Robot control apparatus

• US 20040054437A1
• Filed: 10/22/2002
• Published: 03/18/2004
• Est. Priority Date: 02/22/2001
• Status: Active Grant

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kimura, Katsumi, Kimura, Minoru, Kimura, Hisako, Minoshima, Sachiyo
• Granted Patent: US 7,047,107 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 2219/43201 Limit speed to allowable speed for all axis

Abstract

A robot control apparatus obtains movement speed of a monitor point from a motion command of a control point such as a support, each joint, and the like generated based on a program or the like to control motion so that each region of a robot always becomes a command speed or lower. Since there are provided a parameter storage part (21) for storing monitor point information, a locus generation part (22) for generating motions of the support, each joint point, and the like based on the movement command, a control point speed control part (26) for obtaining speed of the control point such as the support, each joint point, and the like, a monitor point speed control part (27) for obtaining speed of the monitor point generated from motion speed of the control point, and a motion command part (28) for selecting the maximum speed among the speed of the control point and the speed of the monitor point to compare the maximum speed with the command speed and changing and controlling the speed of the control point to the command speed when the maximum speed exceeds the command speed, generation of an excessive movement speed caused by an attitude of the robot and a singular point can be prevented, so that safety of an operator is ensured.

Claims

1. A robot control apparatus comprising:

input means for inputting and specifying a speed command value of a robot and position information of a monitor point;

parameter storage means for storing the speed command value of the robot and the position information of the monitor point;

a locus generation part for generating a movement command for driving each joint part such as a support arm based on a movement command of the robot;

a control point speed control part for obtaining movement speed of each joint part as a control point based on the movement command from the locus generation part;

a monitor point speed control part for obtaining motion speed of the monitor point based on the motion speed of each control point from the control point speed control part and the position information of the monitor point stored in the parameter storage means;

a motion command part for selecting the maximum motion speed among motion speed of each control point and the motion speed of the monitor point as the maximum motion speed to compare the maximum motion speed with the speed command value and changing and outputting the movement command so that the motion speed of the control point or the monitor point of the maximum motion speed becomes the speed command value or lower when the maximum motion speed exceeds the speed command value; and

a driving control part for driving the robot based on the motion speed outputted from the motion command part.

3. The robot control apparatus according to claim 1 or 2, wherein the maximum distance to bidirectional arm ends when viewed from the joint part and an angle are specified as the information of the monitor point.

4. The robot control apparatus according to claim 1 or 2, wherein a region of a transferred article is specified as the information of the monitor point.

2. A robot control apparatus comprising:

input means for inputting and specifying a speed command value of a robot and position information of a monitor point;

parameter storage means for storing the speed command value of the robot and the position information of the monitor point;

a locus generation part for generating a movement command for driving each joint part such as a support arm based on a movement command of the robot;

a control point speed control part for obtaining movement speed of each joint part as a control point based on the movement command from the locus generation part;

a monitor point speed control part for obtaining motion speed of each monitor point accompanied with movement speed of each control point based on the motion speed of each control point obtained from the control point speed control part and the position information of the monitor point stored in the parameter storage means and further generating movement speed of the monitor point accompanied with motions of the plurality of joints by combining the movement speed of each monitor point to obtain combined motion speed;

a motion command part for selecting the maximum motion speed among motion speed of each control point and the motion speed of the monitor point as the maximum motion speed to compare the maximum motion speed with the speed command value and changing and outputting the movement command so that the motion speed of the control point or the monitor point of the maximum motion speed becomes the speed command value or lower when the maximum motion speed exceeds the speed command value; and

a driving control part for driving the robot based on the motion speed outputted from the motion command part.

5. A robot control apparatus having a rotary shaft, comprising:

input means for inputting and specifying a speed command value of a robot, a rotational speed command value of the rotary shaft of the robot, and position information of a monitor point;

parameter storage means for storing the speed command value of the robot, the rotational speed command value of the rotary shaft, and the position information of the monitor point;

a locus generation part for generating a command for rotating and driving the rotary shaft based on the rotational movement command value of the rotary shaft of the robot;

a control point speed control part for obtaining rotational speed of the rotary shaft based on the rotational movement command from the locus generation part;

a monitor point speed control part for obtaining movement speed of the monitor point based on the rotational speed of the rotary shaft from the control point speed control part and the information of the monitor point stored in the parameter storage means;

a motion command part for changing and outputting the rotational movement command so that the movement speed of the monitor point becomes the speed command value or lower when the movement speed of the monitor point exceeds the speed command value; and

a driving control part for driving the rotary shaft of the robot based on a motion speed outputted from the motion command part.