Method of controlling robot movement

• US 6,064,168 A
• Filed: 03/13/1998
• Issued: 05/16/2000
• Est. Priority Date: 03/13/1998
• Status: Expired due to Fees

• Current Assignee: Fanuc Robotics North America Inc (Fanuc Corporation)
• Original Assignee: Fanuc Robotics North America Inc (Fanuc Corporation)
• Inventors: Tao, Jianming, McGee, H. Dean, Tsai, Jason
• Primary Examiner(s): Sircus, Brian
• Application Number:
  US09/039,095
• Time in Patent Office: 795 Days
• Field of Search: 219/124.22, 219/124.33, 219/121.11, 219/125.12, 395/80, 395/85, 901/2, 901/41-43, 901/30, 901/29, 318/568.2, 318/568.21, 318/568.22, 318/569-576, 318/592-594, 318/568.17, 318/568.1, 318/567, 318/568.11, 700/159, 700/160, 700/162
• US Class Current: 318/568.21
• CPC Class Codes: B23K 9/127 Means for tracking lines during arc welding or cutting copying in general B23Q35/00
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: G05B 2219/39573 Tool guidance along path

Abstract

A method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.

Claims

1. A method of controlling movement of a tool that is supported by a robot having a wrist that is moveable about a plurality of wrist axes that are associated with a wrist origin, comprising the steps of:

(A) positioning the tool adjacent a preselected tool path;

(B) moving the wrist origin along a predetermined wrist path corresponding to the preselected tool path;

(C) moving the tool in a first direction away from the preselected tool path by moving only the wrist about at least one of the wrist axes;

(D) moving the tool in a second direction back toward the preselected tool path by moving only the wrist about at least one of the wrist axes; and

(E) cyclically performing steps (C) and (D) while performing step (B).

2. The method of claim 1, wherein the wrist is supported at one end of a robot arm and wherein step (A) is performed by moving the robot arm into an arm orientation and the wrist into a wrist orientation such that the tool is positioned adjacent the preselected tool path.

3. The method of claim 2, wherein step (B) is performed by moving the robot arm.

4. The method of claim 1, wherein the preselected path is defined on a part and wherein step (B) is performed by moving the part relative to the robot.

5. The method of claim 1, wherein step (C) is performed by

determining a desired tool position that is spaced from the preselected path;

determining a range of available tool positions based upon only moving the wrist about the wrist axes;

determining a next tool position, from within the range of available tool positions, that corresponds to the desired tool position; and

moving the tool to the next tool position by moving only the wrist while maintaining the wrist origin on the wrist path.

6. The method of claim 5, wherein step (C) is performed by

determining an offset position value that defines an acceptable difference between the desired tool position and the next tool position;

and

determining a set of tool positions within the range of available tool positions, wherein each position within the set differs from the desired position of the tool by a value that is less than or equal to the offset position value and determining the next tool position from within the set of tool positions.

7. The method of claim 6, wherein step (C) further includes determining a closest tool position from the set of tool positions that requires a minimum amount of movement of the wrist to move the tool from a current tool position to the closest tool position and defining the next tool position as the closest tool position.

8. The method of claim 5, wherein the wrist has three axes that intersect each other and a sphere having the intersection of the three axes as an origin defines a range of available tool positions, the desired tool position is outside of the sphere and wherein step (C) includes determining a set of wrist axis angles that will place the tool into a position within the sphere that corresponds to the desired tool position.

9. The method of claim 8, further comprising preventing movement along one of the wrist axes and determining the position of the tool within the sphere by determining an axis position for each of the other two wrist axes using inverse kinematics.

10. The method of claim 1, further comprising preventing movement along one of the wrist axes.

11. The method of claim 10, wherein step (C) is performed by determining a range of available tool positions dictated by movement along a remainder of the plurality of wrist axes without moving along the one wrist axis and determining the next tool position to be a position that requires a minimum of movement along the remainder of wrist axes from the current tool position to the next tool position.

12. The method of claim 11, wherein the minimum of movement is determined based upon a number of degrees of movement along each axis.

13. The method of claim 1, further comprising performing step (C) to alternately move the tool to one side of the path and then an opposite side of the path after each time that step (D) is performed.

20. The method of claim 1, wherein the wrist axes are perpendicular to each other and intersecting at the origin.

21. The method of claim 1, wherein there are three perpendicular wrist axes intersecting at the origin.

14. A method of controlling movement of a tool that is supported by a robot having a wrist that is moveable about three wrist axes that are each associated with a wrist origin, comprising the steps of:

(A) moving the wrist origin along a predetermined wrist path;

(B) determining a desired tool position;

(C) determining a next tool position from a range of tool positions available by moving only the wrist about the wrist axes with the wrist origin in a current wrist origin position;

(D) determining a position vector between the current wrist origin position and the next tool position;

(E) determining a set of wrist axis positions necessary to move the tool into the next tool position from the determined position vector and the determined next tool position;

(F) moving the tool from a current tool position into the next tool position by moving only the wrist into the determined set of wrist axis positions.

15. The method of claim 14, further comprising the step of (G) repeatedly performing steps (B) through (F) at preselected update intervals while performing step (A).

16. The method of claim 14, wherein step (E) includes fixing a value for one of the wrist axes and determining an inverse kinematic solution for the wrist axis positions of the other two wrist axes, using the position vector and the fixed value.

17. A system for controlling robot movement, comprising:

a robot arm having a plurality of arm axes about which said arm is moveable;

a robot wrist supported on one end of said arm and having a wrist origin and a plurality of wrist axes that provide movement of said wrist relative to said wrist origin;

a tool supported by said wrist;

a wrist actuator for moving said wrist about said wrist axes; and

a controller including

means for determining a desired tool position;

means for determining a next tool position from a range of tool positions available by moving only the wrist about the wrist axes with the wrist origin in a current wrist origin position;

means for determining a position vector between the current wrist origin position and the next tool position;

means for determining a set of wrist axis positions necessary to move the tool into the next tool position from the determined position vector and the determined next tool position; and

command means for commanding said wrist actuator to move the tool from a current tool position into the next tool position by moving only the wrist into the determined set of wrist axis positions.

18. The system of claim 17, wherein each of said determining means comprises software within said controller.

19. The system of claim 17, wherein there are three wrist axes and wherein said controller controls said wrist actuator to move said wrist about only two of said three axes to thereby move said tool without moving said wrist axis.

22. A method of controlling movement of a tool that is supported by a robot having a wrist that is moveable about a plurality of wrist axes that are associated with a wrist origin, comprising the steps of:

(A) positioning the tool adjacent a preselected tool path;

(B) moving the wrist origin along a predetermined wrist path corresponding to the preselected tool path;

(C) moving the tool in a first direction away from the preselected tool path by moving only the wrist about at least one of the wrist axes by determining a desired tool position that is spaced from the preselected path, determining a range of available tool positions based upon only moving the wrist about the wrist axes, determining a next tool position, from within the range of available tool positions, that corresponds to the desired tool position, and moving the tool to the next tool position by moving only the wrist while maintaining the wrist origin on the wrist path;

(D) moving the tool in a second direction back toward the preselected tool path by moving only the wrist about at least one of the wrist axes; and

(E) cyclically performing steps (C) and (D) while performing step (B).

23. The method of claim 22, wherein step (C) is performed by

determining an offset position value that defines an acceptable difference between the desired tool position and the next tool position;

and

determining a set of tool positions within the range of available tool positions, wherein each position within the set differs from the desired position of the tool by a value that is less than or equal to the offset position value and determining the next tool position from within the set of tool positions.

24. The method of claim 23, wherein step (C) further includes determining a closest tool position from the set of tool positions that requires a minimum amount of movement of the wrist to move the tool from a current tool position to the closest tool position and defining the next tool position as the closest tool position.

25. The method of claim 22, wherein the wrist has three axes that intersect each other and a sphere having the intersection of the three axes as an origin defines a range of available tool positions, the desired tool position is outside of the sphere and wherein step (C) includes determining a set of wrist axis angles that will place the tool into a position within the sphere that corresponds to the desired tool position.

26. The method of claim 25, further comprising preventing movement along one of the wrist axes and determining the position of the tool within the sphere by determining an axis position for each of the other two wrist axes using inverse kinematics.

27. The method of claim 22, including preventing movement along one of the wrist axes.

28. The method of claim 27 wherein step (C) is performed by determining a range of available tool positions dictated by movement along a remainder of the plurality of wrist axes without moving along the one wrist axis and determining the next tool position to be a position that requires a minimum of movement along the remainder of wrist axes from the current tool position to the next tool position.

29. The method of claim 28, wherein the minimum of movement is determined based upon a number of degrees of movement along each axis.