JP2012011494A - Robot angle data conversion method, and control device for executing the method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent any error of setting the data when changing a robot.SOLUTION: A robot angle data conversion method includes: a step (S101) of loading the geometrical error data of a robot before the change stored in an auxiliary storage device on a main storage device of a control device while a robot before the change is connected to the control device, and collating ID information added to the geometrical error data with ID information of the robot before the change; a step (S102) of disengaging the robot from the control device and changing it; a step (S103) of loading the geometrical error data of the robot after the change stored in the auxiliary storage device on the main storage device while the robot after the change is connected to the control device, and collating the ID information added to the geometrical error data with the ID information of the robot after the change; and a step (S104) of converting the angle data included in the work program so that the error between the tool fore end positions reflecting the geometrical error data of the robot before the change and after the change is sufficiently small, and performing the overwrite save of the work program so as to include the converted angle data.

Description

  The present invention relates to an angle data conversion method in an operation program for accurately reproducing the operation of the robot before the replacement with the robot immediately after the replacement without changing the teaching when the robot operating on the production line is replaced. The present invention relates to a control apparatus for carrying out this method.

Many industrial robots are operating mainly in automobile production lines, such as arc welding, spot welding, handling, and painting.
First, the current industrial robot will be briefly described.

  FIG. 9 is a configuration diagram of a general industrial robot. In FIG. 9, reference numeral 101 denotes a robot configured as a manipulator having a plurality of joint axes and links. Each joint shaft has a built-in drive motor with an encoder, and each joint can be driven independently. Reference numeral 102 denotes a control device for the robot 101. The control device 102 controls the motion of the robot 101 by performing feedback control (position control system) based on the encoder signals of the joint axis drive motors. The robot 101 and the control device 102 are connected via a connection cable 101a. Reference numeral 103 denotes a portable teaching operation panel, which is an interface for a teacher to manually (JOG) operate the robot and create / edit an operation program. The portable teaching operation panel 103 mainly includes an operation button group 103a and a display screen 103b. 101b is an end effector provided at the wrist of the robot 101. Various tools are attached to the end effector according to the application.

  If a robot operating on the production line fails for some reason, remove the failed robot, install a normal robot of the same type at the same location, and replace the robot. Depending on the extent of the failure, replacing the broken robot on the spot can restore the production line faster by replacing the robot. However, robots have mechanical individual differences (geometrical errors with respect to ideal kinematic models), and even if the same operation program (angle data) is given, the position and orientation of the tool tip deviates greatly. Correction is required, and it takes time to restore the line. Since the line stop time is a great loss for the manufacturer, there is a demand for improving the tool tip position accuracy (robot replacement accuracy) at the time of robot replacement and minimizing teaching correction work.

  Furthermore, even if the robot is not broken, a robot that has become a bottleneck for reasons such as avoiding obstacles and joint angle limits is used to improve the production line. There is also a desire to restore the line in a short time.

In view of the above demand, conventionally, a technique described in Patent Document 1 below has been proposed.
In Patent Document 1, when an operation program is exchanged between robots when exchanging robots, the angle data of the conversion source robot stored in the control device of the conversion source robot is converted into an ideal program based on the angle data of the ideal robot without setting error. There is an operation program conversion system that can reproduce the same operation by converting and giving it to the control device of the conversion destination robot, and converting the angle data of the ideal program into the angle data of the conversion destination robot by the control device of the conversion destination robot. It is disclosed.

JP-A-9-128026

  However, in the program conversion method of Patent Document 1, it is assumed that when the robot is replaced, the control device is also replaced together, and there is a problem that a spare control device is required. If only the control unit data is replaced, it is not always necessary to replace the control unit hardware. However, if incorrect geometric error data is set and the program conversion is performed, the position accuracy is not guaranteed. In some cases, a serious problem occurs that the tool or the robot itself is damaged by interference with the workpiece or peripheral equipment. Patent Document 1 does not mention any specific method for preventing an error in data setting.

  The present invention has been made in view of such problems, and eliminates the need to replace the control device at the time of exchanging the robot, and prevents an error in setting geometric error data at the time of exchanging the robot. An object of the present invention is to provide an angle data conversion method and a control device for carrying out the angle data conversion method.

In order to solve the above problem, an angle data conversion method according to the first aspect of the present invention includes:
(1) With the robot before replacement connected to the control device, load the geometric error data of the robot before replacement stored in the auxiliary storage device into the main storage device of the control device; and , Collating the ID information appended to the geometric error data with the ID information acquired from the robot before replacement,
(2) Replace the robot connected to the control device,
(3) With the robot after replacement connected to the control device, load the geometric error data of the robot after replacement stored in the auxiliary storage device into the main storage device, and Collating the ID information appended to the scientific error data with the ID information acquired from the robot after the exchange,
(4) An error between the tool tip position reflecting the geometric error data of the robot before replacement and the tool tip position reflecting the geometric error data of the robot after replacement is sufficiently small. The angle data included in the operation program stored in the main storage device is converted, and the operation program is overwritten and stored so as to include the converted angle data.
Each process is configured.

  According to the first aspect of the present invention, since the geometric error data is collated with the load from the auxiliary storage device in a state where the real robot is connected to the control device, the error data can be easily and reliably stored. Verification is possible, and data setting errors can be reliably prevented.

Moreover, the angle data conversion method according to the second aspect of the present invention includes:
(1) With the robot before replacement connected to the control device, load the geometric error data of the robot before replacement stored in the auxiliary storage device into the main storage device of the control device; and , Collating the ID information appended to the geometric error data with the ID information acquired from the robot before replacement,
(2) The error between the tool tip position reflecting the geometric error data of the pre-replacement robot and the tool tip position of the nominal robot model assumed to have no geometric error is sufficiently small. Converting the angle data included in the operation program stored in the main storage device, and saving the nominal operation program including the converted angle data in the auxiliary storage device,
(3) Replace the robot connected to the control device,
(4) With the robot after replacement connected to the control device, load the geometric error data of the post-replacement robot stored in the auxiliary storage device into the main storage device, and Collating the ID information appended to the scientific error data with the ID information acquired from the robot after the exchange,
(5) Stored in the auxiliary storage device so that an error between the tool tip position of the nominal robot model and the tool tip position reflecting the geometric error data of the replaced robot is sufficiently small. Converting the angle data included in the nominal operation program, and loading the operation program including the converted angle data into the main storage device;
Each process is configured.

  According to the second aspect, since all the angle data of the robot before replacement is once converted into the angle data of the nominal robot model and saved in the auxiliary storage device, there is a considerable time lag between the robot replacements, Even if the identity of the control device is not always guaranteed, the robot after replacement can be operated correctly.

  Preferably, in the first and second aspects, when the ID information added to the geometric error data in the collating step does not match the ID information acquired from the actual robot, the geometric error data is It is preferable that a verification error is displayed instead of being loaded into the main storage device.

  The ID information that can identify the actual robot may be acquired from the actual robot via a connection cable. Further, the ID information can include an encoder manufacturing number of each joint axis of the robot.

  Preferably, a portable teaching operation panel is connected to the control device of the first and second aspects, and the auxiliary storage device includes a memory built in the portable teaching operation panel or the portable control panel. This memory device is detachable from the portable teaching operation panel.

  A control device for executing the angle conversion method of the present invention is configured as follows. That is, the control device of the present invention loads the geometric error data of the robot stored in the auxiliary storage device into the main storage device in a state where the main storage device and the robot are connected to the control device. And a load collating means for collating the ID information added to the geometric error data with the ID information acquired from the robot, and the geometric error data loaded / verified by the load collating means. The error data storage unit to be stored, the conversion source operation program reading means for reading the conversion source operation program, and the error between the tool tip positions reflecting the geometric error data of the two robots are made sufficiently small. , Angle data conversion means for converting angle data included in the conversion source operation program, and an operation in which the angle data is converted by the angle data conversion means The program is constructed by and a destination operation program writing means for writing to the main memory.

  According to the first aspect of the control device of the present invention, an operation program of a robot connected to the control device is stored in the main storage device, and the geometric error data of the robot is the geometric error. When exchanging the robot connected to the control device in a state stored in the data storage unit, the load collating means is configured to connect the auxiliary robot to the control device while the robot after the replacement is connected to the control device. The geometric error data of the robot after replacement stored in the main memory is loaded into the main storage device, and the ID information appended to the geometric error data and the ID information acquired from the robot after replacement are The conversion source operation program reading means reads the operation program including the angle data of the robot before replacement stored in the main storage device as the conversion source program. The angle data conversion means has a sufficiently small error between the tool tip position reflecting the geometric error data of the robot before replacement and the tool tip position reflecting the geometric error data of the robot after replacement. As described above, the angle data included in the conversion source operation program is converted, and the conversion destination operation program writing unit writes the operation program in which the angle data is converted by the angle data conversion unit into the main storage device.

  According to the second aspect of the control device of the present invention, the operation program of the robot before replacement connected to the control device is stored in the main storage device, and the geometric error data of the robot is stored. In the state stored in the geometric error data storage unit, the conversion source operation program reading means uses an operation program including the angle data of the robot before replacement stored in the main storage device as a conversion source program. The angle data conversion means reads the error between the tool tip position reflecting the geometric error data of the pre-replacement robot and the tool tip position of the nominal robot model that is assumed to have no geometric error. The angle data included in the conversion source operation program is converted such that the conversion destination operation program is written, Saving nominal operation program including the converted angle data in the auxiliary storage device.

  Further, in the control device according to the second aspect, when the robot is replaced, the load collating unit is configured to store the post-replacement stored in the auxiliary storage device in a state where the robot after the replacement is connected to the control device. Loading the geometric error data of the robot into the main storage device, collating the ID information added to the geometric error data with the ID information acquired from the robot after the exchange, and the conversion source operation program The reading means reads the nominal operation program stored in the auxiliary storage device as a conversion source program, and the angle data conversion means reads the tool tip position of the nominal robot model and the geometric error of the replaced robot. The angle included in the nominal operation program so that the error between the tool tip position reflecting the data is sufficiently small It converts over data, the destination operation program writing means writes the operation program angle data is converted by the angle data converting unit to the main storage device.

It is a flowchart of the angle data conversion method concerning 1st Example of this invention. It is a flowchart of the angle data conversion method concerning 2nd Example of this invention. It is a flowchart which shows the operation | movement principle of angle data conversion of this invention. It is a flowchart of the correction process of an angle correction vector. It is a block diagram of the system which mounted the angle data conversion method of this invention. It is a figure which shows the specific example of an auxiliary storage device. It is a figure which shows the specific example of geometric error data. It is a figure which shows the operation principle of correction of an angle correction vector. It is a block diagram of an industrial robot.

  Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings.

FIG. 1 shows a flowchart of a method for converting angle data of a robot in a first embodiment according to the present invention.
An outline of the angle data conversion method according to the present embodiment will be described, assuming that the real robot before replacement is Robot A and the real robot after replacement is Robot B.

  First, in the state where the robot A is connected to the control device, the geometric error data of the robot A (data indicating the individual difference between the mechanical design value of the robot and the mechanical dimensional error, Data required to eliminate individual differences in robot motion caused by errors (hereinafter also referred to simply as “error data”) from the auxiliary storage device to the main storage device in the control device, and The ID information added to the error data is collated with the ID information acquired from the actual robot A (S101). If the ID information of the error data matches the ID information of the actual robot A, that is, if it is determined that the error data loaded in the main memory is that of the robot A, the robot A is removed from the production line, The robot B is accurately installed at the same place, connected to the same control device, and the robot is exchanged (S102). After exchanging the robot, the geometric error data of robot B is copied to the auxiliary storage device, further loaded from the auxiliary storage device to the main storage device in the control device, and the ID information appended to the error data The ID information acquired from the actual robot B is collated (S103). If the ID information of the error data matches the ID information of the actual robot B, that is, if it is determined that the error data loaded in the main storage device is that of the robot B, it is stored in the main storage device. For the operation program for robot A, the angle data is converted for robot B, and the operation program is overwritten and saved (S104). Here, the angle data is converted so that the error between the tool tip position of the robot A reflecting the error data of the robot A and the tool tip position of the robot B reflecting the error data of the robot B becomes sufficiently small.

  FIG. 5 shows a configuration diagram of a system in which the angle data conversion method of the present invention is implemented. In addition, the part shown with the dotted line in FIG. 5 is a part which concerns on 2nd Example mentioned later. As shown in FIG. 5, this system includes a robot 101, a control device 102 for controlling the robot 101, a portable teaching operation panel 103 that can be operated and input by a teacher for controlling and teaching the robot 101, It has. As shown in FIG. 9, the robot 101 and the control device 102 are connected via a connection cable 101a.

  The portable teaching operation panel 103 incorporates an auxiliary storage device 103c. A geometric error data storage unit 103c1 for storing at least geometric error data of the robot 101 is allocated to the memory area of the auxiliary storage device 103c. As the auxiliary storage device 103c, as shown in FIG. 6, a device that can be easily attached and detached, such as a CF card or a USB memory, is suitable.

  By making the auxiliary storage device 103c detachable, after loading the geometric error data of the robot A into the main storage device, the auxiliary storage device 103c is temporarily detached from the portable teaching operation panel 103, and the robot B using a personal computer or the like. The geometric error data of the robot B is copied to the auxiliary storage device 103c, the auxiliary storage device 103c is attached to the portable teaching operation panel 103 again, and the geometric error data of the robot B is loaded into the main storage device. it can.

  The control device 102 loads the geometric error data of the robot 101 stored in the auxiliary storage device 103c to the main storage device 102a while the main storage device 102a and the robot 101 are connected to the control device 102. And geometric error data loading / collating means 102b for collating the ID information appended to the geometric error data with the ID information acquired from the robot 101. In the memory area of the main storage device 102a, an error data storage unit 102a1 that stores geometric error data loaded / verified by the load verification unit 102b, and an operation program storage unit 102a2 that stores an operation program for operating the robot 101. And are assigned. A nonvolatile memory is suitable as the main storage device 102a.

  Further, the control device 102 includes a conversion source operation program reading means 102c for reading the operation program stored in the operation program storage unit 102a2 as a conversion source operation program, and a tool reflecting the geometric error data of the two robots. The angle data conversion unit 102d that converts the angle data included in the conversion source operation program, and the operation program in which the angle data is converted by the angle data conversion unit 102d so that the error between the tip positions is sufficiently small. Conversion destination operation program writing means 102e for overwriting the conversion unit 102a2.

  The geometric error data load / verification unit 102b acquires the robot ID information added to the geometric error data and the actual robot 101 connected to the control device 102 via the connection cable 101a (FIG. 9). Compare and compare the ID information. If there is a mismatch in the ID information and a collation error occurs, the geometric error data is not copied (loaded) to the main storage device 102a, and the user (operator) is informed that the collation error has occurred. Be notified. As this notification method, for example, an error is displayed on the display screen of the portable teaching operation panel 103. As specific ID information, an encoder serial number (manufacturing number) can be used as shown in FIG. This is because each axis encoder signal cable is always included in the connection cable 101a between the actual robot 101 and the control device 102, and the encoder status and serial number are always communicated in addition to the encoder pulse value. The geometric error data storage unit 102a1 stores a plurality of collated geometric error data. At that time, the stored order is also stored, so that the error data of the robot before conversion (conversion source) and the error data of the robot after conversion (conversion destination) can be reliably identified.

  As described above, since the geometric error data is loaded from the auxiliary storage device while the actual robot is connected to the control device, the error data can be easily and reliably collated, and the data setting error can be confirmed. Can be surely prevented.

Next, details (conversion principle) of the angle data conversion process in S104 of FIG. 1 or 102d of FIG. 5 will be described.
FIG. 3 shows a detailed flowchart of angle data conversion processing between robots.

In FIG. 3, a robot 1 indicates a conversion source (before replacement) robot, and a robot 2 indicates a conversion destination (after replacement) robot.
First, in S300, the angle data θ1 (joint angle vector) of the robot 1 is input. Next, the position and orientation vector Ptcp1 (θ1) of the tool tip is calculated by forward kinematics (forward kinematics) calculation considering the geometric error data of the robot 1 (S301). Next, the angle data θ2 of the robot 2 is initialized (S302). If the robot 1 and the robot 2 are of the same type, θ1 may be copied to θ2. In S303, in the same manner as in S301, the tool tip position and orientation vector Ptcp2 (θ2) is calculated by forward kinematics (forward kinematics) calculation in consideration of the geometric error data of the robot 2. In S304, an error vector ΔPtcp = Ptcp1 (θ1) −Ptcp2 (θ2) of the tool tip positions and orientations of the robot 1 and robot 2 is calculated. In S305, the absolute value of the error vector ΔPtcp is calculated. In S306, it is determined whether the absolute value is less than a preset threshold value. If it is less than the threshold, the angle data θ2 of the robot 2 is output and the process is terminated (S311). If it is greater than or equal to the threshold value, the processing from S307 to S310 described below is executed, and the process returns to S303.

  In S307, the Jacobian matrix J2 (θ2) is calculated in consideration of the geometric error data of the robot 2. The hand position / posture vector P2 of the robot 2 can be generally expressed as P2 = f (θ2, α) using the function of the joint angle vector θ2 of the robot 2 and the geometric error data α. In S307, the Jacobian matrix J2 (θ2) is calculated by partially differentiating f (θ2, α) with θ2 as in the following equation.

J2 (θ2) = ∂f (θ2, α) / ∂θ2
In S308, the angle correction vector Δθ2 = Inv (J2 (θ2)) · ΔPtcp of the robot 2 is calculated. Here, Inv (J2 (θ2)) is an inverse matrix or pseudo inverse matrix of the Jacobian matrix J2 (θ2).

  In S309, when the robot 2 is a redundant degree of freedom robot, the angle correction vector Δθ2 is corrected to Δθ2 ′ in consideration of joint angle limit avoidance and obstacle avoidance according to the method described later. When the robot 2 is not in a redundant degree of freedom, no correction is made if there is a sufficient margin to the joint angle limit and there is no fear of a collision with an obstacle. In S310, the angle correction vector Δθ2 ′ or Δθ2 calculated up to S309 is added to the angle data θ2 of the robot 2. That is, the angle data θ2 is corrected as θ2 = θ2 + Δθ2 ′ or θ2 = θ2 + Δθ2.

  When the angle data θ2 is corrected in S310, the process returns to S303 again, and the same processing is executed on the corrected angle data θ2 until the absolute value of the error vector becomes less than the threshold value in S306. By repeating the processing from S303 to S310, the tool tip position / posture before the robot replacement and the tool tip position / posture after the robot replacement can be matched as much as possible. Both forward kinematics and Jacobian computations can be calculated using a 4 × 4 homogeneous transformation matrix describing the relative relationship between the joint coordinate systems fixed to each link. In the homogeneous transformation matrix, all DH parameters (including link torsion), rotation angle offset (encoder origin), and joint axis compliance can be taken into account, and error data from an ideal geometric model is accurate (in advance) Measurement), the tool tip position and orientation of the actual robot also coincide with each other with high accuracy.

FIG. 4 shows a detailed flowchart of the processing of S309 shown in FIG.
In S401, an evaluation function K that considers joint angle limit avoidance and obstacle avoidance is calculated. Usually, this evaluation function is calculated as a linear combination of potential functions according to the joint angle limit or the distance to the obstacle. That is, K = c1 · U1 + c2 · U2 ++... + Cn · Un. U1 to Un are potential functions that have larger values as the distance decreases. Also, c1 to cn are evaluation function weight coefficients.

  In S402, the maximum increasing gradient vector φ = ∇K of the evaluation function K is calculated. Here, ∇ is a vector differential operator, and the gradient vector of the potential function can be calculated. In FIG. 8A, 801 is the contour of the evaluation function (potential function), 802 is the maximum value of the evaluation function, 803 is the maximum increasing gradient vector φ, and 804 is the angle correction vector Δθ2. As shown in FIG. 8A, the direction of the gradient vector φ (803) indicates the steepest increase direction of the potential function in the joint space, and the size of φ gives the maximum gradient. Here, if φn = ∇Un, it can be expressed as φ = c1, φ1 + c2, φ2 + ... cn · φn, where φ is a linear combination of the maximum increasing gradient vector φn of each potential function Un (from c1 to cn is its weighting factor) ).

In S403, the angle α formed by the angle correction vector Δθ2 and the maximum increasing gradient vector φ is calculated based on the inner product.
In S404, it is determined whether the formed angle α is less than 90 degrees. When the angle formed as shown in FIG. 8A is 90 degrees or more, the angle correction vector Δθ2 does not increase the evaluation function K, and thus the process ends without correcting Δθ2 (S408). When the formed angle is less than 90 degrees as shown in FIG. 8B, it is determined whether the formed angle α is less than a preset threshold value (usually a very small value) (S405). If it is equal to or greater than the threshold, in S406, the component in the direction of the maximum increasing gradient vector φ is removed from the angle correction vector Δθ2. That is,
Δθ2 '= Δθ2-(Δθ2 · φ) φ / | φ |
Is corrected based on the above, and the process ends. In FIG. 8B, reference numeral 805 denotes a component of the angle correction vector Δθ2 in the direction of the maximum increasing gradient vector φ, which corresponds to the second term on the right side of the above equation. Reference numeral 806 denotes a corrected angle correction vector Δθ2 ′.

  By correcting Δθ2 in this way, the tool tip position / posture error ΔPtcp can be reduced without increasing the evaluation function K (without reaching the joint angle limit or colliding with an obstacle). .

  However, when the angle α formed as shown in FIG. 8C is less than the threshold value, it is difficult to correct the error without increasing the evaluation function K (deadlock state), and therefore the weighting factor c1 of the evaluation function K in S407. Change cn to return to S401. As shown in FIG. 8D, by changing the value of the weighting factor, the direction of the maximum increasing gradient vector φ changes, so that a deadlock state can be avoided. In FIG. 8D, reference numeral 803 denotes a maximum increasing gradient vector φ before the weighting coefficient is changed, which can be expressed as φ = 0.8φ1 + 0.2φ2 (for convenience, φ = c1, φ1, + c2, φ2). Reference numeral 807 denotes the maximum increasing gradient vector φ ′ after changing the weighting coefficient, which can be expressed as φ = 0.2φ1 + 0.8φ2.

  The coefficient of the evaluation function K is not absolute and can be changed within a certain range. Even if the coefficient of the evaluation function is changed within a certain range, the safety aspect (avoidance of collision with obstacles) is still Fully guaranteed. As a constraint condition at the time of changing the coefficient, for example, ΣCn = const (constant) may be set, or may be changed in a range of a predetermined value <Cn <predetermined value. Alternatively, a plurality of sets of C1 to Cn may be prepared in advance and selected as appropriate.

  As described above, since the angle correction vector is calculated using the pseudo inverse matrix of the Jacobian matrix reflecting the geometric error data, the error correction can be performed with high accuracy even for the redundant freedom degree robot. . In addition, since the linear combination of potential functions related to joint angle limit avoidance and obstacle avoidance is used as an evaluation function, the angle correction vector is corrected in a direction that does not increase the evaluation function value while appropriately changing the weighting coefficient of the evaluation function. It is possible to achieve both correction of the tip position error and joint angle limit avoidance and obstacle avoidance.

  FIG. 2 shows a flowchart of a robot angle data conversion method according to the second embodiment of the present invention. It is the same as in the first embodiment that the robot before replacement is robot A and the robot after replacement is robot B.

  The system for executing the angle data conversion method according to the second embodiment is substantially the same as the system configuration shown in FIG. 5, but differs in the following points. That is, as shown in FIG. 5, in addition to the geometric error data storage unit 103c1, an operation program storage unit 103c2 is further allocated to the memory area of the auxiliary storage device 103c. The conversion source operation program reading means 102c of the control device 102 can not only read the operation program stored in the operation program storage unit 102a2, but also the nominal operation stored in the operation program storage unit 103c2 of the auxiliary storage device. The program can be read as a conversion source program. Further, the conversion destination operation program writing means 102e can not only write the operation program in the operation program storage unit 102a2, but also save it in the operation program storage unit 103c2 of the auxiliary storage device. Since the other points are the same as those of the first embodiment, the second embodiment will be described using the same reference numerals.

  In FIG. 2, S201, S203, and S204 correspond to S101, S102, and S103 of FIG. The difference from the first embodiment is in the processing of S202 and S205. First, in S202, the angle data of the operation program of the robot A stored in the operation program storage unit 102a2 of the main storage device is converted into the angle data of the nominal robot and converted to the operation program storage unit 103c2 of the auxiliary storage device. Save the nominal motion program with the specified angle data. Here, the nominal robot is an ideal robot whose geometric error data is all zero, and is a robot model on a robot simulator.

  In S205, the angle data in the nominal motion program stored in the motion program storage unit 103c2 of the auxiliary storage device is converted from the nominal robot to the robot B based on the geometric error data of the robot B loaded in S204. To the operation program storage unit 102a2 of the main storage device.

As described above, in the second embodiment, the angle data is not directly converted from the robot A to the robot B, but is converted through the nominal robot.
Such conversion is suitable when a large time lag occurs in the exchange from robot A to robot B. For example, since robot C broke down on production line 1, remove it, bring robot A from production line 2 that is not in operation, and install it at the place where robot C was located on production line 1 (robot C was sent for repair). ) Since the production amount increased after a while, the suspended production line 2 was to be reactivated, and the robot B was brought to the surface and installed where the robot A was. In such a case, there is a considerable time lag in exchanging from robot A to robot B on the production line 2, and during that time, the control device to which robot A was connected may be diverted. Identity is not always guaranteed. Therefore, since the geometric error data cannot be correctly verified, all the angle data of the robot A is once converted into a nominal robot and saved in an external auxiliary storage device. To convert the angle data from robot A to nominal robot, the geometric error data of robot 1 in FIG. 3 is converted into the geometric error data of robot A, and the geometric error data of robot 2 is all set to zero. Can be executed in exactly the same procedure. The same procedure can be used to convert angle data from the nominal robot to robot B.

  Thus, in the angle data conversion method of the present invention, the angle conversion can be performed in the same procedure without distinguishing between the actual robot and the nominal robot, so that there is versatility and various conversion modes can be selected.

  Although the above is each Example of this invention, this invention is not limited to the said example, It can change arbitrarily suitably within the scope of the present invention.

  It can also be used when the motion program created by the robot simulator is initially input to the actual robot.

101 Robot 101a Connection cable 101b Tool 102 Control device 102a Main storage device 102a1 Geometric error data storage unit 102a2 Operation program storage unit 102b Geometric error data load / verification unit 102c Conversion source operation program reading unit 102d Angle data conversion unit 102e Conversion destination operation program writing means 103 Portable teaching operation panel 103a Operation button group 103b Display screen 103c Auxiliary storage device 103c1 Geometric error data storage unit 103c2 Operation program storage unit 801 Contour line 802 of evaluation function Maximum point 803 of evaluation function Maximum increasing gradient vector 804 of evaluation function Angle correction vector 805 Maximum increasing gradient vector direction component 806 of angle correction vector Modified angle correction vector 807 Weighting factor is changed The maximum increase in the gradient vector

Claims (14)

A method of converting angle data of a robot before replacement in the control device so that the operation of the robot before replacement can be accurately reproduced by the robot after replacement when replacing a real robot connected to the control device. Because
(1) With the robot before replacement connected to the control device, load the geometric error data of the robot before replacement stored in the auxiliary storage device into the main storage device of the control device; and , Collating the ID information appended to the geometric error data with the ID information acquired from the robot before replacement,
(2) Replace the robot connected to the control device,
(3) With the robot after replacement connected to the control device, load the geometric error data of the robot after replacement stored in the auxiliary storage device into the main storage device, and Collating the ID information appended to the scientific error data with the ID information acquired from the robot after the exchange,
(4) An error between the tool tip position reflecting the geometric error data of the robot before replacement and the tool tip position reflecting the geometric error data of the robot after replacement is sufficiently small. The angle data included in the operation program stored in the main storage device is converted, and the operation program is overwritten and stored so as to include the converted angle data.
An angle data conversion method comprising each step. A method of converting angle data of a robot before replacement in the control device so that the operation of the robot before replacement can be accurately reproduced by the robot after replacement when replacing a real robot connected to the control device. Because
(1) With the robot before replacement connected to the control device, load the geometric error data of the robot before replacement stored in the auxiliary storage device into the main storage device of the control device; and , Collating the ID information appended to the geometric error data with the ID information acquired from the robot before replacement,
(2) The error between the tool tip position reflecting the geometric error data of the pre-replacement robot and the tool tip position of the nominal robot model assumed to have no geometric error is sufficiently small. Converting the angle data included in the operation program stored in the main storage device, and saving the nominal operation program including the converted angle data in the auxiliary storage device,
(3) Replace the robot connected to the control device,
(4) With the robot after replacement connected to the control device, load the geometric error data of the post-replacement robot stored in the auxiliary storage device into the main storage device, and Collating the ID information appended to the scientific error data with the ID information acquired from the robot after the exchange,
(5) Stored in the auxiliary storage device so that an error between the tool tip position of the nominal robot model and the tool tip position reflecting the geometric error data of the replaced robot is sufficiently small. Converting the angle data included in the nominal operation program, and loading the operation program including the converted angle data into the main storage device;
An angle data conversion method comprising each step.   When the ID information added to the geometric error data does not match the ID information acquired from the actual robot in the verification step, the geometric error data is not loaded into the main storage device, and a verification error occurs. The angle data conversion method according to claim 1, wherein the angle data is displayed.   The angle data conversion method according to any one of claims 1 to 3, wherein the ID information that can identify the actual robot is acquired from the actual robot via a connection cable.   The angle data conversion method according to claim 4, wherein the ID information includes an encoder serial number of each joint axis of the robot. A portable teaching operation panel is connected to the control device,
6. The auxiliary storage device according to claim 1, wherein the auxiliary storage device is a memory built in the portable teaching operation panel or a memory device that is detachable from the portable teaching operation panel. The method described. A control device connected to the robot for controlling the actual robot,
A main storage device;
While the robot is connected to the control device, the geometric error data of the robot stored in the auxiliary storage device is loaded into the main storage device, and added to the geometric error data. Load verification means for verifying ID information and ID information acquired from the robot;
An error data storage unit for storing geometric error data loaded / verified by the load verification unit;
A conversion source operation program reading means for reading the conversion source operation program;
Angle data conversion means for converting the angle data included in the conversion source operation program so that the error between the tool tip positions reflecting the geometric error data of the two robots is sufficiently small;
A conversion destination operation program writing means for writing the operation program in which the angle data is converted by the angle data conversion means to the main storage device;
A control device comprising: An operation program of the robot connected to the control device is stored in the main storage device, and the geometric error data of the robot is stored in the geometric error data storage unit. When replacing the connected robot,
The load collating means loads the geometric error data of the robot after replacement stored in the auxiliary storage device into the main storage device in a state where the robot after replacement is connected to the control device, and , Collating the ID information appended to the geometric error data with the ID information acquired from the robot after the exchange,
The conversion source operation program reading means reads, as a conversion source program, an operation program including angle data of the robot before replacement stored in the main storage device,
The angle data conversion means is such that an error between a tool tip position reflecting the geometric error data of the robot before replacement and a tool tip position reflecting the geometric error data of the robot after replacement is sufficiently small. To convert the angle data included in the conversion source operation program,
8. The control apparatus according to claim 7, wherein the conversion destination operation program writing unit writes the operation program in which the angle data is converted by the angle data conversion unit to the main storage device. The operation program of the robot before replacement connected to the control device is stored in the main storage device, and the geometric error data of the robot is stored in the geometric error data storage unit,
The conversion source operation program reading means reads, as a conversion source program, an operation program including angle data of the robot before replacement stored in the main storage device,
The angle data conversion means has a sufficient error between the tool tip position reflecting the geometric error data of the pre-replacement robot and the tool tip position of the nominal robot model assumed to have no geometric error. The angle data included in the conversion source operation program is converted so as to be smaller,
8. The control apparatus according to claim 7, wherein the conversion destination operation program writing means saves a nominal operation program including the converted angle data in an auxiliary storage device. When replacing the robot,
The load collating means loads the geometric error data of the robot after replacement stored in the auxiliary storage device into the main storage device in a state where the robot after replacement is connected to the control device, and , Collating the ID information appended to the geometric error data with the ID information acquired from the robot after the exchange,
The conversion source operation program reading means reads the nominal operation program stored in the auxiliary storage device as a conversion source program,
The angle data conversion means is provided in the nominal operation program so that an error between a tool tip position of the nominal robot model and a tool tip position reflecting the geometric error data of the robot after replacement is sufficiently small. Convert the included angle data,
10. The control apparatus according to claim 9, wherein the conversion destination operation program writing unit writes the operation program in which the angle data is converted by the angle data conversion unit to the main storage device.   In the collation by the load collating means, when the ID information added to the geometric error data does not match the ID information acquired from the robot, the geometric error data is not loaded into the main storage device. 11. The control device according to claim 7, wherein a collation error is displayed.   The control apparatus according to claim 7, wherein the ID information that can identify the actual robot is acquired from the actual robot via a connection cable.   The control apparatus according to claim 12, wherein the ID information includes an encoder serial number of each joint axis of the robot. A portable teaching operation panel is connected to the control device,
14. The auxiliary storage device according to any one of claims 7 to 13, wherein the auxiliary storage device is a memory built in the portable teaching operation panel or a memory device that can be attached to and detached from the portable teaching operation panel. The control device described.