Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component

• US 9,718,187 B2
• Filed: 06/08/2015
• Issued: 08/01/2017
• Est. Priority Date: 06/11/2014
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Ishikawa, Takahiro, Kawamura, Shunsuke, Osaka, Tsutomu
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/733,699
• Publication Number:
  US 20150360369A1
• Time in Patent Office: 785 Days
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 2219/34388 Detect correct moment, position, advanced, delayed, then next command
• CPC Class Codes: G05B 2219/37297 Two measurements, on driving motor and on slide or on both sides of motor
• CPC Class Codes: G05B 2219/39098 Estimate stop, brake distance in predef time, then verify if in safe distance
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/23 Electric motor
• CPC Class Codes: Y10S 901/25 Gearing
• CPC Class Codes: Y10T 29/49828 Progressively advancing of work assembly station or assembled portion of work
• CPC Class Codes: Y10T 74/20317 including electric motor

Abstract

Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

Claims

1. A robot controlling method for controlling an articulated robot, the articulated robot including joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, a motor-side angle detector configured to detect an output angle of the servomotor, and a reduction gear-side angle detector configured to detect an output angle of the reduction gear, the robot controlling method comprising:

a feedback control step of carrying out feedback control on motion of the servomotors such that detection angles detected by the respective motor-side angle detectors become target angles;

a leading end position calculation step of obtaining a position of a leading end of the articulated robot based on detection angles detected by the respective reduction gear-side angle detectors;

a timing step of obtaining a time from a reference time point to a time point at which a vibration width, relative to a positioning completion position, of the position of the leading end of the articulated robot calculated in the leading end position calculation step converges within a convergence range;

a setting step of setting the time obtained in the timing step as a stopping duration, and

a control step of stopping the articulated robot for the stopping duration and thereafter returning to the feedback control step.

2. The robot controlling method according to claim 1,

wherein, in the timing step, in response to the position of the leading end of the articulated robot being expressed in an orthogonal coordinate system having a plurality of axial directions, wherein the position of the leading end of articulated robot is represented by a location of the leading end of the articulated robot along each axial direction, the convergence range is set individually in each axial direction.

3. The robot controlling method according to claim 1,

wherein, in the setting step, in a case in which the stopping duration is stored in a storage unit and the feedback control step, the leading end position calculation step, and the timing step are carried out again, in response to the time obtained in the timing step having changed relative to the stopping duration stored in the storage unit, the stopping duration stored in the storage unit is updated to the time obtained in the timing step.

4. The robot controlling method according to claim 1,

wherein, in the setting step, in a case in which the stopping duration is stored in a storage unit and the feedback control step, the leading end position calculation step, and the timing step are carried out again, in response to the time obtained in the timing step having changed by a predetermined period of time or more relative to the stopping duration stored in the storage unit, the stopping duration stored in the storage unit is updated to the time obtained in the timing step.

5. The robot controlling method according to claim 1, further comprising:

a determination step of determining whether the time obtained in the timing step is equal to or greater than a threshold value set in advance; and

a notification step of issuing a warning in a case in which the determination step determines that the time obtained in the timing step is equal to or greater than the threshold value set in advance.

6. The robot controlling method according to claim 1, further comprising:

an operation parameter changing step of changing an operation parameter of a first motion of the robot in accordance with an operation parameter list;

a minimum time detection step of detecting a minimum operation time of the first motion; and

an operation parameter setting step of setting an operation parameter corresponding to a minimum time in the first motion.

7. The robot controlling method according to claim 6,

wherein, in the timing step, in response to the position of the leading end of the articulated robot being expressed in an orthogonal coordinate system, the convergence range is set individually in each axial direction of the orthogonal coordinate system.

8. A method for manufacturing an assembly component by using an articulated robot, the articulated robot including joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, and a detector configured to detect an angle of an output side of the reduction gear, the method comprising:

causing the articulated robot to hold a first component and to carry out a first motion of the servomotors;

a leading end position calculation step of obtaining a position of a leading end of the articulated robot based on detection angles detected by the respective detectors; and

a control step of stopping at least one of a plurality of the servomotors in a case where the position of the leading end of the articulated robot calculated in the leading end position calculation step falls outside a predetermined range, and operating at least one of the plurality of the servomotors in a case where the position of the leading end of the articulated robot calculated in the leading end position calculation step falls within the predetermined range.

9. The method according to claim 8,

wherein the position of the leading end of articulated robot is represented by a location of the leading end of the articulated robot along each axial direction of the articulated robot.

10. The method according to claim 9, wherein the predetermined range is set individually in each axial direction.

11. A robot controlling method for controlling an articulated robot, the articulated robot including joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, and a detector configured to detect an angle of an output side of the reduction gear, the robot controlling method comprising:

a leading end position calculation step of obtaining a position of a leading end of the articulated robot based on detection angles detected by the respective detectors; and

a control step of stopping at least one of a plurality of the servomotors in a case where the position of the leading end of the articulated robot calculated in the leading end position calculation step falls outside a predetermined range, and operating at least one of a plurality of the servomotors in a case where the position of the leading end of the articulated robot calculated in the leading end position calculation step falls within the predetermined range.

12. The robot controlling method according to claim 11, wherein the position of the leading end of articulated robot is represented by a location of the leading end of the articulated robot along each axial direction of the articulated robot.

13. The robot controlling method according to claim 12, wherein the predetermined range is set individually in each axial direction.

14. A robot controlling method for controlling an articulated robot, the articulated robot including joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, a motor-side angle detector configured to detect an output angle of the servomotor, and a reduction gear-side angle detector configured to detect an output angle of the reduction gear, the robot controlling method comprising:

a feedback control step of carrying out feedback control on motion of the servomotor such that a first angle detected by the motor-side angle detector becomes target angle;

a detecting step of obtaining a second angle of the reduction gear-side angle detectors;

a timing step of obtaining a time from a reference time point to a time point at which a vibration width of the detection of the detection step starts to converge within a convergence range;

a setting step of memorizing the time obtained in the timing step as a stopping duration; and

a control step of controlling the articulated robot in operation so as to start a subsequent motion at a time when the stopping duration has elapsed since the reference time.