Robot control device which controls robot on basis of mechanism data, and operation program correction device
A robot control device includes an operation control unit which controls the operation of a robot based on mechanism data. The mechanism data includes a parameter for calculating the relationship between an angle in a joint part of the robot and a distal end position of the robot. The control device also includes an acquisition unit which acquires a plurality of predetermined sets of mechanism data, a selection unit which selects one set of mechanism data from the plurality of sets of mechanism data, and a switching operation setting unit that sets the operation of the robot when changing the mechanism data.
1 . A controller for a robot having a joint, the controller comprising:
a processor configured to:
control an operation of the robot using mechanism data including mechanism error parameters and a parameter used to calculate a relationship between an angle of a joint of the robot and a distal end position of the robot;
acquire a plurality of predetermined mechanism error parameters;
select one mechanism error parameter from the plurality predetermined mechanism error parameters; and
set an operation of the robot responsive to the mechanism error parameter being changed,
wherein the processor controls the operation of the robot according to an operation program, and selects the mechanism error parameter corresponding to the operation program used to control the operation of the robot.
2 . The controller of claim 1 , wherein the processor is configured to set the operation of the robot so that a position and orientation of the robot based on a current mechanism error parameter become a position and orientation of the robot based on the mechanism error parameter selected by the processor.
3 . The controller of claim 2 , wherein the processor is configured to set the operation of the robot so as to gradually reach the position and orientation of the robot based on the mechanism error parameter selected by the processor in a predetermined length of time.
4 . The controller of claim 2 , wherein the processor is configured to set the operation of the robot so that a speed of a predetermined portion of the robot does not deviate from a predetermined determination range when driving the robot.
5 . The controller of claim 2 , wherein the processor is configured to set the operation of the robot so that an acceleration of a predetermined portion of the robot does not deviate from a predetermined determination range when driving the robot.
6 . The controller of claim 1 , wherein the processor is configured to maintain the position and orientation of the robot when changing the mechanism error parameter.
7 . The controller of claim 1 , wherein
the robot includes a drive motor configured to drive a component of the robot and a rotational position detector configured to detect a rotational position of the drive motor, and
the mechanism data includes an output value of the rotational position detector when a position of the robot is arranged at a predetermined reference position.
8 . The controller of claim 1 , wherein the mechanism data
includes a matrix or a relational expression indicating a relative positional relationship between a plurality of the joints in the robot, the plurality of the joints being adjacent to each other.
9 . The controller of claim 8 , wherein the matrix or the relational expression includes an error with respect to a design value.
10 . The controller of claim 1 , wherein the mechanism error parameter corresponding to a specific area that is a part of an area in which the robot is driven is predetermined, and the processor is configured to select the mechanism error parameter corresponding to the specific area when a position of the robot is arranged inside the specific area.
11 . A correction device for an operation program of a robot having a joint, the correction device comprising:
a storage configured to store mechanism data including a mechanism error parameter and a parameter used to calculate a relationship between an angle of a joint of the robot and a distal end position of the robot:
a processor configured to acquire, from the storage, a plurality of mechanism error parameters created in advance;
a display including an area for displaying the plurality of pieces of the mechanism error parameters data and an area for displaying the operation program;
a keyboard through which an operator operates an image displayed on the display;
wherein the processor is configured to select one mechanism error parameter from the plurality of mechanism error parameters in response to an operation of the keyboard by the operator; and
correct the operation program based on the one piece of the mechanism data selected by the processor,
wherein the mechanism error parameter is a parameter used in a calculation formula to calculate a rotational position of a drive motor of the robot from a variable defining a position and a posture of the robot set in the operating program.
12 . The correction device of claim 11 , wherein the processor is configured to record, in the operation program, a command statement for applying the mechanism error parameter selected by the processor.
13 . The correction device of claim 12 , wherein the processor is configured to record, in the operation program, a command statement for applying the mechanism error parameter selected by the processor with respect to an entirety of one of the operation programs.
14 . The correction device of claim 11 , wherein the operation program includes position data constituted by variables that determine a position and orientation of the robot at a teaching point, and the processor is configured to calculate the variables that determine the position and orientation of the robot when the mechanism error parameter selected by the processor is used, and to set the variables in the position data.