin but from an intermediate position, in the conventional example above, in order to display the current position in absolute coordinates, the person operating it is asked to , the current position I is converted into a distance from the movement start position to confirm the positioning state. This has made conventional robot control devices difficult to use.

[Means for Solving the Problems] Therefore, an object of the present invention is to propose a robot control device that can intuitively recognize the movement of a driven object.

According to the present invention, a control device for controlling the positioning of a driven body of a robot is characterized in that the current position of the driven body is displayed in a relative expression based on the start position of the movement.

[Example] Hereinafter, an example in which the present invention is applied to an NC robot system will be described with reference to the accompanying drawings.

FIG. 2 shows the configuration of this embodiment. In the figure, 8 is an NC robot, and 9 is a driven body. The driven body 9 is driven by a motor 7 controlled by a control panel 10, and the rotational position I of the Camo-Tough, that is, the absolute position of the driven body 9 is determined by the information from the encoder 6 that reads the rotational position of the motor 7. This is obtained by the control panel 10 processing. The control panel 10 converts the absolute coordinates into relative position information and displays the relative position information on the display device 1j.

In this embodiment, the relative position information includes (2) the distance DM that has been moved relatively from the movement start position PBT to the current position ffi P, and (2) the distance DM that has been moved relatively from the movement start position PBT to the target position PED. ■: Ratio of the above relative movement distance DM to the total distance to be moved from the starting position P ST to the target position PtD ■: The remaining distance to be moved from the starting position P IT to the target position PtD Distance from current position PNW to target position Pi
Display device 1 displays the ratio RR1 of the remaining moving distance D11 by n.
I am trying to display it on page 1.

(a) to (e) in FIG. 1 show examples of the display. Which display method to use is selected by a switch 12 on the display device 11. Note that instead of selecting one of (a) to (e), the display may be displayed using a plurality of display methods at the same time.

In Figure 1 (a), Po is the origin position coordinates, PS is the start position coordinates, PIIF is the coordinates of a point that has already passed, pNw is the coordinates of the current position, PED is the target position coordinates, p, , x is the maximum movable coordinate.

In FIG. 1, (b) is a bar representation of the ratio R2 of (2) and the ratio RR of (2). Also, (C) in Figure 1
is a digital representation of the ratio R2 in %. Also,(
d) is a digital display of the relative movement distance of ■. Moreover, (e) is a digital display of the residual pressure l1lD8 of ■.

From the starting position Pa to the target position P. Ratio R of the relative movement distance D2 to the total distance to be moved up to this point.

can be calculated using the following formula.

The control panel 10 detects the current coordinate P NW by the encoder 6 attached to the shaft of the motor 7, calculates the relative coordinate R using the formula (1), and displays it on the operation panel 11 as shown in (a) of Fig. 1. It is displayed in a bar shape (black part) in increments of, for example, 10%. The remaining distance ratio R2 is displayed as a white portion in FIG. 1(a).

Note that the number n of display parts is n≧1.

FIG. 1(f) shows a display according to the conventional example.

According to the method shown in FIG. 1(a), the starting position of movement, the current position, and the distance from the current position to the target position can be grasped in an instant. However, such understanding is not possible with the display in (f).

When the product of the moving distance ratio RM and the moving distance is calculated, the plate moving distance DM is obtained from equation (1) as shown in the following equation.

Dv = Ry X I P tt+-P I
T+=I P,,-P,TI
-(2) According to equation (2), the plate movement distance DM can be determined, and this numerical value is displayed digitally on the operation panel 4 as shown in FIG. 1(d).

The remaining travel distance DR is calculated from equation (2) as follows: DR=I PED-P=lTD, l=lp
ED-p, wl...(3). The figure (e) is a digital representation of this numerical value.

According to the display method described above, especially when there is an unnecessary object in the work area during a test run at the time of system start-up, the remaining relative movement amount can be directly identified, so unnecessary collisions can be avoided. It becomes easier to avoid. In addition, by reading data on the relative movement distance at the time an abnormality occurs, the situation can be recognized more quickly than when reading absolute position data.Also, even during normal operation, the system management ability will increase.

[Effects of the Invention] As described above, according to the present invention, the current position of the driven body of the robot can be intuitively grasped by converting it into a relative position display.

[Brief explanation of drawings]

FIG. 1 is a diagram illustrating the operating principle of an embodiment to which the present invention is applied, in which (a) to (e) illustrate the display mode according to the embodiment, and (f) according to the conventional example. FIG. 2 is a diagram illustrating a configuration of an apparatus according to this embodiment. In the figure, 1... Absolute coordinates, 6... Encoder, 7... Motor, 8... NG robot body, 9... Driven body, 1
0...NC robot control panel, 11...NC robot operation panel, 12... Display changeover selection switch. Figure 2

Claims (3)

[Claims] (1) A control device for positioning and controlling a driven body of a robot, characterized in that the current position of the driven body is displayed in a relative expression based on the start position of the movement. (2) The relative display is a ratio of the distance already traveled from the start position to the current position to the total distance traveled from the start position of the movement to the target position. The robot control device described in section. (3) The robot control device according to claim 1, wherein the relative display is an already traveled distance from the start position of the movement to the current position.