• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    The invention relates to a method for controlling an automated working cell (2) comprising at least one robot arm (4) with at least three degrees of freedom (A1-A6), a programmable logic controller (6) adapted to developing a trajectory order (Om) on the basis of an instruction for realizing a trajectory of an application programmed in the programmable logic controller, a robot controller (10), adapted to control the movement of the robot arm ( 4) and a communication bus (5) between the programmable logic controller (6) and the robot controller (10). The method comprises the steps of a) developing, in the programmable logic controller (6), a trajectory order (Om) having parameters for realizing a defined trajectory at least between a starting point and an arrival point ; b) transmitting the trajectory order (Om) elaborated in step a) to a computing unit (11) of the robot controller (10); c) developing, in the computing unit (11) of the robot controller (10) and on the basis of the path command (Om) transmitted in step b), basic movement instructions for controlling the robot arm (4) on the trajectory defined by the trajectory order (Om).
    公开号:FR3038245A1
    申请号:FR1556147
    申请日:2015-06-30
    公开日:2017-01-06
    发明作者:Des Tuves Jean-Michel Bonnet
    申请人:Staeubli Faverges SCA；
    IPC主号:
    专利说明:

    The invention relates to a method for controlling an automated work cell.
    It is known from WO-A-2012/097834 to control a robot from a programmable logic controller (PLC) connected to the robot controller by a fieldbus. More particularly, it is known to use PLC programs for controlling a robot comprising function blocks that correspond to motion segments of a robot trajectory. These blocks are interpreted by a robot controller interface that generates motion commands that can be interpreted by the robot controller and transmits them over the bus. In the preferred embodiment, the motion controls constitute the movement tail of the robot controller.
    This solution makes it possible to use the features of the PLC to program the robot itself. Each function block is programmable from a standard PLC interface by an operator who does not need to master the robot-specific programming language. The disadvantage of this system is that the PLC must present a robot controller interface specific to the robot. JP-A-2011/062798 discloses a robot motion programming solution at the PLC in which memory addresses are each assigned to a robot command and the contents of this memory defines a parameter of this command. For example, the address 10500 corresponds to a movement order. When the value stored at this address is 1, the nature of the motion command is a MOV. This solution is tedious to program because of the large number of commands to transmit. It is to these drawbacks that the invention intends to remedy by proposing a method of controlling an automated working cell improved compared to the methods of the state of the art. To this end, the invention relates to a method for controlling an automated work cell comprising: at least one robot arm with at least three degrees of freedom, a programmable logic controller adapted to develop a trajectory order on the basis of an instruction for realizing a path of an application programmed in the programmable logic controller, - a robot controller, adapted to control the movement of the robot arm, and - a communication bus between the programmable logic controller and the robot controller.
    The method is characterized in that it comprises the following steps: a) elaborating, in the programmable logic controller, a trajectory order comprising parameters for realizing a trajectory defined at least between a starting point and a point of arrival; b) transmitting the trajectory order elaborated in step a) to a computing unit of the robot controller; c) developing, in the computation unit of the robot controller and on the basis of the trajectory command transmitted in step b), elementary movement instructions for controlling the robot arm on the trajectory defined by the trajectory order. Thanks to the invention, the commands transmitted by the PLC are fewer in number, which accelerates the execution of the trajectory. The programming of the PLC is simplified because it does not require the input of data specific to the robot arm and movements made by the robot arm during the execution of the application.
    According to advantageous but non-obligatory aspects of the invention, such a method may incorporate one or more of the following features, taken in any technically permissible combination: In the trajectory order elaborated in step a), the trajectory is defined by reference to a set of predefined points stored in a memory of the robot controller, this reference being filled in a variable contained in the path order. - In the trajectory order developed in step a), kinematic parameters to be used for the realization of the trajectory are defined. - The kinematic parameters to be used for the realization of the trajectory are defined by a reference to kinematic parameters stored in a memory of the robot controller and entered in a variable contained in the trajectory order. In the order of trajectory developed in step a), starting parameters of the first point of the trajectory and / or approach of the last point of the trajectory, which are implemented by the robot controller in the achievement of the trajectory, are defined. - The starting parameters of the first point of the trajectory and / or approach of the last point of the trajectory are defined by a reference to departure and approach parameters stored in a memory of the robot controller and entered in variables contained in the order of trajectory. - The trajectory order developed in step a) comprises actions to be performed by a tool equipping an end of the robot arm. In the trajectory order developed in step a), the geometry of the tool to be used is defined. The geometry of the tool to be used is defined by a reference to a predefined tool geometry stored in a memory of the robot controller, this reference being indicated in a variable contained in the trajectory order. The trajectory order elaborated in step a) comprises actions to be performed by a tool equipping an end of the robot arm, and triggering an action of the tool by the robot controller and trigger conditions; of this action are filled in a variable contained in the trajectory order. - The conditions for triggering the action of the tool consist in observing the advanced state of a movement of the robot arm and triggering the action of the tool when the advanced state of the movement reaches a predefined value. In step a), the programmable logic controller updates inputs / outputs of this programmable logic controller according to the parameters for realizing the trajectory according to a defined exchange protocol, and in step b), robot controller calculation unit reads inputs / outputs from the computing unit that correspond to the inputs / outputs of the programmable logic controller as part of this exchange protocol. The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of a control method according to its principle, given by way of non-limiting example with reference to the drawings. appended in which: - Figure 1 is a diagram of an automated working cell implementing a method according to the invention; FIG. 2 is a displacement trajectory performed during a cycle of operation of the method according to the invention; FIG. 3 is a block diagram of the operation of the method according to the invention; FIG. 4 is a variant of the trajectory of displacement of FIG.
    The control method according to the invention applies to an automated working cell 2 shown in FIG. 1 and comprising at least one robot arm 4 with six degrees of freedom A1, A2, A3, A4, A5 and corresponding A6. to the articulated axes of the robot arm 4. The robot arm 4 also comprises motors M1 to M6 respectively for operating the parts of the robot arm 4 along the axes A1 to A6.
    The robot arm 4 also comprises a tool 40 or "effector" located at one end of the robot arm 4.
    This automated work cell 2 also comprises a programmable logic controller 6 (hereinafter PLC) providing the control of the method and which contains a calculation unit and memories, connected to the calculation unit, in which sequences of actions required for the realization of the automated process are stored in the form of programs also called applications.
    The automated work cell 2 comprises a robot controller 10 containing a calculation unit 11 able to execute control programs of the robot arm 4. Preferably, the calculation unit 11 is adapted to execute programs written in the VAL language 3. Alternatively, the computing unit 11 may be adapted to execute programs written in other types of languages. The calculation unit 11 of the robot controller 10 ensures the generation of movements from movement orders, that is to say the calculation of the articular positions to be achieved for each of the six axes A1 to A6 by applying the model kinematics associated with the robot arm 4, then the calculation of the positions to be achieved for each motor M1 to M6 taking into account reductions and possible couplings. Successive movement orders are stored in a movement stack. Alternatively, the computing unit 11 may not include a movement stack and be adapted to know two movement orders, corresponding to the present movement that the computing unit 11 must implement, and the next movement.
    The robot controller 10 comprises, for each motor M1 to M6, a respective motor controller C1 to C6 adapted to generate the supply currents in the corresponding phases of the motor M1 to M6 as a function of the angular position information that it receives. comes from an encoder 8 fitted to each motor M1 to M6 and which measures the angular position of this motor and transmits it to the motor controller.
    The PLC 6 and the robot controller 10 are connected by a fieldbus 5 which allows the exchange of available Boolean and digital information in the form of inputs / outputs. This information is coded and decoded by respective "drivers" of the PLC 6 and the robot controller 10. At all times, the inputs / outputs of the PLC 6 calculation unit and the inputs / outputs of the robot controller 10 are the same.
    The robot controller 10 is equipped with a communication card 12 by which it connects to both the fieldbus 5 and a PCI internal bus not shown on which a card which supports the calculation unit 11 is also connected. .
    The structure of the exchange zone of the fieldbus 5 is known to the calculation unit of the PLC 6 and the robot controller 10, and the fieldbus 5 establishes an exchange protocol which allows, in particular, an application of the calculation unit of the PLC 6 to send trajectory orders.
    In the example shown, the working cell 2 comprises two motor controllers C7 and C8 adapted to control M7 and M8 engines for operating the supply and discharge devices into parts of the automated process. These motors M7 and M8 are also equipped with encoders 8. The motor controllers C7 and C8 are connected to the PLC 6 and to the robot controller 10 via the fieldbus 5.
    According to the invention, at each operation, the calculation unit of the PLC 6 sends a trajectory command Om to the robot controller 10 via the fieldbus 5. The trajectory commands Om correspond to the execution of a movement which cumulates elementary movements from one point to another. In other words, the orders of trajectory Om designate trajectories grouping a set of points. The articular coordinates or Cartesian coordinates corresponding to the points are stored in a memory of the robot controller 10 which is accessible by the calculation unit 11 of the robot controller 10. Thanks to this new method, it is not necessary to transfer to PLC 6 in order to execute the operating program of cell 2.
    The points of a trajectory may be recorded in the memory of the robot controller 10 during a learning procedure. With the aid of a learning controller, not shown, connected to the robot controller 10, an operator manually moves the robot arm 4 over the trajectory definition points and records these points. in the memory of the robot controller 10.
    The path commands Om emitted by the PLC 6 include variables that are filled in during the development of the path commands Om. The language VAL 3 has a notion of list of variables. A list is used to store an indeterminate number of variables in a single element of the language. Variables can be registered according to a specific type that corresponds to a data structure. For example, a variable of the type "POINT >> gathers six reals each corresponding to a degree of freedom. A variable of the "TOOLS" type includes description parameters of the tool 40 such as the geometric transformation that connects the base repository to the repository of the effector, the number of the electrical signal allowing its control or its reaction time. An MDESCS variable contains kinematic parameters such as speed, acceleration, or smoothing mode. From these possibilities, the programmer of the work cell 2 creates, in a memory of the robot controller 10, a database 15 including the following elements: a "POINTS" table 151 which contains N lists of variables of type "Point", where N is the maximum number of referenced trajectories; a "TOOLS" table 152 which contains M variables of "Tools" type, M being the maximum number of geometries of referenced tools; a table "MDESCS" 153 which contains K variables of type "Mdesc", K being the maximum number of kinematic parameter sets referenced.
    This data is initialized by the installer according to the needs of its application. The "POINTS" table 151 is preferably programmed in the language VAL 3 in the form of a two-dimensional array of points. The first dimension is the identifier of a trajectory. The second dimension is the identification of a point in a trajectory. The points can be entered in Cartesian coordinates or in articular coordinates, that is to say related to the axes A1 to A6. The "TOOLS" table 152 includes the information relating to the tools used in the applications programmed in the PLC 6. The tables 151, 152 and 153 represent locations of the memory of the robot controller 10. As a variant, each of the tables 151, 152 and 153 can be programmed in a dedicated memory area.
    To program the realization of a trajectory of the robot arm 4, the programmer of the PLC 6 uses a single instruction of movement including the references to the variables of the database which define the desired trajectory. By instruction, is meant a step of the program that is interpreted or compiled by a processor that will execute this instruction before proceeding to the next instruction. For example in Structured Text (ST) language, an instruction to trigger the realization of a trajectory can be expressed in the form of a MOVE instruction with four numerical parameters, written in the following way: MOVE (i, n, m, k) Where: - the variable i can take the values 0, 1 and 2 and determine the type of trajectory to use (0: articular, 1: Linear, 2: Circular); the variable n (between 0 and N) references the trajectory points to be used; the variable m (between 0 and M) references the geometry of the tool 40 to be used; the variable k (between 0 and K) refers to the kinematic parameters to be used.
    When executing the MOVE instruction, the calculation unit of the PLC 6 copies the values of the four parameters of the MOVE instruction into the corresponding outputs as they are defined in the exchange protocol between the PLC 6 and the robot controller 10. After transmission by the fieldbus 5, the outputs are made available as inputs to the robot controller 10. These inputs are interpreted in the computing unit 11 by a server program written preferably in language VAL 3 which in turn develops the corresponding iME elementary movement instructions for the end of the robot arm 4. The calculation unit of the PLC 6 thus transmits a trajectory command Om which corresponds to an instruction of realization of a trajectory of the process control program. The calculation unit 11 determines the elementary displacements to be performed in order to carry out the trajectory specified in the trajectory order Om and calculate corresponding iD displacement instructions for each of the motors M1 to M6 of the robot arm 4.
    For example, in the language VAL 3, the elementary movement instructions iME of the end of the robot arm 4 are constructed in the following unique form: MOVEX (Point, Tool, Mdesc) Where "X" corresponds to the type of motion used and can take the values J (joint movement), L (linear motion) or C (circular motion), "Point" is the destination of the movement, "Tool" describes the geometry of the tool 40 that is present on the robot arm 4, and "Mdesc" is a data structure that contains all the kinematic parameters necessary to define a motion, including, among others, speed, acceleration, deceleration, smoothing of the values.
    In the case of a circular motion, an elementary motion instruction iME must specify at least two points.
    For example, for each path order Om corresponding to a linear trajectory of the robot arm 4 transmitted by the PLC 6, the computing unit 11 will determine and then execute a sequence of instructions, containing elementary movement instructions iME, which can be expressed in the following way, in language VAL 3: FOR index = 0 A NumberVariablesIn (POINTS [n]) MOVEL (POINTS [n] [index], TOOLS [m], MDESCS [o])
    endfor
    The elementary motion instruction sequences iME corresponding to the types of articular or circular motion are similarly constructed.
    FIG. 3 illustrates the protocol for processing an Om trajectory command developed by the PLC 6. On the basis of an instruction for realizing a trajectory of the control program of the method or application 20, the PLC 6 generates an order trajectory Om which consists in informing the inputs / outputs 22 with references to the trajectory data to be used in the database 15. These references are: the index of the desired trajectory in the bank of the trajectory points 151, the index of the motion descriptor to be used in the descriptor bank 152, - the index of the tool to be used in the tool bank 153.
    The inputs / outputs 22 containing the trajectory order are sent to an input terminal 51 of the fieldbus 5 by a communication program 24 or "driver". On arrival in the robot controller 10 via an output terminal 52 of the fieldbus 5, the path command is transformed by a communication program 26 or "driver" and sent to the computing unit 11 in the form of The calculation unit 11 includes a server program 30 written in VAL 3 which interprets the inputs / outputs 28 according to the defined protocol and generates the sequence of elementary movement instructions corresponding to the trajectory order Om by recovering the characteristics of the trajectory in the database 15. The iME elementary movement instructions from the Om trajectory order stored in an instruction stack 32 are then processed one after the other by a trajectory generator 34 which calculates the movement instructions iD. The displacement instructions iD for each of the motors M1 to M6 are calculated by implementing a kinematic model of the transmissions of the robot arm 4, which defines the possible couplings or reduction ratios between the different parts of the robot arm 4. The instructions displacement iD are transmitted to each of the motor controllers C1 to C6 which generate the control currents of the motors M1 to M6. The invention makes it possible in particular to implement a pick-and-place application, which consists in repeating a cycle in which a part is taken at a point P1 and taken to a point P6. passing through a sequence of points P2 to P5 to be placed, the robot arm 4 then returning to point P1 to be able to restart the cycle, as shown in Figure 2.
    This application is implemented by the PLC 6 whose calculation unit will execute a program that contains a sequence of movements of the robot arm 4 and the actions of the tool 40. For an application of "pick and place >>, the tool 40 is generally a pneumatic suction cup.
    For the realization of the "pick and place" application, the PLC 6's computation unit carries out the following operations in loop: (start of the loop) Trigger your taking of the part Trigger the realization of the trajectory of the arm of robot from P1 to P6 Trigger the release of the part Trigger the realization of the trajectory of the robot arm from P6 to P1 (end of loop)
    According to an optional aspect of the invention shown in FIG. 4, in a "pick and place" application, it is advantageous to follow a determined movement to leave the first point P1 of the trajectory and a determined movement to approach the point final P6 of the trajectory. Generally these movements are movements of extraction of the part to move at the start of the trajectory and insertion of the piece at the approach of the last point of the trajectory. These movements are performed by a pure translation, for example for insertion and / or extraction, possibly combined with a rotation if screwing or unscrewing is necessary.
    Approach and departure movements are usually specific to the automated process: they depend on the parts handled and the media that receives them. To achieve this specificity, additional parameters associated with a trajectory control are available to the PLC 6 programmer. These additional parameters can be expressed as follows: Tdepart corresponds to a reference on a geometric transformation of the database of the PLC. robot controller 10. This geometric transformation is to be applied to the first point P1 of the trajectory to define a starting point ΡΊ. mdescDepart corresponds to a reference on a motion descriptor of the database of the robot controller 10. It defines the kinematic parameters to be used for the starting trajectory extending between the points P1 and ΡΊ. Tappro corresponds to a reference on a geometrical transformation of the database of the robot controller 10. This geometric transformation is to be applied to the last point P6 of the trajectory to define an approach point P'6. mdescAppro corresponds to a reference on a motion descriptor of the database of the robot controller 10. It defines the kinematic parameters to be used for the approach trajectory extending between the points P'6 and P6.
    The parameters Tdepart and Tappro refer to transformations entered in a table 154 of transformations of the database 15. The parameters mdescDepart and mdescAppro refer to types of movements indicated in the table "MDESC >> 153.
    The instructions for realizing a trajectory developed by the programmer of the PLC 6 and interpreted by the PLC 6 in Om trajectory commands to carry out an operation comprising specific movements of departure and approach can be written, for example in ST language. , as follows: MOVE (i, n, m, o, Tdepart, mdescDepart, Tappro, mdescAppro)
    These parameters are transmitted in the same way as the other parameters of the trajectory, by new outputs specified in the exchange protocol.
    To perform the departure and approach movements, the server program 30 automatically calculates the additional points PT to be inserted between the points P1 and P2 and P6 'between the points P5 and P6. These additional points are calculated by applying the respective geometric transformation Tdepart and Tappro to the first and last points P1 and P6 of the path concerned. For this type of trajectory command Om which includes specific approach and departure movements, the server program 30 adds a linear movement ML1 at the beginning of trajectory to the starting point ΡΊ calculated with the kinematic parameters mdescDepart and a linear movement ML6 from the approach point P'6 calculated at the end of the trajectory with the kinematic parameters mdescAppro. In the language VAL 3, the instruction sequences containing the elementary movement instructions iME generated by the calculation unit 11 can be written in the following way: pointDepart = POINTS [n] [0] * start MOVEL (pointDepart, TOOLS [m], mdescDepart) FOR index = 1 A NumberVariablesIn (POINTS [n]) - 1 MOVEL (POINTS [n] [index], TOOLS [m], MDESCS [o])
    ENDFORappoint = POINTS [n] [Numberof VariablesIn (POINTS [n])] * appro MOVEL (appletpoint, TOOLS [m], MDESCS [o]) MOVEL (POINTS [n] [NumberofVariablesIn (POINTS [n])], TOOLS [m], mdescAppro)
    According to a not shown embodiment of the invention, the method of the invention can apply particular movements only at the start of the first point P1, or only at the approach of the last point P6.
    According to another optional aspect of the invention, in a "pick and place" application it may be advantageous to anticipate the control of the tool 40 so that the cycle time is not penalized by the reaction time. of the tool 40. This synchronization operation can be performed efficiently from the robot controller 10. The robot controllers generally have the possibility of triggering an action when the controlled robot arm reaches a given position.
    To achieve this specificity, additional parameters associated with an instruction for realizing a trajectory are available to the installer of the PLC 6. These additional parameters can be defined in the following manner, for example in the case of the application " pick and place >>: - ActionTrigger is a percentage between 0 and 100 of the trajectory that connects the approach point P'6 to the last point P6 of the trajectory. A value "0" or "100" respectively means that the action is triggered on the point of approach P'6 or on the last point P6 of the trajectory. - OpenOrClose is a Boolean command that specifies whether the expected action is to open or close the tool 40, in the case where it is, for example, a gripper for entering a part. Alternatively, this command may be adapted to enable or disable a particular feature of the tool 40.
    These parameters are entered in a MOVE instruction at PLC 6, following the other previously defined parameters, in the following way: MOVE (i, n, m, o, Tdpart, mdescStart, Tappro, mdescAppro, ActionTrigger,
    OpenOrClose) in which ActionTrigger is a value, for example 50, if it is desired to perform the action at 50% of the motion advance, and OpenOrClose is a Boolean value such as "TRUE" or "FALSE" according to the desire to activate or deactivate the tool.
    To achieve this functionality, the progress of each controlled movement is observed. Indeed, any elementary motion control corresponding to an elementary motion instruction iME, for example of the "MOVE" type, returns a motion identifier, for example in the variable "MotionID". The robot controller 10 can be interrogated at any time to know the progress of a particular movement. For example, in the language VAL 3, the function "GetMotionProgress (MotionlD)", in which "MotionID" corresponds to the identifier of a precise movement, makes it possible to know the state of progress of this movement, in particular in the form of a percentage.
    In addition, in the language VAL 3, commands called "Open ()" and "Close ()" which take into parameter variables of the type Tools make it possible to control a tool defined from the table "TOOLS" 152, by example to open or close a clamp.
    For the realization of this functionality, the server program 30 of the calculation unit 11 acquires the identifier of the ML6 approach movement and stores it for example in the variable "ApprolD". For this purpose, the instruction sequences containing the iME elementary movement instructions can be modified in the following way: startpoint = POINTS [n] [0] * start MOVE (startpoint, TOOLS [m], mdescDepart) FOR index = 1 A NumberVariablesIn (POINTS [n]) - 1 MOVE (POINTS [n] [index], TOOLS [m], MDESCS [o])
    ENDFORappoint = POINTS [n] [Numberof VariablesIn (POINTS [n])] * appro MOVE (dotAppro, TOOLS [m], MDESCS [o])
    ApprolD = MO VE (POINTS [n] [NumberVariablesIn (POINTS [n])], TOOLS [m], mdescAppro) On the other hand, a parallel task is started on the calculation unit 11, which consists in observing the advanced motion whose identifier has been acquired, and to trigger a predetermined action when the motion advance reaches the value specified in the "ActionTrigger" parameter. The instructions of the parallel task for triggering the action can be written as follows, in the language VAL 3:
    Fore ver
    Wait GetMotionProgress (ApprolD) == Trigger Action If OpenOrClose == TRUE Open (TOOLS [m],) else
    Close (TOOLS [m],)
    EndWait
    EndForever
    The method of the invention is preferably, but not exclusively, implemented using the Ethercat interfacing. It essentially requires a means of communication, which can be of a different type than the Ethercat fieldbus. For example, the method of the invention can be implemented with a MODBUS bus.
    In its preferred embodiment, the invention provides that the data of the trajectory are transmitted by reference to parameters stored in the memory of the robot controller 10 in the path order Om. As a variant, the trajectory data can also be transmitted by value, that is to say by defining, in the movement instructions created by the programmer of the PLC 6, coordinates of points, speeds, or other parameters. . For example, the two points of a trajectory can be directly entered by their coordinates in a MOVE instruction. In particular, the data corresponding to the advance triggering of the tool command can advantageously be transmitted by value since their development is carried out on the basis of the execution of the application 20 in the PLC 6.
    Likewise, the invention is based on a transmission of the trajectory commands according to a protocol based on input / output tables. It can be implemented using a transmission that relies on a client / server architecture setting up the sending and receiving of messages containing the trajectory orders.
    The features of the embodiments and variants described above may be combined to form new embodiments of the invention.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    A method of controlling an automated work cell (2) comprising: - at least one robot arm (4) with at least three degrees of freedom (A1-A6), - a programmable logic controller (6) adapted for developing a trajectory order (Om) based on an instruction for executing a trajectory of an application (20) programmed in the programmable logic controller; - a robot controller (10) adapted to control the movement of the robot arm (4), and - a communication bus (5) between the programmable logic controller (6) and the robot controller (10), characterized in that it comprises the following steps: a) developing, in the programmable logic controller (6), a trajectory command (Om) comprising parameters for performing a trajectory defined at least between a starting point (P1) and an arrival point (P6); b) transmitting the trajectory order (Om) elaborated in step a) to a computing unit (11) of the robot controller (10); c) developing, in the computing unit (11) of the robot controller (10) and on the basis of the path command (Om) transmitted in step b), elementary movement instructions (iME) for driving the robot arm (4) on the trajectory defined by the trajectory command (Om).
    [2" id="c-fr-0002]
    2. Control method according to claim 1, characterized in that in the trajectory order (Om) elaborated in step a), the trajectory is defined by a reference to a set (POINTS) of predefined points recorded in a memory (151) of the robot controller (10), this reference being indicated in a variable (n) contained in the trajectory order (Om).
    [3" id="c-fr-0003]
    3. Control method according to one of the preceding claims, characterized in that in the trajectory order (Om) developed in step a), kinematic parameters to be used for the realization of the trajectory are defined.
    [4" id="c-fr-0004]
    4. Control method according to claim 3, characterized in that the kinematic parameters to be used for the realization of the trajectory are defined by a reference to kinematic parameters (MDESCS) stored in a memory (153) of the robot controller (10). ) and given in a variable (k) contained in the trajectory order (Om).
    [5" id="c-fr-0005]
    5. Control method according to one of the preceding claims, characterized in that in the trajectory order (Om) developed in step a), starting parameters of the first point (P1) of the trajectory and / or approach of the last point (P6) of the trajectory, which are implemented by the robot controller (10) in the realization of the trajectory, are defined.
    [6" id="c-fr-0006]
    6. Control method according to claim 5, characterized in that the starting parameters of the first point (P1) of the trajectory and / or approach of the last point (P6) of the trajectory are defined by a reference to parameters. starting and approach signals stored in a memory (15) of the robot controller (10) and entered in variables (Tdepart, mdescDepart, Tappro, mdescAppro) contained in the path order (Om).
    [7" id="c-fr-0007]
    7. Control method according to one of the preceding claims, characterized in that the trajectory order (Om) developed in step a) comprises actions to be performed by a tool (40) equipping an end of the robot arm. (4).
    [8" id="c-fr-0008]
    8. Control method according to one of the preceding claims, characterized in that in the trajectory order (Om) developed in step a), the geometry of the tool (40) to be used is defined.
    [9" id="c-fr-0009]
    9. Control method according to claim 8, characterized in that the geometry of the tool (40) to be used is defined by a reference to a predefined tool geometry (TOOLS) stored in a memory (152) of the controller. robot (10), this reference being indicated in a variable (m) contained in the trajectory order (Om).
    [10" id="c-fr-0010]
    10. Control method according to one of the preceding claims, characterized in that the trajectory order (Om) developed in step a) comprises actions to be performed by a tool (40) equipping an end of the robot arm. (4), and in that the triggering of an action of the tool (40) by the robot controller (10) and the triggering conditions of this action are indicated in a variable contained in the path order ( Om).
    [11" id="c-fr-0011]
    11. The control method as claimed in claim 10, characterized in that the conditions for triggering the action of the tool (40) consist in observing the advanced state of a movement of the robot arm (4) and triggering the action of the tool (40) when the state of advancement of the movement reaches a predefined value.
    [12" id="c-fr-0012]
    12. Control method according to one of the preceding claims, characterized in that in step a), the programmable logic controller (6) updates inputs / outputs (22) of this programmable logic controller according to the parameters for realizing the trajectory according to a defined exchange protocol, and that in step b), the computing unit (11) of the robot controller (10) reads inputs / outputs (28) of the calculation unit that correspond to the inputs / outputs (22) of the programmable logic controller as part of this exchange protocol.
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    同族专利:
    公开号 | 公开日
    EP3112095A1|2017-01-04|
    CN106325216A|2017-01-11|
    FR3038245B1|2017-12-29|
    US20170001307A1|2017-01-05|
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1556147A|FR3038245B1|2015-06-30|2015-06-30|METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL|FR1556147A| FR3038245B1|2015-06-30|2015-06-30|METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL|
    US15/191,747| US20170001307A1|2015-06-30|2016-06-24|Method for controlling an automated work cell|
    EP16176906.2A| EP3112095A1|2015-06-30|2016-06-29|Method for controlling an automated work cell|
    CN201610510391.0A| CN106325216A|2015-06-30|2016-06-30|Method for controlling an automated work cell|
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