Robot

• US 4,641,251 A
• Filed: 02/15/1983
• Issued: 02/03/1987
• Est. Priority Date: 02/16/1982
• Status: Expired due to Term

• Current Assignee: Inoue-Japax Research Incorporated
• Original Assignee: Inoue-Japax Research Incorporated
• Inventors: Inoue, Kiyoshi
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US06/466,521
• Time in Patent Office: 1,449 Days
• Field of Search: 364/513, 364/191-193, 364/478, 364/167-171, 364/424, 901/1, 901/9, 901/10, 901/40, 901/49, 901/50, 901/42, 414/4, 414/5, 414/730, 318/568, 318/573, 318/580, 318/587
• US Class Current: 700/52
• CPC Class Codes: B25J 13/081 Touching devices, e.g. pressure-sensitive
• CPC Class Codes: B25J 19/063 working only upon contact with an outside object
• CPC Class Codes: B25J 9/0081 with master teach-in means
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms

Abstract

A robot, particularly an industrial robot for performing predetermined tasks in accordance with given programs. When an operating portion of the robot encounters an unexpected obstacle, the robot must immediately stop the motion of the operating portion to prevent the collision with obstacle. For this purpose, the robot is provided with subcontrol units for individually controlling each operating portion of the robot as well as a main control unit for performing overall control of the robot. The subcontrol units serve to control such extra operations other than the inherent operations to carry out the prescribed tasks. Each operating portion is equipped with various detecting devices for sensing obstacles. The subcontrol units are made operative in accordance with outputs from the corresponding detecting devices. As obstacles, there are included humans, gases, radiation, etc. in addition to various objects. This invention can be applied to a robot having a learning function.

Claims

1. A robot comprising:

a plurality of operating portions, said robot having overall movements and individual movements of the respective operating portions, a main control means for controlling overall movements of the robot;

at least one detecting means in each operating portion of the robot for detecting the exterior environment around each of said operating portions; and

at least one subcontrol means for individually controlling the operations of each of said operating portions in accordance with output from said main control means and output from the respective said detecting means, means associated with at least one of said main control means and said subcontrol means for providing a learning function for the associated means by which when said operating portions of the robot are initially moved by an external force, the course of movement is memorized and thereafter the same motion can be repeatedly carried out, said means for providing a learning function when the operating portions of the robot are initially moved by an external force comprising means for producing a plot of the course of travel of a specific point on said operating portion during movement of said operating portion;

means for dividing said course into a number of intervals;

means for replacing the course of travel in each interval by an approximation of a straight line or a circular arc to produce an approximation course of travel consisting of straight lines and circular arcs; and

means for memorizing the travel of said specific point along said approximation course of travel, said means for dividing said course of travel of the specific point into a number of intervals and said means for replacing the course of travel of each interval by the straight line or circular arc comprising;

(a) means for calculating and temporarily recording locations (designated as passing points) of said specific point corresponding to each state of the robot in the course of its motion, each of said states being sequentially and time-divisionally recorded to define the motion of the robot;

(b) means for effecting a straight line checking step in which the longest approximation line segment is determined, said segments connecting the starting point of the course of travel (Xo, Yo, Zo) and the "i"th passing point (Xi, Yi, Zi), (wherein "i" is larger than a predetermined minimum limit value i-min), said passing points being successively located on the course of travel from the starting point (Xo, Yo, Zo) to the end point (Xz, Yz, Zz), wherein all of deviation distances Lij do not exceed a permissive error E and the value of i is maximum, said distances Lij being defined by the distances between said longest segment and each passing point (Xj, Yj, Zj) which is located between said two points, (wherein j=1, 2, . . . , (i-1));

(c) means for effecting a straight line interval setting step when the solution i=n is obtained in means (b), wherein the segment which connects the starting point (Xo, Yo, Zo) and the point (Xn, Yn, Zn) is set as the interval for the straight line, the data of said segment being recorded;

(d) means for effecting a circular arc checking step when no solution is obtained in means (b), wherein an optimum circular arc is obtained, in which all of the deviation distances Dkl do not exceed the permissive error E and the value of j is maximum, said optimum circular arc being selected from circular arcs which are defined by three points consisting of the starting point (Xo, Yo, Zo), the "k"th passing point (Xk, Yk, Zk) from said starting point (Xo, Yo, Zo), (wherein k is larger than a predetermined minimum limit value k-min), and an arbitrary passing point (Xs, Ys, Zs) which is located between said two points, said distances Dk1 being defined by the distances between said circular arc and other passing points (Xl, Yl, Zl) which are located between said two points;

means for effecting a circular arc interval setting when the solution j=m is obtained in means (d), wherein the circular arc which connects said starting point (Xo, Yo, Zo), and said passing points (Xs, Ys, Zs) and (Xm, Ym, Zm) is set as the interval for the circular arc, and the data of said circular arc are recorded; and

(f) means for repeating the calculations to set the course of travel continuously over the entire interval, in which the end point (Xn, Yn, Zn) or (Xm, Ym, Zm) of the interval which is obtained by means (c) or (e) is set as the successive starting point, and the same calculations by means (b)-(e) are executed, and repeated successively for the passing points from said starting point to the final end point (Xz, Yz, Zz), to produce the continuous approximation course of travel.

2. The robot as claimed in claim 1 wherein each of said operating portions is provided with one of said subcontrol means.

3. The robot as claimed in claim 1 wherein each of said operating portions is provided with a plurality of said subcontrol means.

4. The robot as claimed in claim 1 wherein each said subcontrol means controls the respective operating portion in a time interval less than 10 m sec.

5. The robot as claimed in claim 1 wherein said detecting means detects temperature.

6. The robot as claimed in claim 1 wherein said detecting means detects pressure.

7. The robot as claimed in claim 1 wherein said detecting means detects contact with an external object.

8. The robot as claimed in claim 1 wherein said detecting means detects approach of the respective said operating portion to other objects.

9. The robot as claimed in claim 1 wherein said detecting means detects light.

10. The robot as claimed in claim 1 wherein said detecting means detects sound.

11. The robot as claimed in claim 1 wherein said detecting means detects gases.

12. The robot as claimed in claim 1 wherein said detecting means detects humidity.

13. The robot as claimed in claim 1 wherein said detecting means detects magnetic force.

14. The robot as claimed in claim 1 wherein said detecting means detects radiation.

15. The robot as claimed in claim 1 wherein a plurality of said detecting means are provided for detecting at least two parameters selected from the group consisting of temperature, pressure, contact with other objects, approach to other objects, light, sound, gases, humidity, magnetic force, and radiation.

16. The robot as claimed in claim 3 wherein said detecting means comprises a thermistor element.

17. The robot as claimed in claim 6, wherein said detecting means comprises a pressure sensitive element.

18. The robot as claimed in claim 7 wherein said detecting means comprises:

a plurality of electrical wires on the surface of the body of said robot, including said operating portions;

means for applying voltage to said wires; and

voltage detecting means for detecting change in voltage applied to said electrical wires when said robot contacts other objects.

19. The robot as claimed in claim 18 wherein said electrical wires are constantan wires.

20. The robot as claimed in claim 18 wherein said electrical wires are copper-nickel alloy wires.

21. The robot as claimed in claim 17 wherein said detecting means comprises:

a first electrode consisting of a conductive material which covers the surface of the body of said robot including said operating portions;

an elastic dielectric material which covers the surface of said first electrode;

a second electrode consisting of an expandable conductive material which covers the surface of said dielectric material;

an elastic insulating material which covers the surface of said second electrode; and

electrostatic capacity detecting means for detecting change in electrostatic capacity between said first and second electrodes when said robot contacts other objects.

22. The robot as claimed in claim 21 wherein said second electrode comprises flexible wires.

23. The robot as claimed in claim 8 wherein said detecting means comprises electrostatic capacity detecting means for measuring electrostatic capacity between the body of said robot, including said operating portions, and external objects which approach the same.

24. The robot as claimed in claim 8 wherein said detecting means comprises:

generator means for generating a magnetic field around the body of the robot, including said operating portions; and

means for detecting change in output of said generator means due to approach of external objects to said robot.

29. A robot as claimed in claim 1, said at least one subcontrol means being self-contained and controlling the operation of a respective operating portion independently of said main control means and in response to output from said detecting means in the respective operating portion.

25. A method of controlling a robot having a plurality of operating portions comprising controlling overall movements of the robot by a main control unit, controlling individual movement of each operating portion by at least one subcontrol unit for each operating portion, detecting ambient conditions around each operating portion and halting movement of said operating portion when ambient conditions around such operating portion are abnormal, and wherein at least one of said main control unit or said subcontrol units effects a learning function comprising the steps of, when the operating portions of the robot are intially moved by an external force, memorizing the course of movement and thereafter repeatedly carrying out the same motion, and further wherein when the operating portions of the robot are initially moved by the external force, the learning function is obtained by the steps comprising obtaining the course of travel of a specific point on a respective said operating portion;

dividing said course of travel into a number of intervals;

replacing the course of travel of each interval by a straight line or a circular arc to obtain an approximation of the course of travel; and

moving said specific point along the approximation course of travel, said steps of dividing the course of travel of the specific point into a number of intervals and of replacing the course of travel of each interval by the straight line or circular arc comprising the steps (a) to (f) as follows;

(a) calculating and temporarily recording locations (designated as passing points) of said specific point corresponding to each state of the robot in the course of its motion, each of said states being sequentially and time-divisionally recorded to define the motion of the robot;

(b) effecting a straight line checking step in which the longest approximation line segment is determined, said segments connecting the starting point of the course of travel (Xo, Yo, Zo) and the "i"th passing point (Xi, Yi, Zi), (wherein "i" is larger than a predetermined minimum limit value i-min), said passing points being successively located on the course of travel from the starting point (Xo, Yo, Zo) to the end point (Xz, Yz, Zz), wherein all of deviation distances Lij do not exceed a permissive error E and the value of i is maximum, said distances Lij being defined by the distances between said longest segment and each passing point (Xj, Yj, Zj) which is located between said two points, (wherein j=1, 2, . . . , (i-1));

(c) effecting a straight line interval setting step when the solution i=n is obtained in step (b), wherein the segment which connects the starting point (Xo, Yo, Zo) and the point (Xn, Yn, Zn) is set as the interval for the straight line, the data of said segment being recorded;

(d) effecting a circular arc checking step when no solution is obtained in step (b), wherein an optimum circular arc is obtained, in which all of the deviation distances Dk1 do not exceed the permissive error E and value of j is maximum, said optimum circular arc being selected from circular arcs which are defined by three points consisting of the starting point (Xo, Yo, Zo), the "k"th passing point (Xk, Yk, Zk) from said starting point (Xo, Yo, Zo), (wherein k is larger than a predetermined minimum limit value k-min), and an arbitrary passing point (Xs, Ys, Zs) which is located between said two points, said distances Dkl being defined by the distances between said circular arc and other passing points (Xl, Yl, Zl) which are located between said two points;

(e) effecting a circular arc interval setting step when the solution j=m is obtained in step (d), wherein the circular arc which connects said starting point (Xo, Yo, Zo), and said passing points (Xs, Ys, Zs) and (Xm, Ym, Zm) is set as the interval for the circular arc, and the data of said circular arc are recorded; and

(f) repeating the calculation steps to set the course of travel continuously over the entire interval, in which the end point (Sn, Yn, Zn) or (Xm, Ym, Zm) of the interval which is obtained in step (c) or (e) is set as the successive starting point, and the same calculations in steps (b)-(e) are executed, and repeated successively for the passing points from said starting point to the final end point (Xz, Yz, Zz), to produce the continuous approximation course of travel.

26. A method as claimed in claim 25 wherein said subcontrol unit effects the step of controlling the operation of the associated operating portion within 10 m sec of a command signal to said operating portion.

27. A method as claimed in claim 25 wherein the ambient conditions detected around each operating portion is at least one of the parameters selected from the group consisting of temperature, pressure, contact of said operating portion with an external object, approach of said operating portion to an external object, light, sound, gases, humidity, magnetic force and radiation.

28. A method as claimed in claim 25 wherein a plurality of said specific points are monitored and all calculations and operations are executed with respect to all of said specific points while restricting conditions between said specific points are satisfied.