KR102190102B1 - Collision avoidance simulation system: A method of displaying a guidance tool for robot routing to avoid collision - Google Patents

Abstract

A collision avoidance simulation system according to an embodiment of the present invention includes a six-axis robot arm-the robot arm includes a first link unit, a second link unit, a third link unit, a fourth link unit, a fifth link unit, and a sixth link unit. A link unit, a work unit capable of performing a predetermined operation, a first joint unit coupling the first link unit and the second link unit, a second joint unit coupling the second link unit and the third link unit, A third joint portion coupling the third link portion and the fourth link portion, a fourth joint portion coupling the fourth link portion and the fifth link portion, and a fifth coupling portion of the fifth link portion and the sixth link portion It includes a joint part and a sixth joint part that couples the sixth link part and the working part-The posture of the robot arm when the reference part, which is a part of, moves on an avoidance path that does not collide with an obstacle, which is a predetermined object. A collision avoidance simulation system for calculating an avoidance posture, comprising: an initial point providing unit for providing an initial position, which is a position of the reference unit, and an initial posture, which is a posture of the robot arm when the reference unit is positioned at an initial position; A final point providing unit providing a final position of the reference unit and a final posture of the robot arm when the reference unit is positioned at a final point; When the reference unit is located at a first via point through which the reference unit passes in order to move the reference unit positioned at the initial point to the final point, a first via position that provides a first via position that is the position of the reference unit Provision unit; When the reference unit is located at a second via point through which the reference unit passes after the first via point in order to move to the final point, the second via position, which is the position of the reference unit, is A second via location providing unit to provide; When the first transit posture, which is the posture of the robot arm when the reference part is located at the first transit point based on the first transit position and the second transit point, and the reference part is located at the second transit point A robot arm posture calculation unit that calculates a second posture through which is the posture of the robot arm of; And a display unit that displays at least one of the first transit point and the second transit point, wherein the robot arm posture calculation unit comprises: the first transit position and the reference unit at the first transit point The first transit posture can be calculated based on the rotation angles of the at least three joints at the time.

Description

[Collision avoidance simulation system: A method of displaying a guidance tool for robot routing to avoid collision}

The present invention relates to a method for displaying an avoidance path guidance tool and a collision avoidance simulation system using the same, and provides a simulation system implemented to prevent a reference part, which is a part on one end of a 6-axis robot arm, collide with an obstacle which is a predetermined object. About.

In recent industrial sites, various processes are being automated to minimize manpower, maximize productivity, and eliminate risk factors. To this end, various industrial robots are used in many sites.

Typically, an articulated robot is being used for universal use in various processes and places. For example, the articulated robot can effectively perform processes such as welding, cutting or painting. Compared with other robots, the articulated robot can be used in different industrial sites if only the control program is changed, and thus, research and development are active in recent years.

Here, the technology related to the existing articulated robot (Korean Patent Publication No. 10-2015-0080050 (2015.07.09, published)) has been intensively researched and developed limitedly to the 3-axis robot. However, the industrial 3-axis robot has a problem that the area to be applied is somewhat limited because the motion to be implemented is limited.

For this reason, development of the industrial 6-axis robot is in progress, and various theories have been developed in relation to the collision avoidance simulation of the industrial 6-axis robot, but the existing collision avoidance methods are too long to analyze and can be applied to actual industrial sites. It was impossible. As a result, collision avoidance with obstacles of industrial 6-axis robots currently used in industrial sites is being carried out by workers in the field.

However, when a worker in the field directly performs a collision avoidance analysis, there is a problem that the collision avoidance analysis time and the results of the collision avoidance simulation are different depending on the work skill of the worker, and at the same time, there is a problem that it is impossible to respond to unexpected variables or situations. Occurred.

In order to solve the above problem, an object to be solved of the present invention is to provide a method for displaying an avoidance path guidance tool for calculating a posture in which a 6-axis articulated robot can avoid an obstacle in a short time, and a collision avoidance simulation system using the same. do.

However, the problem to be solved by the present invention is not limited to the above-described problems, and the problems that are not mentioned may be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings. There will be.

A collision avoidance simulation system according to an embodiment of the present invention is an avoidance path guidance tool used in a collision avoidance simulation system for preventing a reference part, which is a part on one end of a six-axis robot arm, collide with an obstacle which is a predetermined object. A collision avoidance simulation system displaying (Via Bar), comprising: an initial point providing unit for providing an initial position as a position of the reference unit and an initial direction as a direction of the reference unit when the reference unit is positioned at an initial position; A final point providing unit providing a final position of the reference portion and a final direction of the reference portion when the reference portion is located at a final point; In order to prevent the reference unit from colliding with the obstacle, a first transit point, which is a position of a first transit point through the reference unit, and a second transit point, which is a point through which the reference unit passes after the first transit point. A transit location determination unit that calculates a transit location; An avoidance path guidance tool data generation unit that generates data related to an avoidance path guidance tool including a guide line that is a predetermined line connecting the first and second throughpoints to each other; And a display unit that displays an avoidance path guidance tool based on data provided from the avoidance path guidance tool, wherein the transit location determination unit includes a first factor factor and the reference point that are factors related to the minimum movement path. The first via position and the second via position may be calculated in consideration of a second factor factor that is a factor related to an element preventing collision with an obstacle.

In addition, the first factor factor may be calculated based on the initial position and the final position.

In addition, the first factor factor is a predetermined value for the sum of the initial position vector, which is a vector for the initial point at a base point, which is a reference point, and a final position vector, which is a vector for the final point at the base point. It can be calculated by dividing the value.

In addition, the second factor factor may be calculated based on a collision avoidance direction factor, which is a direction in which the reference point does not collide with the obstacle, and a collision avoidance distance factor, which is a distance at which the reference point does not collide with the obstacle. have.

In addition, the collision avoidance direction factor may be a vector having a predetermined angle from a first axis direction, which is a direction from the initial point to the final point.

In addition, the collision avoidance direction factor is calculated by a preliminary collision avoidance vector calculated by a first predetermined method, and the first predetermined method is a vector related to the Z-axis direction of the initial point at the base point. 3 Based on a vector in which the initial direction is orthogonal to the incidence plane, which is a plane orthogonal to the first axis direction, and a vector in which the third final direction, which is a vector related to the Z-axis direction of the final point from the base point, is orthogonal to the incidence plane. It may be a method of calculating a preliminary collision avoidance vector.

In addition, the collision avoidance direction factor is calculated by the preliminary collision avoidance vector calculated by the first predetermined method when the preliminary collision avoidance vector calculated by the first predetermined method satisfies a predetermined condition. , When the preliminary collision avoidance vector calculated by the first predetermined method does not satisfy a predetermined condition, the collision avoidance direction factor is calculated by the preliminary collision avoidance vector calculated by the second predetermined method, and the The second predetermined method is a vector obtained by orthogonal projection of a first initial direction, which is a vector related to the X-axis direction of the initial point at a base point, onto an incidence plane that is orthogonal to the first axis direction, and the final point at the base point. It may be a method of calculating a preliminary collision avoidance vector based on a vector obtained by orthogonally projecting a first final direction, which is a vector related to the X-axis direction of, to the incident plane.

In addition, the via position determining unit includes a reference position, which is a position related to a reference point calculated based on the first factor factor and the second factor factor, and a reference direction related to a direction of the reference unit when the reference unit is located at a reference point. The first via location and the second via location may be calculated based on.

In addition, the via location determination unit may calculate a first via location and a second via location based on a predetermined direction and a point spaced apart by a predetermined distance from the reference point.

An avoidance path guidance tool display method according to an embodiment of the present invention includes an avoidance path used in a collision avoidance simulation system for preventing a reference part, which is a part on one end of a six-axis robot arm, collide with an obstacle which is a predetermined object. What is claimed is: 1. A method of displaying a guide tool for avoiding paths, which is a method of displaying a via bar, comprising: a reference position calculation step of calculating a position of a reference point; A reference direction calculation step of calculating a direction of a reference point; A transit point calculation step of calculating a location of a first transit point and a location of a second transit point based on the reference position and the reference direction; And displaying an avoidance route guidance tool displaying a guide line, which is a predetermined line connecting the first transit point and the second transit point, on a display unit, wherein the reference position calculation step includes: The reference position may be calculated by considering a first factor factor, which is a factor related to a movement path, and a second factor factor, which is a factor related to a factor that prevents the reference point from colliding with the obstacle.

A collision avoidance simulation system according to an embodiment of the present invention includes a six-axis robot arm-the robot arm includes a first link unit, a second link unit, a third link unit, a fourth link unit, a fifth link unit, and a sixth link unit. A link unit, a work unit capable of performing a predetermined operation, a first joint unit coupling the first link unit and the second link unit, a second joint unit coupling the second link unit and the third link unit, A third joint portion coupling the third link portion and the fourth link portion, a fourth joint portion coupling the fourth link portion and the fifth link portion, and a fifth coupling portion of the fifth link portion and the sixth link portion It includes a joint part and a sixth joint part that couples the sixth link part and the working part-The posture of the robot arm when the reference part, which is a part of, moves on an avoidance path that does not collide with an obstacle, which is a predetermined object. A collision avoidance simulation system for calculating an avoidance posture, comprising: an initial point providing unit for providing an initial position, which is a position of the reference unit, and an initial posture, which is a posture of the robot arm when the reference unit is positioned at an initial position; A final point providing unit providing a final position of the reference unit and a final posture of the robot arm when the reference unit is positioned at a final point; When the reference unit is located at a first via point through which the reference unit passes in order to move the reference unit positioned at the initial point to the final point, a first via position that provides a first via position that is the position of the reference unit Provision unit; When the reference unit is located at a second via point through which the reference unit passes after the first via point in order to move to the final point, the second via position, which is the position of the reference unit, is A second via location providing unit to provide; When the first transit posture, which is the posture of the robot arm when the reference part is located at the first transit point based on the first transit position and the second transit point, and the reference part is located at the second transit point A robot arm posture calculation unit that calculates a second posture through which is the posture of the robot arm of; And a display unit that displays at least one of the first transit point and the second transit point, wherein the robot arm posture calculation unit comprises: the first transit position and the reference unit at the first transit point The first transit posture can be calculated based on the rotation angles of the at least three joints at the time.

In addition, the robot arm posture calculation unit calculates the first transit posture based on the rotation angle of the three joint units when the first transit position and the reference unit are positioned at the first transit point, and the reference unit When the point, the first transit point, the second transit point, and the final point are sequentially moved, the first transit posture may be calculated by assuming that each joint angle changes at a constant rate according to the moving distance.

In addition, the robot arm posture calculation unit may include a rotation angle of the fourth joint part, a rotation angle of the fifth joint part, and a rotation angle of the sixth joint part when the first through-pass position and the reference part are located at the first through-pass point. The first transit posture can be calculated based on.

In addition, the robot arm posture calculation unit may include a rotation angle of the fourth joint part, a rotation angle of the fifth joint part, and a rotation angle of the sixth joint part when the first through-pass position and the reference part are located at the first through-pass point. Is applied to the Inverse Kinematics algorithm to calculate the first transit posture.

In addition, the robot arm posture calculation unit may include a rotation angle of the fourth joint portion, a rotation angle of the fifth joint portion, and a rotation angle of the sixth joint portion when the second via position and the reference portion are positioned at the second via point. The second transit posture may be calculated based on.

In addition, the robot arm posture calculation unit may calculate a first transit posture and a second transit posture based on the changed position when at least one of the first transit position and the second transit position is changed, and the first transit posture And when at least one of the second transit postures is not calculated, a disabled signal related to a signal indicating that posture calculation is impossible may be generated, and the display unit may display predetermined information based on the disabled signal.

An avoidance posture calculation method according to an embodiment of the present invention is a method of calculating the posture of the robot arm when a reference part, which is a part of a six-axis robot arm, moves on an avoidance path that does not collide with an obstacle, which is a predetermined object. In the method of calculating an avoidance posture, in order to move the reference unit positioned at the initial point to the final point, a first transit point through the reference unit and a second transit point through which the reference unit passes after the first transit point A transit point determining step of determining a point; A partial posture estimating step of a transit point for estimating a partial posture of the robot arm when the reference unit is positioned at the first transit point; Based on a first via position, which is a position of the reference unit when the reference unit is located at the first via point, and a partial posture of the robot arm estimated in the partial posture estimating step of the via point, the reference unit is Determining the posture of the robotic arm when it is positioned at the point; And an image displaying step of displaying a posture of the robot arm as a predetermined image through a display unit when the reference unit is located at the first transit point.

According to the collision avoidance simulation system according to the present invention, analysis time can be shortened.

In addition, if an unexpected situation occurs, you can respond immediately.

However, the effects of the present invention are not limited to the above-described effects, and effects not mentioned will be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings.

1 is a view showing a robot arm in which an avoidance posture is analyzed through a collision avoidance simulation system according to an embodiment of the present invention
2 is a block diagram of a collision avoidance simulation system according to an embodiment of the present invention
3 is a view for explaining a situation in which an analysis of an avoidance posture is required through a collision avoidance simulation system according to an embodiment of the present invention
4 is a flow chart illustrating a method of displaying an avoidance path guidance tool on a collision avoidance simulation system according to an embodiment of the present invention;
5, 6, and 7 are diagrams for explaining a method of displaying an avoidance path guidance tool in a collision avoidance simulation system according to an embodiment of the present invention
8 is a diagram illustrating a state in which an avoidance path guidance tool is displayed on a display unit provided in a collision avoidance simulation system according to an embodiment of the present invention;
9 is a view for explaining a process of changing and manipulating an avoidance path guidance tool implemented by a collision avoidance simulation system according to an embodiment of the present invention
10 is a flow chart illustrating a method of calculating an avoidance posture by the collision avoidance simulation system according to an embodiment of the present invention
11 and 12 are diagrams showing information displayed on a display unit when a simulation is performed using a first method using an avoidance posture and an avoidance path calculated by the collision avoidance simulation system according to an embodiment of the present invention.
13 is a view showing information displayed on a display unit as an example when simulating in the first method using the avoidance posture and the avoidance path calculated by the collision avoidance simulation system according to an embodiment of the present invention

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention can add, change, or delete other elements within the scope of the same idea. Other embodiments included within the scope of the inventive concept may be easily proposed, but it will be said that this is also included within the scope of the inventive concept.

In addition, components having the same function within the scope of the same idea shown in the drawings of each embodiment will be described with the same reference numerals.

In the present specification, when it is determined that a detailed description of a known configuration or function related to the present invention may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 is a diagram illustrating a robot arm in which an avoidance posture is analyzed through a collision avoidance simulation system according to an embodiment of the present invention.

Referring to FIG. 1, a robot arm whose avoidance posture is analyzed through a collision avoidance simulation system according to an embodiment of the present invention may be an industrial 6-axis robot arm.

Specifically, the robot arm includes a first link unit 10, a second link unit 20, a third link unit 30, a fourth link unit 40, a fifth link unit 50, and 6 Link unit 60, a work unit (T10) capable of performing a predetermined task, a first joint unit (Z10) for coupling the first link unit 10 and the second link unit 20, the A second joint portion (Z20) coupling the second link portion 20 and the third link portion 30, and a third joint coupling the third link portion 30 and the fourth link portion 40 A part Z30, a fourth joint part Z40 that couples the fourth link part 40 and the fifth link part 50, the fifth link part 50 and the sixth link part 60 A fifth joint portion (Z50) for coupling the sixth link portion (60) and a sixth joint portion (Z60) coupling the work portion (T10) may be provided.

Each link unit may mean a member having a predetermined volume.

The first link unit 10 may be fixed on the ground.

The second link part 20 may be rotated based on the first link part 10 by the first joint part Z10.

That is, the degree of rotation of the second link unit 20 with respect to the first link unit 10 may be determined according to the rotation angle of the first joint unit Z10.

The third link unit 30 may be rotated based on the second link unit 20 by the second joint unit Z20, and similarly, the third link unit 30 may be rotated based on the second link unit 20. 3 The degree of rotation of the link unit 30 may be determined according to the rotation angle of the second joint unit Z20.

The above-described features are also applied to the fourth link unit 40, the fifth link unit 50, the sixth link unit 60, and the work unit T10, and a detailed description thereof is duplicated with the above description. It can be omitted from the limit.

The working part T10 is coupled to one end of the sixth link part 60, and may be rotated based on the sixth link part 60 by the sixth joint part Z60.

The working unit T10 may mean a part capable of performing a predetermined operation on an arbitrary object.

For example, the working unit T10 may include a laser emitting unit.

Alternatively, the working unit T10 may include a structure for implementing a clamp operation.

However, the present invention is not limited thereto, and the working part T10 may be variously modified at a level that is obvious to a person skilled in the art.

For example, the work unit may be a measuring device, welding equipment, or painting equipment.

Hereinafter, a part on one end of the six-axis robot arm may be referred to as the reference part M10.

As a specific example, in order to facilitate the analysis, a virtual center point of a virtual circular sphere including all of the working unit T10 may be referred to as a reference unit.

However, not limited to this?方? The shape of the reference portion can be variously modified at a level that is obvious to a person skilled in the art.

For example, the reference unit may have a three-dimensional shape according to the shape of the work unit and/or the driving of the robot arm.

In the following description, the part of the robot arm that is moved on the avoidance path may be the reference part M10.

Hereinafter, each configuration of the collision avoidance simulation system and a method of analyzing the avoidance posture will be described in detail.

2 is a block diagram of a collision avoidance simulation system according to an embodiment of the present invention.

2, in the collision avoidance simulation system according to an embodiment of the present invention, a collision avoidance simulation system for preventing a reference part, which is a part on one end of a six-axis robot arm, collides with an obstacle which is a predetermined object. In the collision avoidance simulation system that displays the avoidance path guide tool (Via Bar) used for, when the reference unit is located at an initial point, an initial position that provides an initial position that is the position of the reference unit and an initial direction that is the direction of the reference unit A point providing unit 110, when the reference unit is located at a final point, a final point providing unit 120 providing a final position that is the position of the reference unit and a final direction that is the direction of the reference unit, and the reference unit collides with the obstacle In order not to be able to do so, the first via position is the position of the first via point through the reference unit, and the second via position is the position of the second via point at the point via the reference unit after the first via point. The determination unit 130, an evasion route guidance tool data generation unit that generates data related to an evasion route guidance tool including a guide line that is a predetermined line connecting the first and second through points to each other And a display unit 200 that displays the avoidance path guidance tool based on data provided from the avoidance path guidance tool.

Here, the transit position determining unit 130 considers a first factor factor, which is a factor related to the movable path of the robot arm, and a second factor factor, which is a factor related to a factor that prevents the reference point from colliding with the obstacle. , The first via location and the second via location may be calculated.

The collision avoidance simulation system includes a control unit 100 that performs data calculation, data transmission and reception, and data storage to calculate an avoidance posture, and a display unit 200 that displays predetermined information based on data transmitted from the control unit 100. It can be provided.

The control unit 100 includes the initial point providing unit 110, the final point providing unit 120, the transit location determining unit 130, the avoidance path guidance tool and the avoidance path guidance tool data generation unit 160 It can be equipped with.

3 is a view for explaining a situation in which an analysis of an avoidance posture is required through a collision avoidance simulation system according to an embodiment of the present invention.

Referring to FIG. 3, if the robot arm 1 is moved from the initial point S to the final point F, it may be assumed.

Specifically, it may be assumed that the reference portion M10 of the robot arm 1 is moved from the initial point S to the final point F.

In general, when moving from one point to another, it may be preset to move the robot arm to a minimum distance.

Accordingly, the controller may calculate the path of the reference part so that the reference part moves along the first assumption path R10.

If the reference part M10 is moved along the first assumed path R10, the robot arm 1 may collide with the obstacle D10.

Therefore, in order not to collide with the robot arm 1 and the obstacle D10, it may be preferable that the reference unit M10 moves in a path other than the first assumed path R10.

Accordingly, the operator can set the first transit point and the second transit point to which the robot arm is moved.

However, the control unit may generate data related to the avoidance path guidance tool that guides the user's decision so that the user can easily determine the first transit point and the second transit point at which the robot arm can effectively avoid the obstacle. have.

Hereinafter, a method of generating an avoidance path guidance tool will be described.

4 is a flowchart illustrating a method of displaying an avoidance path guidance tool on a collision avoidance simulation system according to an embodiment of the present invention.

Referring to FIG. 4, the method of displaying the avoidance path guidance tool includes a reference position calculation step (S100), which is a step of calculating the position of a reference point, a reference direction calculation step (S200), which is a step of calculating the direction of a reference point, A transit point calculation step (S300) of calculating a position of a first transit point and a position of a second transit point based on the reference position and the reference direction, and a predetermined connection between the first transit point and the second transit point. It may include a step (S400) of displaying a guide line, which is a line of, an avoidance path guide tool on the display unit.

Here, in the step of calculating the reference position, a first factor factor, which is a factor related to the movable path of the robot arm, and a second factor factor, which is a factor related to a factor that prevents the reference point from colliding with the obstacle, are considered. You can calculate the location.

Hereinafter, each step will be described in detail.

5, 6, and 7 are diagrams for explaining a method of displaying an avoidance path guidance tool in a collision avoidance simulation system according to an exemplary embodiment of the present invention.

Referring to FIG. 5, the position and direction of the initial point S may be provided by the initial point providing unit.

The location and direction of the initial point S may be determined based on data received from the outside, or may be determined based on predetermined data.

으로 표기될 수 있다.The initial position, which is the position of the initial point (S), is a position vector from the base point (W) to the initial point (S).

Can be expressed as

The initial position may be divided into three vectors by the X, Y, and Z axes of the base coordinate system based on the base point W.

The initial direction, which is the direction of the initial point S, may mean the direction of the reference portion M10 when the reference portion is located at the initial point S.

The initial direction may be determined as a three-way component.

Specifically, the initial direction may be divided into a first initial direction, a second initial direction, and a third initial direction.

The first initial direction may be a vector related to the direction of the X axis of the initial point S based on the base point W.

(In other words, the first initial direction may mean a relative direction of the X axis of the initial point S with respect to the X axis of the base coordinate system based on the base point W. A description of this will be described later. It can also be applied to the initial and final directions.)

The second initial direction may be a vector related to the Y-axis direction of the initial point S based on the base point W.

The third initial direction may be a vector related to the direction of the Z axis of the initial point S based on the base point W.

Likewise, the position and direction of the final point F may be provided by the final point providing unit.

The location and direction of the final point F may be determined based on data received from the outside or may be determined based on predetermined data.

으로 표기될 수 있다.The final position, the position of the final point (F), is a position vector from the base point to the final point (F).

Can be expressed as

The final position may be divided into three vectors by the X, Y, and Z axes of the base coordinate system based on the base point W.

The final direction, which is the direction of the final point F, may mean the direction of the reference portion M10 when the reference portion is located at the final point F.

The final direction may be determined by a three-way component.

Specifically, the final direction may be divided into a first final direction, a second final direction, and a third final direction.

The first final direction may be a vector related to the direction of the X axis of the final point F with respect to the base point W.

The second final direction may be a vector related to the Y-axis direction of the final point F based on the base point W.

The third final direction may be a vector related to the direction of the Z axis of the final point F with respect to the base point W.

The base point is a point that becomes a reference point of the coordinate system and may be arbitrarily designated by an operator, or may be stored in advance in the control unit.

)는 상기 로봇 팔의 최소 이동 경로와 관련된 인자인 제1 요소 인자(

) 및 상기 기준 지점이 상기 장애물과 충돌되지 않도록 하는 요소와 관련된 인자인 제 2요소 인자(

)를 고려하여 산출될 수 있다.The reference position, which is the position of the reference point (V) (

) Is a first factor factor that is a factor related to the minimum movement path of the robot arm (

) And a second factor factor that is a factor related to a factor that prevents the reference point from colliding with the obstacle (

) Can be calculated.

Expressed in a mathematical formula, it can be as follows.

· · · · · · · · · · (식 1-1)

· · · · · · · · · · (Equation 1-1)

)는, 상기 초기 위치와 상기 최종 위치를 기초로 산출될 수 있다.Here, the first factor factor (

) May be calculated based on the initial position and the final position.

)는 베이스 지점에서 상기 초기 지점(S)에 대한 벡터인 초기 위치 벡터(

)와 상기 베이스 지점에서 상기 최종 지점(F)에 대한 벡터인 최종 위치 벡터(

)의 합에 대하여 소정의 값을 나누어 산출될 수 있다.Specifically, the first factor factor (

) Is an initial position vector that is a vector for the initial point (S) at the base point (

) And a final position vector that is a vector from the base point to the final point (F) (

It can be calculated by dividing a predetermined value with respect to the sum of ).

)는 다음과 같은 식이 성립될 수 있다.As a specific example, the first factor factor (

) Can be established as follows.

· · ···· · · · (식 1-2)

· · ···· · · · (Equation 1-2)

)는 초기 위치(

)와 최종 위치 (

)을 합한 벡터에 대해서 '2'를 나눈 벡터를 의미할 수 있다.In detail, the first factor factor (

) Is the initial position (

) And the final position (

) May mean a vector obtained by dividing '2' with respect to the summed vector.

)와 최종 위치 (

)을 합한 벡터에 나누는 정량적인 값은 통상의 기술자에게 자명한 수준에서 다양하게 변형 가능하다.However, it is not limited thereto, and the initial position (

) And the final position (

) The quantitative value divided by the summed vector can be variously modified at a level that is obvious to a person skilled in the art.

)와 최종 위치 (

)을 합한 벡터에 대해서 '3'를 나눈 벡터를 의미할 수 있다.For example, the first factor factor is the initial position (

) And the final position (

) May mean a vector obtained by dividing '3' with respect to the vector.

When the reference point is located between the initial point and the final point, the probability that the avoidance path for preventing the robot arm from colliding with the obstacle has a minimum distance may increase.

If the reference point is not located between the initial point and the final point, it may be very likely to be a bypassing path.

Thus, the first factor factor can be understood as a factor for locating the reference point between the positions of the initial point and the final point.

)는 상기 기준 지점(V)이 상기 장애물과 충돌되지 않도록 하는 방향인 충돌 회피 방향 인자(

)와 상기 기준 지점(V)이 상기 장애물과 충돌되지 않도록 하는 거리인 충돌 회피 거리 인자(

)를 기초로 산출될 수 있다.The second factor factor (

) Is a collision avoidance direction factor that is a direction in which the reference point V does not collide with the obstacle (

) And the collision avoidance distance factor (a distance that prevents the reference point V from colliding with the obstacle)

) Can be calculated based on.

)는 충돌 회피 방향 인자(

)와 충돌 회피 거리 인자(

)를 서로 곱하여 산출될 수 있다.Specifically, the second factor factor (

) Is the collision avoidance direction factor (

) And collision avoidance distance factor (

) Can be calculated by multiplying each other.

The collision avoidance distance factor is a constant, and may be a factor for how far away from the existing path (the path directly moving from the initial point S to the final point F).

That is, it may be a factor of how far away from the obstacle the reference unit bypasses the obstacle without colliding with the obstacle.

)는 20mm일 수 있으나, 이에 한정하는 것은 아니고 상기 충돌 회피 거리 인자(

)는 통상의 기술자에게 자명한 수준에서 다양하게 변형 가능하다.As an example, the collision avoidance distance factor (

) May be 20 mm, but is not limited thereto, and the collision avoidance distance factor (

) Can be variously modified at a level that is obvious to a person skilled in the art.

)는 40mm일 수 있다.As an example, the collision avoidance distance factor (

) Can be 40mm.

)는 상기 초기 지점(S)에서 상기 최종 지점(F)에 대한 방향인 제1 축 방향과 소정의 각도를 벡터를 의미할 수 있다.The collision avoidance direction factor (

) May mean a vector of a first axis direction and a predetermined angle, which is a direction from the initial point S to the final point F.

The first axis direction may refer to a vector from the initial point S to the final point F, and the size of the vector may be variously changed.

)와 상기 제1 축 방향이 이루는 각도는 90°일 수 있다. Here, the collision avoidance direction factor (

) And the first axis direction may be 90°.

)와 상기 제1 축 방향이 이루는 각도는 통상의 기술자에게 자명한 수준에서 다양하게 변형 가능하다.However, the present invention is not limited thereto, and the collision avoidance direction factor (

) And the first axis direction can be variously modified at a level that is obvious to a person skilled in the art.

)와 상기 제1 축 방향이 이루는 각도 80°일 수 있다.As an example, the collision avoidance direction factor (

) And the first axis direction may be 80°.

)와 충돌 회피 거리 인자(

)를 고려하였을 때, 상기 충돌 회피 방향 인자(

)와 상기 제1 축 방향이 이루는 각도가 90° 일 때, 회피 경로로 기준부가 움직일 경우 기준부와 장애물과의 충돌 가능성이 가장 낮을 수 있는바, 이하 90°를 기준으로 서술할 수 있다.However, the collision avoidance direction factor (

) And collision avoidance distance factor (

When considering ), the collision avoidance direction factor (

When the angle between) and the first axis direction is 90°, if the reference unit moves in the avoidance path, the possibility of collision between the reference unit and the obstacle may be the lowest, and the following may be described based on 90°.

)를 산출하는 방법에 대해서 자세하게 서술하도록 한다.Hereinafter, the collision avoidance direction factor (

How to calculate) should be described in detail.

)는 미리 정해진 제1 방법에 의해 연산되는 예비 충돌 회피 벡터(

)에 의해 산출될 수 있다.The collision avoidance direction factor (

) Is a preliminary collision avoidance vector calculated by the first predetermined method (

) Can be calculated.

)를 연산하는 방법일 수 있다. The first predetermined method is a vector obtained by orthogonally projecting a third initial direction, which is a vector related to the Z-axis direction of the initial point S at the base point, to an incidence plane that is a plane orthogonal to the first axis direction Y10, A preliminary collision avoidance vector based on the vector obtained by orthogonally projecting the third final direction, which is a vector related to the Z-axis direction of the final point F at the base point, onto the incidence plane (

) May be a method of calculating.

), 제2 초기 방향(

) 및 제3 초기 방향(

)으로서 표현될 수 있다.Specifically, referring to FIG. 7, when the reference part is located at the initial point S, the direction of the reference part is a first initial direction (

), the second initial direction (

) And the third initial direction (

It can be expressed as ).

), 제2 최종 방향(

) 및 제3 최종 방향(

)으로서 표현될 수 있다.Likewise, when the reference part is located at the final point F, the direction of the reference part is the first final direction (

), the second final direction (

) And the third final direction (

It can be expressed as ).

)을 상기 입사 평면(A10)에 정사영 시킨 벡터와 상기 제3 최종 방향(

)을 상기 입사 평면(A10)에 정사영 시킨 벡터를 합하여 예비 충돌 회피 벡터(

)를 산출할 수 있다. Here, the third initial direction (

) Is orthogonally projected onto the incidence plane (A10) and the third final direction (

) By summing the vector orthogonally projected onto the incidence plane (A10)

) Can be calculated.

Here, the reason for adding the vector obtained by orthogonally projecting the third initial direction onto the incidence plane and the vector orthogonally projecting the third final direction onto the incidence plane is that the avoidance path is formed between the initial point (S) and the final point (F). It may be because it is desirable to be.

In addition, the reason that the third initial direction and the third final direction are used in the first predetermined method may be because the robot arm is most free to move in the Z axis due to the characteristics of the robot arm.

)에 의해 산출될 수 있다.When the preliminary collision avoidance vector calculated by the first predetermined method satisfies a predetermined condition, the collision avoidance direction factor is the preliminary collision avoidance vector calculated by the first predetermined method (

) Can be calculated.

)의 크기가 소정의 값 초과인 조건일 수 있다.Here, the predetermined condition is the preliminary collision avoidance vector (

) May be a condition in which the size exceeds a predetermined value.

As an example, the predetermined value may be 0, but the present invention is not limited thereto, and the predetermined value may be variously modified at a level that is obvious to a person skilled in the art.

Hereinafter, a description will be made based on a predetermined value of 0, but the present invention is not limited thereto.

)가 결정이 되는 경우, 상기 충돌 회피 방향 인자(

)는 다음과 같은 식에 의해 연산될 수 있다.The preliminary collision avoidance vector (

) Is determined, the collision avoidance direction factor (

) Can be calculated by the following equation.

· · · · · · · · · · (식 1-3)

· · · · · · · · · · (Equation 1-3)

는 예비 충돌 회피 벡터(

)의 크기를 의미할 수 있다.here,

Is the preliminary collision avoidance vector (

) Can mean the size of.

When the preliminary collision avoidance vector calculated by the first predetermined method does not satisfy a predetermined condition, the collision avoidance direction factor may be calculated by the preliminary collision avoidance vector calculated by the second predetermined method.

)의 크기가 소정의 값 이하인 경우를 의미할 수 있다.Here, the case in which the preliminary collision avoidance vector does not satisfy a predetermined condition means the preliminary collision avoidance vector calculated by the first predetermined method (

It may mean that the size of) is less than or equal to a predetermined value.

)과 상기 제3 최종 방향(

) 및 제1 축 방향(Y10)이 모두 같은 방향일 경우, 미리 정해진 제1 방법에 의해 연산된 예비 충돌 회피 벡터(

)의 크기는 0일 수 있다.Specifically, referring to FIG. 7, the third initial direction (

) And the third final direction (

) And the first axis direction (Y10) in the same direction, the preliminary collision avoidance vector calculated by the first predetermined method (

) May be 0.

In this case, considering that the collision avoidance direction factor cannot be calculated using the preliminary collision avoidance vector, and the possibility of collision with the obstacle again is high if the same direction as the first axis direction is considered, the preliminary collision by another method It may be desirable to calculate the avoidance vector.

)을 상기 제1 축 방향(Y10)과 직교하는 평면인 입사 평면(A10)에 정사영 시킨 벡터와, 베이스 지점에서 상기 최종 지점(F)의 X축 방향과 관련된 벡터인 제1 최종 방향(

)을 상기 입사 평면(A10)에 정사영 시킨 벡터를 기초로 예비 충돌 회피 벡터를 연산하는 방법일 수 있다.The second predetermined method is a first initial direction, which is a vector related to the X-axis direction of the initial point S at the base point.

) Is orthogonal to the incidence plane (A10), which is a plane orthogonal to the first axis direction (Y10), and a vector related to the X-axis direction of the final point (F) from the base point (

) May be a method of calculating a preliminary collision avoidance vector based on a vector orthogonally projected onto the incidence plane A10.

)를 산출할 수 있다.Using the preliminary collision avoidance vector as described above (Equation 1-3), the collision avoidance direction factor (

) Can be calculated.

The via position determining unit may calculate a reference position through the first factor factor and the second factor factor.

In addition, when the reference unit is located at a reference point, the via position determination unit may calculate a reference direction related to the direction of the reference unit.

The X direction of the reference direction may be the same as the first axis direction.

The Y direction of the reference direction may be the same as the collision avoidance direction factor.

Accordingly, the Z direction of the reference direction may be calculated by an external product of the X direction of the reference direction and the Y direction of the reference direction.

The via position determining unit is based on a reference position, which is a position related to a reference point calculated based on the first factor factor and the second factor factor, and a reference direction related to a direction of the reference unit when the reference unit is located at a reference point. The first via location and the second via location can be calculated.

The via location determination unit may calculate a first via location and a second via location based on a predetermined direction and a point separated by a predetermined distance with respect to the reference point.

Here, the predetermined direction may mean the X direction of the reference direction.

If the predetermined direction is the X direction of the reference direction, the possibility that the avoidance path may be as short as possible may increase.

In addition, the predetermined distance may mean a distance smaller than the distance from the initial point S to the final point F.

When the predetermined distance is smaller than the distance from the initial point S to the final point F, the possibility that the avoidance path may be as short as possible may increase.

The first transit point may be a point moved from the reference position by a distance of half of the predetermined distance in the'-' direction among the components in the X direction in the reference direction.

The second transit point may be a point moved from the reference position by a half of the predetermined distance in the'+' direction among the components in the X direction in the reference direction.

8 is a diagram illustrating a state in which an avoidance path guidance tool is displayed on a display unit included in a collision avoidance simulation system according to an embodiment of the present invention.

Referring to FIG. 8, the display unit may simultaneously display an avoidance path guidance tool U100, an initial point S, a final point F, and an obstacle D10.

In the first case, the avoidance route guidance tool U100 includes a guide line U110 connecting a point and a second transit point to each other, a reference point display U120 indicating the position of the reference point, and the reference point display point extending from the reference point display point. A reference direction display U130 indicating the direction of the reference point may be provided.

)과 제2 경유 지점(

)을 용이하게 파악할 수 있다.The user sees the avoidance route guidance tool U100 and sees the first predicted first transit point (

) And the second transit point (

) Can be easily identified.

In addition, the user can easily grasp the distance away from the primary predicted reference point in the X direction by looking at the avoidance route guidance tool U100.

The avoidance route guidance tool U100 can be referred to as a route guidance tool.

)과 제2 경유 지점(

)을 기초로 회피 자세를 분석하도록 할 수 있다. The operator first predicted the first transit point (

) And the second transit point (

) To analyze the avoidance posture.

) 및/또는 제2 경유 지점(

)을 변경할 수 있다. In addition, the operator moves the avoidance route guidance tool U100 to the first transit point (

) And/or the second transit point (

) Can be changed.

) 및/또는 제2 경유 지점(

)을 의도한대로 이동시킬 수 있다.The operator looks at the avoidance route guidance tool U100 and the first transit point (

) And/or the second transit point (

) Can be moved as intended.

9 is a view for explaining a process of changing and manipulating an avoidance path guidance tool implemented by a collision avoidance simulation system according to an embodiment of the present invention.

)을 마우스 커서(C1)로 클릭 후 드래그를 하여 제2 경유 지점(

)을 변경할 수 있다. Referring to Fig. 9(a), the user has a second transit point (

) With the mouse cursor (C1) and drag to the second transit point (

) Can be changed.

)이 변경될 경우, 상기 제2 경유 지점(

)은 상기 기준 지점(V)의 X 방향을 따라서 변경될 수 있다.The second transit point (

) Is changed, the second transit point (

) May be changed along the X direction of the reference point V.

Therefore, when the operator wants to change only the predetermined distance, it is possible to effectively prevent the predetermined direction from being changed.

Referring to FIG. 9B, a user can rotate the guide line U110 by clicking and dragging the guide line U110 with a mouse cursor C1.

Accordingly, the reference direction, which is the direction of the reference point V, can be changed.

Therefore, when the operator wants to change only the predetermined direction, it is possible to effectively prevent the predetermined distance from being changed.

) 및 제2 경유 지점(

)혹은 작업자가 수동으로 설정한 제1 경유 지점(

) 및 제2 경유 지점(

)의 위치를 기초로, 상기 제어부는 상기 로봇 팔의 구체적인 자세를 산출할 수 있다.The first predicted transit point (

) And the second transit point (

) Or the first transit point manually set by the operator (

) And the second transit point (

Based on the position of ), the controller may calculate a specific posture of the robot arm.

Hereinafter, a method of calculating a specific posture of the robot arm by the control unit will be described in detail.

According to the collision avoidance simulation system according to an embodiment of the present invention, a six-axis robot arm-the robot arm includes a first link unit, a second link unit, a third link unit, a fourth link unit, a fifth link unit, and a third link unit. 6 A link unit, a work unit capable of performing a predetermined operation, a first joint unit coupling the first link unit and the second link unit, a second joint unit coupling the second link unit and the third link unit , A third joint portion coupling the third link portion and the fourth link portion, a fourth joint portion coupling the fourth link portion and the fifth link portion, a fourth joint portion coupling the fifth link portion and the sixth link portion 5 Joint part and a sixth joint part that couples the sixth link part and the working part-The posture of the robot arm when the reference part, which is a part of, is moved on an avoidance path that does not collide with an obstacle, which is a predetermined object In the collision avoidance simulation system for calculating the posture avoidance, when the reference unit is positioned at an initial point, an initial position providing unit providing an initial position which is the position of the reference unit and an initial posture which is the posture of the robot arm, the reference unit When positioned at a final point, a final point providing unit providing a final position, which is the position of the reference unit, and a final posture, which is a posture of the robot arm, in order to move the reference unit located at the initial point to the final position, the reference When the reference unit is located at the first via point through which additionally passes, the first via position providing unit 141 (refer to Fig. 2) providing a first via point that is the position of the reference unit, and the reference unit positioned at the initial point In order to be moved to the final point, when the reference unit is located at a second via point through which the reference unit passes after the first via point, a second via position providing unit that provides a second via position that is the position of the reference unit ( 141, see FIG. 2), a first transit posture, which is a posture of the robot arm when the reference part is located at the first transit point, and the reference part based on the first transit position and the second transit position. 2 When located at a transit point A robot arm posture calculation unit 150 (refer to FIG. 2) for calculating a second transit posture, which is a posture of the robot arm, and a display unit displaying at least one of the first transit point and the second transit point. have.

The control unit may further include a transit position providing unit 140 (refer to FIG. 2) that provides a transit position, which is the position of the reference unit, when the reference unit is located at a transit point.

Specifically, the via location providing unit may include a first via location providing unit providing the first via location and a second via via location providing unit providing the second via location.

The via position, which is the position of the via point, the via direction that is the direction of the reference unit when the reference unit is located at the via point, and the rotation angle of each joint unit when the reference unit is positioned in the via location and the via direction The robotic arm's motion can be implemented only when all postures are calculated.

The initial point providing unit may provide the initial position and the initial posture.

Here, the initial posture may mean a rotation angle of the first joint portion to the sixth joint portion when the reference portion is positioned at the initial point.

), 상기 제2 조인트부의 회전 각도인 제2 초기 자세(

), 상기 제3 조인트부의 회전 각도인 제3 초기자세(

), 상기 제4 조인트부의 회전 각도인 제4 초기자세(

), 상기 제5 조인트부의 회전 각도인 제5 초기자세(

), 상기 제6 조인트부의 회전 각도인 제6 초기자세(

)로서 이루어질 수 있다.The initial posture is a first initial posture that is a rotation angle of the first joint part (

), the second initial posture that is the rotation angle of the second joint part (

), the third initial position, which is the rotation angle of the third joint part (

), the fourth initial position, which is the rotation angle of the fourth joint part (

), the fifth initial position, which is the rotation angle of the fifth joint part (

), the sixth initial position, which is the rotation angle of the sixth joint part (

) Can be achieved.

The final point providing unit may provide the final position and the final posture.

Here, the final posture may mean a rotation angle of the first joint to the sixth joint when the reference part is located at the final point.

), 상기 제2 조인트부의 회전 각도인 제2 최종 자세(

), 상기 제3 조인트부의 회전 각도인 제3 최종 자세(

), 상기 제4 조인트부의 회전 각도인 제4 최종 자세(

), 상기 제5 조인트부의 회전 각도인 제5 최종 자세(

), 상기 제6 조인트부의 회전 각도인 제6 최종 자세(

)로서 이루어질 수 있다.The final posture is a first final posture that is a rotation angle of the first joint part (

), the second final posture that is the rotation angle of the second joint part (

), the third final posture that is the rotation angle of the third joint part (

), the fourth final posture that is the rotation angle of the fourth joint part (

), the fifth final posture that is the rotation angle of the fifth joint part (

), the sixth final posture that is the rotation angle of the sixth joint part (

) Can be achieved.

The initial point providing unit and/or the final point providing unit may provide the above-described information based on previously stored data.

Alternatively, the initial point providing unit and/or the final point providing unit may provide the above-described information based on transmitted/received data.

10 is a flowchart illustrating a method of calculating an avoidance posture by the collision avoidance simulation system according to an embodiment of the present invention.

Referring to FIG. 10, the method of calculating the avoidance posture includes calculating the posture of the robot arm when a reference part, which is a part of a six-axis robot arm, moves on an avoidance path that does not collide with an obstacle, which is a predetermined object. In the method of calculating an avoidance posture, which is a method, in order to move the reference unit positioned at the initial point to the final point, a first transit point passed through the reference unit and a second reference unit passing after the first transit point Transit point determination step (K100) of determining a transit point, a transit point partial posture estimating step (K200) of estimating a partial posture of the robot arm when the reference unit is positioned at the first transit point, and the reference unit 1 When the reference part is located at the first transit point based on the first transit position, which is the position of the reference unit when positioned at a transit point, and a partial posture of the robot arm estimated in the partial posture estimating step of the transit point It may include a step (K300) of determining the posture of the via point of calculating the overall posture of the robot arm.

In addition, the method of calculating the avoidance posture may further include an image displaying step of displaying the posture of the robot arm as a predetermined image through a display unit when the reference unit is located at the first transit point.

Hereinafter, each step will be described in detail.

In the step of determining the via point, the first via location providing unit may provide the first via location, and the second via location providing unit may provide the second via location.

The first transit location providing unit may provide the first transit location, which is the location of the first transit point determined by the above-described method.

In addition, the second transit location providing unit may provide a second transit location, which is the location of the second transit point determined by the above-described method.

A detailed description thereof may be omitted in the limit of overlapping with the above-described content.

In order to simulate so that the reference part moves to the avoidance path, the first transit posture, which is the posture of the robot arm when the reference part is positioned at the first transit point, and the posture of the robot arm when the reference section is located at the second transit point, The second transit posture, which is the posture of the robot arm at the second transit point, may be calculated.

), 상기 제2 조인트부의 회전 각도인 제1-2 경유 자세(

), 상기 제3 조인트부의 회전 각도인 제1-3 경유 자세(

), 상기 제4 조인트부의 회전 각도인 제1-4 경유 자세(

), 상기 제5 조인트부의 회전 각도인 제1-5 경유 자세(

), 상기 제6 조인트부의 회전 각도인 제1-6 경유 자세(

)로서 이루어질 수 있다.The first transit posture is the 1-1 transit posture, which is a rotation angle of the first joint part (

), the posture through the 1-2 which is the rotation angle of the second joint part (

), the rotation angle of the third joint part 1-3, the posture (

), the rotation angle of the fourth joint part 1-4 via posture (

), the posture through the first-5, which is the rotation angle of the fifth joint part (

), the rotation angle of the sixth joint portion 1-6 via posture (

) Can be achieved.

), 상기 제2 조인트부의 회전 각도인 제2-2 경유 자세(

), 상기 제3 조인트부의 회전 각도인 제2-3 경유 자세(

), 상기 제4 조인트부의 회전 각도인 제2-4 경유 자세(

), 상기 제5 조인트부의 회전 각도인 제2-5 경유 자세(

), 상기 제6 조인트부의 회전 각도인 제2-6 경유 자세(

)로서 이루어질 수 있다.The second transit posture is a 2-1 transit posture that is a rotation angle of the first joint part (

), the second joint portion's rotation angle, the 2-2 via posture (

), the posture through the third joint part 2-3 which is the rotation angle (

), the rotation angle of the fourth joint part 2-4 via posture (

), the posture through the second-5 which is the rotation angle of the fifth joint part (

), the rotation angle of the sixth joint portion 2-6 via posture (

) Can be achieved.

The robot arm posture calculation unit may calculate the first transit posture based on the rotation angle of at least three joint units when the first transit position and the reference unit are positioned at the first transit point.

In other words, the robot arm posture calculation unit may calculate the first transit posture based on the rotation angle of the three joint units when the first transit position and the reference unit are positioned at the first transit point.

In addition, the robot arm posture calculation unit, when the reference unit sequentially moves the initial point, the first via point, the second via point, and the final point, each joint angle is changed at a constant rate according to the moving distance. It is assumed that the first transit posture can be calculated.

In the step of estimating some posture of transit points, a part of the transit posture associated with each transit point may be estimated.

As an example, some postures may be calculated by assuming that each joint is rotated to correspond to the length of movement from the initial point S to the final point F.

)과 제2 경유 지점(

)을 통과하여 최종 지점(F)에 도달(이하, 회피 경로)된다고 가정할 수 있다.Specifically, referring to FIG. 9, the reference unit starts from the initial point S and the first transit point (

) And the second transit point (

) To reach the final point (F) (hereinafter, avoidance path).

Here, the initial position and the initial posture may be provided by the initial point providing unit.

In addition, the final position and the final posture may be provided by the final point providing unit.

In addition, the first via location may be provided by the first via location providing unit, and the second via location may be provided by the second via location providing unit.

In general, in the case of a 6-axis robot, the rotational motion of the first joint, the rotational motion of the second joint, and the rotational motion of the third joint may have more influence on the position of the reference portion than the direction of the reference portion.

In addition, in the case of the 6-axis robot, the rotational motion of the fourth joint, the rotational motion of the fifth joint, and the rotational motion of the sixth joint may have more influence on the direction of the reference portion than the position of the reference portion.

In other words, in general, in the case of a 6-axis robot, the rotational motion of the fourth joint part, the rotational motion of the fifth joint, and the rotational motion of the sixth joint may have more influence on the direction of the work part than the position of the work part.

Therefore, it can be assumed that the rotational motion of the fourth joint part, the rotational motion of the fifth joint, and the rotational motion of the sixth joint have a small effect on the movement of the reference part on the avoidance path (position of the reference part). .

Based on this assumption, it is assumed that the fourth joint part, the fifth joint part, and the sixth joint part are rotated at the same rate as the change in the moving distance of the reference part in the range between the initial posture and the final posture. The first transit posture and the second transit posture may be calculated.

In this way, in the step of estimating a partial posture of a transit point, a partial posture of the robot arm when the reference unit is positioned at the first transit point may be estimated, and the robot when the reference unit is positioned at the second transit point Some positions of the arms may be estimated.

Among the first transit postures, the 1-4 transit posture, the 1-5 transit posture, and the 1-6 transit posture may be calculated as shown in the following equation.

In other words, when the reference part is located at the first via point, the rotation angle of the fourth joint part, the rotation angle of the fifth joint part, and the rotation angle of the sixth joint part may be calculated as follows.

· · · · · · · · (식 2-1)

· · · · · · · · (Equation 2-1)

· · · · · · · · (식 2-2)

· · · · · · · · (Equation 2-2)

· · · · · · · · (식 2-3)

· · · · · · · · (Equation 2-3)

을 의미할 수 있다.here,

Can mean

은 초기 지점에서 제1 경유 지점까지의 길이를 의미할 수 있다.here,

May mean the length from the initial point to the first transit point.

는 제1 경유 지점에서 제2 경유 지점까지의 길이를 의미할 수 있다.Also,

May mean the length from the first transit point to the second transit point.

은 제2 경유 지점에서 최종 지점까지의 길이를 의미할 수 있다.Also,

May mean the length from the second transit point to the final point.

Likewise, among the second transit postures, the 2-4 transit posture, the 2-5 transit posture, and the 2-6 transit posture may be calculated as shown in the following equation.

In other words, when the reference part is located at the second via point, the rotation angle of the fourth joint part, the rotation angle of the fifth joint part, and the rotation angle of the sixth joint part may be calculated as follows.

· · · · · · · · · · (식 2-4)

· · · · · · · · · · (Equation 2-4)

· · · · · · · · · · (식 2-5)

· · · · · · · · · · (Equation 2-5)

· · · · · · · · · · (식 2-6)

· · · · · · · · · · (Equation 2-6)

을 의미할 수 있다.here,

Can mean

In the step of determining the posture of the transit point, the robot arm posture calculation unit may calculate the remaining first transit posture and the first transit direction based on the first transit position and a portion of the first transit posture.

In other words, the robot arm posture calculation unit includes a rotation angle of the fourth joint part, a rotation angle of the fifth joint part, and the sixth joint part when the first transit position and the reference part are positioned at the first transit point. The first transit posture may be calculated based on the rotation angle.

The first transit direction may mean a direction of the reference portion when the reference portion is located at the first transit point.

The first transit direction may be divided into a 1-1 transit direction, a 1-2 transit direction, and a 1-3 transit direction.

For example, the 1-1th transit direction may be a vector related to the direction of the X axis of the first transit point based on the base point W.

In addition, the 1-2 transit direction may be a vector related to the Y-axis direction of the first transit point based on the base point W.

In addition, the 1-3 th transit direction may be a vector related to the direction of the Z axis of the first transit point based on the base point W.

The robot arm posture calculation unit includes three values of the first via position, the rotation angle of the fourth joint portion when the reference portion is positioned at the first via point, the rotation angle of the fifth joint portion and the rotation of the sixth joint portion The first transit posture may be calculated based on the angle.

In addition, in the step of determining the posture of the transit point, the robot arm posture calculation unit may calculate the remaining second transit posture and the second transit direction based on the second transit position and some second transit postures.

In other words, the robot arm posture calculation unit includes a rotation angle of the fourth joint portion, a rotation angle of the fifth joint portion and the sixth joint portion when the second via position and the reference portion are positioned at the second via point. Based on the rotation angle, the second transit posture may be calculated.

The second via position may mean a position vector from the base point (W) to the second via point.

In other words, the second transit position may be divided into three vectors by the X, Y, and Z axes of the base coordinate system based on the base point W. In the second transit direction, the reference part is the second transit point. When positioned at, it may mean the direction of the reference part.

The second transit direction may be divided into a 2-1 transit direction, a 2-2 transit direction, and a 2-3 transit direction.

As an example, the 2-1 transit direction may be a vector related to the direction of the X axis of the second transit point based on the base point W.

In addition, the 2-2 transit direction may be a vector related to the Y-axis direction of the second transit point based on the base point W.

In addition, the 2-3rd transit direction may be a vector related to the Z-axis direction of the second transit point based on the base point W.

The robot arm posture calculation unit includes three values of the second via position, the rotation angle of the fourth joint portion when the reference portion is positioned at the second via point, the rotation angle of the fifth joint portion and the rotation of the sixth joint portion Based on the angle, the second transit posture can be calculated.

The robot arm posture calculation unit Inverse Kinematics the rotation angle of the fourth joint unit, the rotation angle of the fifth joint unit, and the rotation angle of the sixth joint unit when the first via position and the reference unit are positioned at the first via point. By applying to the algorithm, the first transit posture can be calculated.

), 제1-5 경유 자세(

) 및 제1-6 경유 자세(

)와 제1 경유 위치를 Inverse Kinematics 알고리즘에 적용하면, 제1-1 경유 자세(

), 제1-2 경유 자세(

), 제1-3 경유 자세(

) 및 상기 제1 경유 방향이 연산될 수 있다.Specifically, the 1-4 transit posture (

), posture 1-5 (

) And posture 1-6 (

) And the first transit position are applied to the Inverse Kinematics algorithm, the 1-1 transit posture (

), posture 1-2 (

), Article 1-3 posture (

) And the first transit direction may be calculated.

Inverse Kinematics is based on three position information of the reference unit and three direction information of the reference unit when the reference unit is located at an arbitrary point, when the reference unit is located at an arbitrary point, each of the first joint to the sixth joint. It is an algorithm that can calculate the rotation angle of.

In other words, it may be an algorithm that calculates rotation angles of six joints through three positions (X-axis, Y-axis, Z-axis) and three directions (X-direction, Y-direction, Z-direction).

Since the Inverse Kinematics algorithm is an algorithm commonly used by a person skilled in the art, a detailed description thereof may be omitted.

In the present invention, in the Inverse Kinematics algorithm, by inputting the rotation angle of the fourth joint to the sixth joint instead of the position of the reference part and the direction of the reference part, the direction of the reference part and the rotation of the first joint to the third joint part It may be to calculate the angle.

By estimating and calculating the 4th joint part to the 6th joint part while knowing only the position of the first transit point, and through the Inverse Kinematics algorithm, the direction of the first transit point and the first to third joints You can calculate the rotation angle.

Likewise, the robot arm posture calculation unit determines the rotation angle of the fourth joint part, the rotation angle of the fifth joint part, and the rotation angle of the sixth joint part when the second via position and the reference unit are positioned at the second via point. By applying the Inverse Kinematics algorithm, the second transit posture can be calculated.

A detailed description thereof may be omitted in the limit of overlapping with the above-described content.

), 제2-5 경유 자세(

) 및 제2-6 경유 자세(

)와 제2 경유 위치를 Inverse Kinematics 알고리즘에 적용하면, 제2-1 경유 자세(

), 제2-2 경유 자세(

), 제2-3 경유 자세(

) 및 상기 제2 경유 방향이 연산될 수 있다.Specifically, the 2-4 transit posture (

), 2-5 transit posture (

) And the 2-6 transit posture (

) And the second transit position to the Inverse Kinematics algorithm, the 2-1 transit posture (

), 2-2 transit posture (

), 2-3 transit posture (

) And the second transit direction may be calculated.

When at least one of the first transit position and the second transit position is changed, the robot arm posture calculation unit may calculate a first transit posture and a second transit posture based on the changed position.

In addition, when at least one of the first transit posture and the second transit posture cannot be calculated, the robot arm posture calculation unit may generate an impossible signal related to a signal indicating that posture calculation is impossible.

The display unit may display predetermined information based on the impossible signal transmitted from the robot arm posture calculating unit.

11 and 12 are diagrams illustrating information displayed on a display unit when a simulation is performed using a first method using an avoidance posture and an avoidance path calculated by a collision avoidance simulation system according to an embodiment of the present invention.

The simulation in the first method may be to determine whether or not one robot arm collides with an obstacle using the movement of the avoidance path and the avoidance posture.

Specifically, the simulation by the first method is that when the reference part M10 of one robot arm 1a is moved from the initial position S to the final position F along the avoidance path R100, the robot arm It may be a method of determining whether (1a) collides with the obstacle D10.

Here, the robot arm 1a may be moved in an avoidance posture.

In the collision avoidance simulation system according to an embodiment of the present invention, when the robot arm is moved as the calculated avoidance path and the avoidance posture, a collision determination unit 170 (FIG. 2) that determines whether the reference unit collides with the obstacle. Reference) may be further included.

Accordingly, the control unit may further include the collision determination unit 170.

As a specific example, the collision determination unit 170 may virtually move the robot arm through the avoidance path and the avoidance posture calculated through the robot arm posture calculation unit.

That is, the collision determination unit may simulate the avoidance path and the avoidance posture calculated through the robot arm posture calculation unit.

The collision determination unit may transmit movement information, which is information related to the movement of the robot arm, to the display unit based on the avoidance path and the avoidance posture calculated through the robot arm posture calculating unit.

The movement information may include continuous images of the robot arm moving in an avoidance path and an avoidance posture.

However, the present invention is not limited thereto, and the movement information can be variously modified at a level that is obvious to a person skilled in the art.

Referring to FIG. 11, the display unit may display the movement of the robot arm 1a based on the movement information.

If the collision determination unit determines that the robot arm and the obstacle D10 collide, collision information, which is related information, may be transmitted to the display unit.

Referring to FIG. 12, the display unit may transmit the collision information to the display unit.

The collision information may be information representing a state in which the robot arm 1a and the obstacle D10 collide with each other.

However, the present invention is not limited thereto, and the collision information may be variously modified at a level that is obvious to a person skilled in the art.

13 is a diagram illustrating information displayed on a display unit as an example when simulating in the first method using an avoidance posture and an avoidance path calculated by the collision avoidance simulation system according to an embodiment of the present invention .

How the posture of the robot arm changes as the reference unit moves the avoidance path R100 may be displayed on the display unit.

As an example, referring to FIG. 13, on the display unit, a posture of the robot arm when the reference unit is positioned at the first transit point and a posture of the robot arm when the reference unit is positioned at the second transit point Can be displayed at the same time.

Accordingly, the operator can easily grasp how the posture of the robot arm changes according to the position of the reference unit.

The avoidance path is a path having a shortest distance from an initial point to a first transit point, a path having a shortest distance from the first transit point to the second transit point, and the shortest distance from the second transit point to the final point. It may mean a path that includes all paths with.

The avoidance posture may mean a rotation angle of each joint part when the reference part is located on the avoidance path.

The avoidance posture may include a first transit posture, a second transit posture, an initial posture, and a final posture.

If the reference unit is located between the initial point and the first transit point in the avoidance path, the posture of the robot arm may be determined according to a distance ratio between the initial point and the first transit point.

Briefly, it may be assumed that the length of the first transit point at the initial point is 10, the first initial posture is 10°, and the 1-1th transit posture is 20°.

Here, if the reference portion is located between the initial point and the first via point (a portion corresponding to the length 5), the angle of the first joint portion may be 15°.

In this way, when the reference part is located on the avoidance path, the rotation angle of each joint part may be calculated.

According to the collision avoidance simulation system of the present invention, the operator can quickly calculate the avoidance path and the avoidance posture.

In the accompanying drawings, in order to more clearly express the technical idea of the present invention, components not related or inferior to the technical idea of the present invention are briefly expressed or omitted.

In the above, the configuration and features of the present invention have been described based on the embodiments according to the present invention, but the present invention is not limited thereto, and various changes or modifications can be made within the spirit and scope of the present invention. It will be apparent to those skilled in the art, and therefore, such changes or modifications are found to belong to the appended claims.

10: first link unit 20: second link unit
30: third link unit 40: fourth link unit
50: fifth link unit 60: sixth link unit

Claims (8)

6-axis robot arm-The robot arm includes a first link part, a second link part, a third link part, a fourth link part, a fifth link part, a sixth link part, a work part capable of performing a predetermined task, A first joint portion coupling the first link portion and the second link portion, a second joint portion coupling the second link portion and the third link portion, a second joint portion coupling the third link portion and the fourth link portion 3 a joint part, a fourth joint part combining the fourth link part and the fifth link part, a fifth joint part combining the fifth link part and the sixth link part, and combining the sixth link part and the working part In the collision avoidance simulation system for calculating the avoidance posture, which is the posture of the robot arm when the reference part, which is a part of, is moved on an avoidance path that does not collide with an obstacle, which is a predetermined object,
An initial point providing unit for providing an initial position, which is a position of the reference unit, and an initial posture, which is a posture of the robot arm when the reference unit is positioned at an initial point;
A final point providing unit providing a final position of the reference unit and a final posture of the robot arm when the reference unit is positioned at a final point;
When the reference unit is located at a first via point through which the reference unit passes in order to move the reference unit positioned at the initial point to the final point, a first via position that provides a first via position that is the position of the reference unit Provision unit;
When the reference unit is located at a second via point through which the reference unit passes after the first via point in order to move to the final point, the second via position, which is the position of the reference unit, is A second via location providing unit to provide;
When the first transit posture, which is the posture of the robot arm when the reference part is located at the first transit point based on the first transit position and the second transit point, and the reference part is located at the second transit point A robot arm posture calculation unit that calculates a second posture through which is the posture of the robot arm of; And
Including; a display unit for displaying at least one of the first via point and the second via point,
The robot arm posture calculation unit,
A first transit posture is calculated based on the rotation angle of the three joint portions when the first transit position and the reference portion are positioned at the first transit point,
When the reference unit moves the initial point, the first via point, the second via point, and the final point in sequence, 3 calculated on the assumption that each joint unit is rotated at the same rate as the change in the moving distance of the reference unit. Calculating the first transit posture based on the rotation angle of the joint portion of the dog,
Collision avoidance simulation system.
delete The method of claim 1,
The robot arm posture calculation unit,
When the first via position and the reference unit are positioned at the first via point, the first via position is calculated based on the rotation angle of the fourth joint unit, the rotation angle of the fifth joint unit, and the rotation angle of the sixth joint unit. doing,
Collision avoidance simulation system.
The method of claim 3,
The robot arm posture calculation unit,
By applying the rotation angle of the fourth joint part, the rotation angle of the fifth joint part, and the rotation angle of the sixth joint part to the Inverse Kinematics algorithm when the first via position and the reference portion are located at the first via point, the To calculate the first transit posture,
Collision avoidance simulation system.
The method of claim 3,
The robot arm posture calculation unit,
When the second via position and the reference unit are positioned at the second via point, the second via position is calculated based on the rotation angle of the fourth joint unit, the rotation angle of the fifth joint unit, and the rotation angle of the sixth joint unit. doing,
Collision avoidance simulation system.
The method of claim 3,
The robot arm posture calculation unit,
By applying the rotation angle of the fourth joint part, the rotation angle of the fifth joint part, and the rotation angle of the sixth joint part to the Inverse Kinematics algorithm when the second via position and the reference portion are located at the second via point, the To calculate the second transit posture,
Collision avoidance simulation system.
The method of claim 1,
The robot arm posture calculation unit,
When at least one of the first transit position and the second transit position is changed, a first transit posture and a second transit posture are calculated based on the changed location,
When at least one of the first transit posture and the second transit posture is not calculated, a disabled signal related to a signal indicating that posture calculation is impossible is generated, and
The display unit,
Displaying predetermined information based on the impossible signal,
Collision avoidance simulation system.
6-axis robot arm-The robot arm includes a first link part, a second link part, a third link part, a fourth link part, a fifth link part, a sixth link part, a work part capable of performing a predetermined task, A first joint portion coupling the first link portion and the second link portion, a second joint portion coupling the second link portion and the third link portion, a second joint portion coupling the third link portion and the fourth link portion 3 a joint part, a fourth joint part combining the fourth link part and the fifth link part, a fifth joint part combining the fifth link part and the sixth link part, and combining the sixth link part and the working part In the avoidance posture calculation method, which is a method of calculating the posture of the robot arm when the reference part, which is a part of, moves on an avoidance path that does not collide with an obstacle, which is a predetermined object,
A transit point determining step of determining a first transit point through which the reference unit passes and a second transit point through which the reference unit passes after the first transit point in order to move the reference unit positioned at an initial point to a final point;
A partial posture estimating step of a transit point for estimating a partial posture of the robot arm when the reference unit is positioned at the first transit point;
Based on a first via position, which is a position of the reference unit when the reference unit is located at the first via point, and a partial posture of the robot arm estimated in the partial posture estimating step of the via point, the reference unit is Determining the posture of the robotic arm when it is positioned at the point; And
An image display step of displaying the posture of the robot arm as a predetermined image through a display unit when the reference unit is located at the first transit point; and
The step of estimating some posture of the transit point,
The first transit posture is calculated based on the rotation angle of the three joints when the first transit position and the reference part are positioned at the first transit point,
When the reference unit moves the initial point, the first via point, the second via point, and the final point in sequence, 3 calculated on the assumption that each joint unit is rotated at the same rate as the change in the moving distance of the reference unit. Calculating the first transit posture based on the rotation angle of the joint portion of the dog,
How to calculate avoidance posture.

Images