Profile control system for robots
AssigneeFujitsu Limited
InventorsYasuyuki Nakata, Akihiko Yabuki, Yutaka Yoshida, Katsushi Nishimoto
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Abstract
A robot profile control system permits a force control robot to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours. The robot profile control system resets a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object. The force is detected by a force detecting section of the robot profile control system.
Claims54
A profile control system for a force control robot system including a robot, a force detecting section for detecting a force acting between an end of said robot and a work object and a position detecting section for detecting a position of the end of said robot and permitting said robot to perform a profiling operation on a surface of said work object comprising:
- normal vector calculating means responsive to an output of said force detecting section for calculating a normal vector n at a point of contact between the end of said robot and said work object;
- vector in direction of movement calculating means responsive to outputs of said normal vector calculating means and a vector in the direction of movement of the end of said robot at an end point or a start point of an profile operation provided from an operator for calculating a vector in the direction of movement of the end of said robot;
- control command generating means responsive to outputs of said vector in direction of movement calculating means and said normal vector calculating means for generating control commands to said robot;
- and
- force and position control means responsive to outputs of said control command generating section, said force detecting section and said position detecting section for controlling the force of said robot and a position of the end of said robot, thereby permitting said robot to perform an profiling on a surface of said work object having an unknown contour while resetting a profile coordinate system defined by said normal vector and said vector in direction of movement, in which said normal vector calculating means corresponds to a normal vector calculating section, said vector in direction of movement calculating means corresponds to a vector in direction of movement calculating section, said control command generating section corresponds to a control command generating section and said force and position control means correspond to a position control section, a force control section and an operation section.
A trajectory searching system for a force control robot system including a robot, a force detecting section for detecting a force acting between an end of said robot and a work object, a position detecting section for detecting a position of the end of said robot and an operation section for applying control inputs to said robot, comprising:
- a normal vector calculating section responsive to an output of said force detecting section for calculating a normal vector at a point of contact between the end of said robot and said work object;
- a vector in direction of movement calculating section responsive to outputs of said normal vector calculating section and said position detecting section for calculating a vector in direction of movement of the end of said robot;
- a trajectory searching section responsive to outputs of said force detecting section, said normal vector calculating section and said vector in direction of movement calculating section for searching an original trajectory when the end of said robot separates from said work object;
- a control command generating section responsive to outputs of said normal vector calculating section and said trajectory searching section for outputting set force parameters and set position parameters;
- a force control section responsive to said set force parameters from said control command generating section for controlling the force of said robot;
- and
- a position control section responsive to said set position parameters from said control command generating section for controlling a position of said robot,
- thereby permitting said robot to perform a profiling operation on a surface of said work object having discontinuous surfaces of unknown contours while resetting a profile coordinate system defined by said normal vector and said vector in direction of movement.
A robot profile control system for a force control robot system including a robot, a force detecting section for detecting a force acting between an end of said robot and a work object, a position detecting section for detecting a position of the end of said robot and an operation section for applying control inputs to said robot, comprising:
- a normal vector calculating section responsive to an output of said force detecting section for calculating a normal vector at a point of contact between the end of said robot and said work object;
- a vector in direction of movement calculating section responsive to outputs of said normal vector calculating section and said position detecting section for calculating a vector in direction of movement of the end of said robot;
- a curvature calculating section responsive to outputs of said normal vector calculating section and said position detecting section for calculating the curvature of said work object at a point of contact between the end of said robot and said work object;
- a position deviation compensating section responsive to an output of said curvature calculating section for compensating for a position deviation of the end of said robot at a next point at which a profile coordinate system is set;
- a control command generating section responsive to outputs of said position deviation compensating section, said normal vector calculating section and said vector in direction of movement calculating section for generating parameters for a set force and a set position;
- a force control section responsive to said set force parameters from said control command generating section for controlling the force of said robot;
- and
- a position control section responsive to said set position parameters for controlling the position of the end of said robot,
- thereby permitting said robot to perform a profiling operation on a surface of said work object having curved surfaces of unknown contours while resetting a profile coordinate system defined by said normal vector and said vector in direction of movement.
A profile control system according to claim 34, in which the resetting of said profile coordinate system is performed when a fixed time elapses from previous setting of said profile coordinate system.
A profile control system for a force control robot system having a robot, a force detecting section for detecting a force acting between and end of said robot and a work object, a position detecting section for detecting a position of the end of said robot and an operation section for entering control inputs to said robot and permitting said robot to perform a profile operation on a surface of said work object, comprising:
- a position storage section responsive to an output of said force detecting section for storing the position of the end of said robot;
- a control command generating section responsive to outputs of said position storage section and said force detecting section for outputting control commands to said robot;
- a force control section responsive to outputs of said control command generating section and said force control section for controlling the force of said robot;
- and
- a position control section responsive to outputs of said control command generating section and position detecting section for controlling the position of the end of said robot,
- thereby permitting said robot to perform the profile operation on a side surface of said work object rectangular in shape while applying a constant force to said side surface.
A profile control system for a force control robot system having a robot, a force detecting section for detecting a force acting between an end of said robot and a work object, a position detecting section for detecting a position of the end of said robot and an operation section for entering control inputs into said robot and permitting said robot to perform a profile operation on a surface of said work object, comprising:
- a position storage section responsive to an output of said force detecting section for storing the position of the end of said robot;
- a coordinate transformation matrix generating section responsive to position information stored in said position storage section for calculating a new profile coordinate system for said robot;
- a control command generating section for generating control commands for said robot;
- a position control section responsive to outputs of said control command generating section and said position detecting section for controlling the position of said robot;
- and
- a force control section responsive to outputs of said control command generating section and said force detecting section for controlling the position of said robot,
- thereby permitting said robot to perform a profile operation on a work object of an unknown contour with an acute angle while applying a constant force to said work object.
Dependencies are inferred from the claim text.