JPH06102924A - Automatic calibration method for teaching point of robot - Google Patents
Automatic calibration method for teaching point of robotInfo
- Publication number
- JPH06102924A JPH06102924A JP24911492A JP24911492A JPH06102924A JP H06102924 A JPH06102924 A JP H06102924A JP 24911492 A JP24911492 A JP 24911492A JP 24911492 A JP24911492 A JP 24911492A JP H06102924 A JPH06102924 A JP H06102924A
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- Prior art keywords
- teaching
- robot
- work
- point
- memory
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003825 pressing Methods 0.000 claims abstract description 19
- 238000003754 machining Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 3
- 239000013256 coordination polymer Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、産業用ロボットにおい
て、力制御を用いて自動的に教示点を生成する方法に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically generating teaching points using force control in an industrial robot.
【０００２】[0002]
【従来の技術】従来の力制御を用いた自動教示法は、特
願として先に出願した。ここでは、該粗教示点とワーク
への押しつけ方向を基にしてロボットを動作させて、そ
のロボットの軌跡各位置をロボットプレイバック用のＣ
Ｐ（ContinuousPath）教示点としてその教示データをメ
モリに記憶する。2. Description of the Related Art A conventional automatic teaching method using force control was previously filed as a special application. Here, the robot is operated based on the rough teaching point and the pressing direction to the work, and each locus of the robot is moved to C for robot playback.
The teaching data is stored in the memory as a P (Continuous Path) teaching point.
【０００３】[0003]
【発明が解決しようとする課題】従来の自動教示法は、
工具をワークに倣わせる場合、ワークの形状によって、
例えば段差が急なとき、または加工工具のワークへの押
し付け方向が垂直でないときなど、工具がワークから離
れてしまう場合があるという問題点がある。また、この
対策として、力制御のゲインを大きくする方法がある
が、ロボットシステムの制御系によっては不安定にな
り、大きくできない場合がある。また、粗教示点位置の
修正または追加などを行って、倣うように修正していた
が、修正の分の時間が長くかかってしまう。本発明の目
的は、力制御を用いた自動教示ロボットにおいて、全教
示位置に渡って複雑形状ワークにも工具が倣うように
し、簡単な操作で高精度のＣＰ教示点を得ることであ
る。The conventional automatic teaching method is as follows.
When making the tool follow the work, depending on the shape of the work,
For example, there is a problem that the tool may be separated from the work when the step is steep or when the pressing direction of the machining tool to the work is not vertical. As a countermeasure against this, there is a method of increasing the force control gain, but depending on the control system of the robot system, it may become unstable and cannot be increased. Further, although the rough teaching point position is corrected or added so as to be copied, the correction takes a long time. An object of the present invention is to obtain a highly accurate CP teaching point with a simple operation in an automatic teaching robot using force control so that a tool can follow a workpiece having a complicated shape over all teaching positions.
【０００４】[0004]
【課題を解決するための手段】本発明は、ロボット本体
の先端に力センサを介して加工工具を設け、その加工工
具はワークに離接するようにし、メモリを持つ力制御ロ
ボットシステムで、加工工具がワークから離れた位置を
教示点とする少数の粗教示点とワークへの押しつけ方向
を基にして加工工具をワークに所望の力で押し付けなが
らロボットを動作させて、そのロボットの軌跡各位置を
自動生成教示点としてメモリに記憶する教示方法におい
て、メモリに記憶した自動生成教示点を基にして加工工
具をワークに所望の力で連続的に押しつけながらロボッ
トを動作させ、そのロボットの軌跡各位置を自動生成教
示較正点としてメモリに記憶することを特長とするロボ
ットの教示点自動較正法である。また、生成した自動生
成教示較正点を自動生成教示点として、この教示点を基
に、加工工具をワークに所望の力で押しつけながらロボ
ットを動作させ、そのロボットの軌跡各位置を新しい自
動生成教示較正点としてメモリに記憶する動作を、全教
示経路に渡って力制御方向の力検出値が所望の値以上に
なるまで繰り返し行なうことを特長とするロボットの教
示点自動較正法である。SUMMARY OF THE INVENTION The present invention is a force control robot system having a memory, in which a machining tool is provided at the tip of a robot body via a force sensor so that the machining tool comes into contact with and separates from a workpiece. Is a teaching point at a position distant from the work and the robot is operated while pressing the machining tool against the work with a desired force based on a small number of rough teaching points and the pressing direction to the work. In the teaching method of storing in the memory as the automatically generated teaching point, the robot is operated while continuously pressing the machining tool with a desired force on the workpiece based on the automatically generated teaching point stored in the memory, and each locus of the robot Is a teaching point automatic calibration method for a robot, characterized in that is stored in a memory as an automatically generated teaching calibration point. In addition, the generated automatically generated teaching calibration points are used as automatically generated teaching points, and based on these teaching points, the robot is operated while pressing the machining tool against the workpiece with a desired force, and each locus position of the robot is automatically generated. This is an automatic teaching point calibration method for a robot, characterized in that the operation of storing it in a memory as a calibration point is repeated until the force detection value in the force control direction reaches or exceeds a desired value over the entire teaching path.
【０００５】[0005]
【実施例】本発明の実施例を図面に基づいて詳説する。
図３は本発明を実行するために供する切削加工用ロボッ
トの構成を示し、ロボットの本体１と制御盤２０を主構
成とする。Embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 3 shows a configuration of a cutting robot used for carrying out the present invention, and the main body 1 of the robot and the control panel 20 are main components.
【０００６】本体１には回転工具Ｔ1および工具ホルダ
ー２、回転するためのモータＭ1、ひねるためのモータ
Ｍ2、曲げるためのモータＭ3、前後進用のモータＭ4、
上下降用のモータＭ5、旋回用モータＭ6を設ける。工具
ホルダー２には回転工具Ｔ1を固着して設ける。切削加
工時は、回転工具Ｔ1の先端には加工工具９を固着して
設けるが、教示時には特願平−７１１３５で記載した教
示用工具を用いてもよい。以下では、加工工具を用いた
場合を示す。該工具ホルダー２と前記ロボットの本体１
の先端との間に力制御を行うための力センサ３９を備え
る。モータＭ1〜Ｍ6は何れもサーボモータである。ロボ
ット本体１に設けたモータＭ1〜Ｍ6と制御盤２０とは、
動力線３および信号線４を以て結線する。The main body 1 includes a rotary tool T 1 and a tool holder 2, a motor M 1 for rotating, a motor M 2 for twisting, a motor M 3 for bending, a motor M 4 for moving forward and backward,
An up / down motor M 5 and a turning motor M 6 are provided. A rotary tool T 1 is fixedly provided on the tool holder 2. At the time of cutting, the processing tool 9 is fixedly provided on the tip of the rotary tool T 1 , but at the time of teaching, the teaching tool described in Japanese Patent Application No. 71135 may be used. Below, the case where a processing tool is used is shown. The tool holder 2 and the robot body 1
A force sensor 39 for performing force control is provided between the tip and the tip. Motor M 1 ~M 6 are both a servo motor. The motors M 1 to M 6 provided in the robot body 1 and the control panel 20 are
The power line 3 and the signal line 4 are connected.
【０００７】一方、ロボット本体１近辺にワーク１０を
図示しない方法で治具等に固定して静置する。切削加工
対象であるワーク１０は母材１３と突起物１２とで構成
されおり、突起物１２は母材１３の外郭縁１１の外方に
不定形状に突出している。粗教示、自動教示時に用いる
ワークは、突起物１２の無いものを用いる。On the other hand, the work 10 is fixed to a jig or the like in the vicinity of the robot main body 1 by a method not shown and left stationary. The workpiece 10 to be cut is composed of a base material 13 and projections 12, and the projections 12 project outside the outer edge 11 of the base material 13 in an irregular shape. The workpiece used for the rough teaching and the automatic teaching is one without the protrusion 12.
【０００８】ここでロボット本体１は、図３では６軸円
筒座標形としているが、軸数は突起物１２を加工する姿
勢を満たすことができれば必ずしも６軸ある必要はな
い。また、形式も加工反力に対する耐負荷力、剛性から
用途に応じて決まるものであり、特に制限はない。ま
た、用途も教示動作を反復繰返して作業するロボットで
あれば、切削加工以外にも同様に適用可能である。Although the robot body 1 has a six-axis cylindrical coordinate form in FIG. 3, the number of axes does not necessarily have to be six as long as the posture for processing the protrusion 12 can be satisfied. Further, the type is also determined according to the application from the load resistance against the processing reaction force and the rigidity, and there is no particular limitation. Further, the application can be similarly applied to other than cutting work as long as it is a robot that repeatedly performs teaching operation.
【０００９】以上に述べたような図３のロボット本体１
と制御盤２０の構成によって、次の作用をする。まず、
ロボットの粗教示操作をするには、作業者が教示作業に
よって、ロボットを加工経路で曲率の大きく変化する近
傍にティーチングボックス（図示せず）にて誘導した
後、その位置を粗教示点データとしてロボット制御盤２
０のメモリに記憶させる。この教示点は、ワークから離
して教示することができる。また、粗教示点間のワーク
表面に対する法線方向をワークへの押し付け方向として
教示する。押し付け力方向はそれを挟む粗教示点間に有
効な力の方向である。また、加工再生時の速度を教示す
る。The robot body 1 of FIG. 3 as described above
The following operations are performed depending on the configuration of the control panel 20. First,
In order to perform the rough teaching operation of the robot, an operator guides the robot by a teaching work to a vicinity of a large change in curvature along a machining path by a teaching box (not shown), and then the position is used as rough teaching point data. Robot control panel 2
0 memory. This teaching point can be taught away from the work. Further, the direction normal to the work surface between the rough teaching points is taught as the pressing direction to the work. The pressing force direction is the direction of effective force between the rough teaching points that sandwich it. Also, the speed at the time of processing and reproducing is taught.
【００１０】このようにして工具９の動作経路の粗教示
点、ワークに押し付ける力の方向及び工具の送り速度を
順次教示していくことによって、メモリ内に粗教示プロ
グラムを作成する。In this way, the coarse teaching point of the operation path of the tool 9, the direction of the force to be pressed against the work, and the feed rate of the tool are sequentially taught to create a rough teaching program in the memory.
【００１１】図３のように構成された切削加工用ロボッ
トで、工具９がワーク１０に所望の力が作用するよう
に、力制御方法によって教示点を生成していく。In the cutting robot constructed as shown in FIG. 3, teaching points are generated by a force control method so that the tool 9 exerts a desired force on the work 10.
【００１２】図１、２に基づいて本発明の自動教示法に
ついて説明する。図２の曲線のワークに対して、Ｐ0,0
〜Ｐ0,4を粗教示点、Ｆ1〜Ｆ3をワークに対する押し付
け力の方向とする。The automatic teaching method of the present invention will be described with reference to FIGS. P0,0 for the work of the curve in Figure 2
Up to P0,4 are rough teaching points, and F1 to F3 are directions of pressing force against the work.
【００１３】（１）教示点自動生成では、ロボットアー
ム先端の回転工具をワークに所望の力で連続的に押し付
ける力制御と、粗教示点を基にロボットを再生する、２
つの制御を同時に行なうハイブリッド制御をする。粗教
示点Ｐ0,1の粗教示位置データを読み出し、再生動作に
よってロボットをＰ0,1の位置へ動作させる（ステップ
〜）。 ここでのロボットの動作は、現在位置から目標教示点ま
での間を補間演算しながら動作する補間制御で動作する
ものとする。Ｐ0,1からハイブリッド制御を行う。(1) In automatic teaching point generation, force control for continuously pressing a rotary tool at the tip of a robot arm against a work with a desired force, and reproducing a robot based on rough teaching points, 2
Performs hybrid control that performs one control at the same time. The rough teaching position data of the rough teaching point P0,1 is read out, and the robot is moved to the position P0,1 by the reproducing operation (steps ~). The operation of the robot here is assumed to be performed by interpolation control that operates while performing interpolation calculation from the current position to the target teaching point. Hybrid control is performed from P0,1.
【００１４】（２）ワークへの押し付け方向Ｆ1と次の
粗教示点位置Ｐ0,2を読み出す（ステップ）。(2) The pressing direction F1 to the work and the next rough teaching point position P0,2 are read (step).
【００１５】（３）押し付け力方向Ｆ1の方向へ工具を
ワークに押しつけながら、工具をＰ0,1からＰ0,2に移動
する（ステップ）。その際にロボットの軌跡（各軸の
エンコーダデータ）Ｐ1,1、Ｐ1,2、Ｐ1,3、…をサンプ
リング周期毎にロボット制御装置のメモリに自動生成教
示データとして記憶させる（ステップ）。粗教示点Ｐ
0,2付近に達するまでこの動作を繰り返す（ステップ
，）。(3) The tool is moved from P0,1 to P0,2 while pressing the tool against the work in the pressing force direction F1 (step). At this time, the locus of the robot (encoder data of each axis) P1,1, P1,2, P1,3, ... Is stored in the memory of the robot controller as sampling data at each sampling cycle (step). Rough teaching point P
This operation is repeated until it reaches around 0,2 (step,).
【００１６】（４）Ｐ0,2に達したら、次の粗教示点に
到達するまで（３）と同様の動作を成す。（ステップ
，10） 以上の動作によって自動生成教示点Ｐ1,1〜Ｐ1,13を生
成する。(4) When P0,2 is reached, the same operation as (3) is performed until the next rough teaching point is reached. (Step, 10) By the above operation, automatically generated teaching points P1,1 to P1,13 are generated.
【００１７】（５）（３）〜（４）の動作で生成した自
動生成教示点Ｐ1,1〜Ｐ1,13が図２のようにワーク形状
に対して倣っていない場合、更にＰ1,1〜Ｐ1,13を基に
して自動生成教示点をワーク形状に対して倣うように較
正する（ステップ11,12）。以下にこれを説明する。(5) When the automatically generated teaching points P1,1 to P1,13 generated by the operations of (3) to (4) do not follow the work shape as shown in FIG. 2, further P1,1 to The automatically generated teaching points are calibrated based on P1,13 so as to follow the work shape (steps 11 and 12). This will be explained below.
【００１８】（６）Ｐ1,1〜Ｐ1,13を基にしてロボット
を位置と力のハイブリッド制御を行なって再生し、
（３）〜（４）と同様の動作を行う。このとき、現在位
置からＰ1,1の位置にロボットを動作させる場合と、
（３）〜（４）のロボットの動作は、補間制御で動作さ
せる。また、加工工具の押し付け力方向は、最初の粗教
示によって教示した方向とし、例えばＦ1からＦ2へ力方
向が切り替わるのは粗教示点Ｐ0,2付近とする。こうし
て、更にワークに倣うよう較正された教示データＰ2,1
〜Ｐ2,13を生成する。(6) Based on P1,1 to P1,13, the robot is reproduced by performing hybrid control of position and force,
The same operations as (3) to (4) are performed. At this time, when the robot is operated from the current position to the position P1,1
The robot operations (3) to (4) are performed by interpolation control. The pressing force direction of the working tool is the direction taught by the first rough teaching, and for example, the force direction is switched from F1 to F2 near the rough teaching point P0,2. In this way, the teaching data P2,1 further calibrated to follow the workpiece
~ P2,13 is generated.
【００１９】（７）全教示経路に渡って力制御方向の力
検出値、即ち加工工具がワークに作用する力が所望の値
以上で動作し、完全にワークに倣った教示データが生成
されるまで（６）の動作を繰り返し行う。(7) The force detection value in the force control direction, that is, the force exerted on the work by the machining tool is operated at a desired value or more over the entire teaching path, and teaching data completely following the work is generated. Up to (6) is repeated.
【発明の効果】以上による本発明によれば、次の効果が
得られる。 複雑形状のワーク加工部の全ての部分に於て表面形状
に正確に倣ったＣＰ教示点データを生成することができ
る結果、加工精度の向上に著しく寄与する。 力制御のゲインが小さい場合、複雑形状ワークに完全
に倣わせることは困難だが、本方法による繰り返し作業
によって、ワークに完全に倣わせることができる。 加工工具がワークに倣わないことによる教示修正作業
がなくなり、全体の教示作業時間を短縮することができ
る。According to the present invention as described above, the following effects can be obtained. As a result of being able to generate CP teaching point data that accurately follows the surface shape in all the parts of the workpiece processing part having a complicated shape, it significantly contributes to the improvement of the processing accuracy. When the gain of force control is small, it is difficult to completely imitate a work having a complicated shape, but it is possible to perfectly imitate a work by repeating the method. There is no teaching correction work due to the machining tool not following the work, and the overall teaching work time can be shortened.
【図１】本発明のフローチャートFIG. 1 is a flowchart of the present invention.
【図２】本発明を説明するモデル図FIG. 2 is a model diagram illustrating the present invention.
【図３】本発明を実施するロボット構成図FIG. 3 is a block diagram of a robot that implements the present invention.
１ ロボット本体 ９ 加工工具 １０ ワーク ２０ 制御盤 ３９ 力センサ 1 Robot main body 9 Processing tool 10 Work piece 20 Control panel 39 Force sensor
Claims (2)
加工工具を設け、その加工工具はワークに離接するよう
にし、メモリを持つ力制御ロボットシステムで、加工工
具がワークから離れた位置を教示点とする少数の粗教示
点とワークへの押しつけ方向を基にして加工工具をワー
クに所望の力で押し付けながらロボットを動作させ、そ
のロボットの軌跡各位置を自動生成教示点としてメモリ
に記憶する教示方法において、メモリに記憶した自動生
成教示点を基にして加工工具をワークに所望の力で連続
的に押しつけながらロボットを動作させ、そのロボット
の軌跡各位置を自動生成教示較正点としてメモリに記憶
することを特徴とするロボットの教示点自動較正法。1. A machining tool is provided at the tip of a robot body via a force sensor, and the machining tool is brought into contact with and separated from a work. A force control robot system having a memory teaches a position where the machining tool is separated from the work. The robot is operated while pressing the machining tool to the work with a desired force based on a small number of rough teaching points as points and the pressing direction to the work, and each locus of the robot is stored in the memory as automatically generated teaching points. In the teaching method, based on the automatically generated teaching points stored in the memory, the robot is operated while continuously pressing the machining tool against the work with a desired force, and each locus of the robot is stored in the memory as automatically generated teaching calibration points. A method for automatically calibrating a teaching point of a robot characterized by storing it.
教示点として、この教示点を基に、加工工具をワークに
所望の力で押しつけながらロボットを動作させ、そのロ
ボットの軌跡各位置を新しい自動生成教示較正点として
メモリに記憶する動作を、全教示経路に渡って力制御方
向の力検出値が所望の値以上になるまで繰り返し行なう
ことを特徴とするロボットの教示点自動較正法。2. The generated automatically generated teaching calibration point is used as an automatically generated teaching point, and based on this teaching point, the robot is operated while pressing the machining tool against the workpiece with a desired force, and each locus of the robot is renewed. An automatic teaching point calibration method for a robot, characterized in that the operation of storing in the memory as an automatically generated teaching calibration point is repeated until the force detection value in the force control direction exceeds a desired value over the entire teaching path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24911492A JPH06102924A (en) | 1992-09-18 | 1992-09-18 | Automatic calibration method for teaching point of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24911492A JPH06102924A (en) | 1992-09-18 | 1992-09-18 | Automatic calibration method for teaching point of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06102924A true JPH06102924A (en) | 1994-04-15 |
Family
ID=17188164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24911492A Pending JPH06102924A (en) | 1992-09-18 | 1992-09-18 | Automatic calibration method for teaching point of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06102924A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139789A (en) * | 2011-01-04 | 2012-07-26 | Fanuc Ltd | Device for controlling robot that performs roughly copying control |
| JP2012176477A (en) * | 2011-02-28 | 2012-09-13 | Ihi Corp | Trajectory tracking system and method of machining robot |
| JP2012176478A (en) * | 2011-02-28 | 2012-09-13 | Ihi Corp | Trajectory tracking system and method of machining robot |
-
1992
- 1992-09-18 JP JP24911492A patent/JPH06102924A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139789A (en) * | 2011-01-04 | 2012-07-26 | Fanuc Ltd | Device for controlling robot that performs roughly copying control |
| JP2012176477A (en) * | 2011-02-28 | 2012-09-13 | Ihi Corp | Trajectory tracking system and method of machining robot |
| JP2012176478A (en) * | 2011-02-28 | 2012-09-13 | Ihi Corp | Trajectory tracking system and method of machining robot |
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