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Řízení robotů
RobotikaŘízení robotů
Vladimír Smutný
Centrum strojového vnímání
Český institut informatiky, robotiky a kybernetiky (CIIRC)
České vysoké učení technické v Praze
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ROBOTICS: Vladimır Smutny Slide 1, Page 1
Řízení robotů – Přesnost kinematického modelu
load 1
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Actual position
Actual positiontrajectory 2load 2
trajectory 1
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Typy chyb (podobně jako měřicích přístrojů):
[Přesnost] - rozdíl mezi skutečnou polohou a polohou vypočítanou z modelu.
[Opakovatelnost] - rozdíl mezi skutečnými polohami při opakovaném nastavení jednépolohy. Postihuje v sobě různé vůle, rozlišení snímačů polohy, tepelnouroztažnost a podobně. Nepostihuje chyby nastavení počátku souřadnic, jinou nežmodelovanou délku ramen, chyby výroby a sestavení (např. nekolmost činerovnoběžnost kloubů a vedení). Všimněme si, že těžiště ale i dalšícharakteristiky se pro jinou přibližovací trajektorii a jinou zátěž mohou významnělišit.
[Rozlišení] - velikost nejmenšího pohybu chapadla dané senzorem polohy.
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ROBOTICS: Vladimır Smutny Slide 2, Page 2
Řízení robotů – Co říká o přesnosti specifikace:
Improved Productivity
Reduction of Maintenance Cost
Providing Safety System Compatibility and Commonality
CR3-535M CR2B-574
High speed, high payload and miniaturization have been achieved through the use of Mitsubishi's own motors, amplifiers and 64-bit RISC chip, all dedicated for high performance robot applications.MELFA RV-S series robots provide solutions for value added systems.
*7: The power capacity is the rated value at normal operation. Please be aware that the power capacity does not take inrush current applied when the power supply is turned on into consideration.The power capacity should be considered a guideline, and the guaranteed operation depends on the input power supply voltage.
*8: Grounding is conducted at the customer's own risk.
TypeStructureDegrees of freedomDrive systemPosition detection methodMaximum load capacity (rated) *2Arm lengthMaximum reach radius
Maximum composite speed *3 Cycle time *4Position repeatabilityAmbient temperatureMassTool wiring *5Tool pneumatic pipesInstallation postureMachine cableProtection specification
WaistShoulderElbowWrist twistWrist pitchWrist rollWaistShoulderElbowWrist twistWrist pitchWrist roll
J1J2J3J4J5J6J1J2J3J4J5J6
Unit
kgmmmm
degrees
degrees/s
mm/sec
mm
kg
TypePath control method
Number of axes controlled
CPURobot languagePosition teaching method
Memorycapacity
ExternalI/O
Interface
Operating temperature rangeRelative humidityPowersupplyExternal dimensionsMassStructure (protection specification)Grounding *8
Numbers of teachingpoints and stepsNumber of programsGeneral-purpose I/O Dedicated I/O Hand I/O Emergency stop inputEmergency stop outputDoor switch inputRS-232CRS-422Slot dedicated to handExtension slot
SSCNET
Memory expansion slotRobot I/O link
Input voltage rangePower capacity *7
Unit
pointsstepsstepspointspointspointspointspointspointsportsportsslotsslots
ports
slotschannels
˚C%RH
VKVAmmkg
PTP control, CP controlUp to 6 axes simultaneously, and
up to 8 axes for additional axis control64bit RISC/DSP
MELFA-BASIC IVTeaching method, MDI method
2,5005,000
8832/32 (up to 256/256 when using the optional, additional I/O unit)Assigned from general-purpose I/O (one point, "STOP," is fixed)8 inputs/0 output (8/8 when the pneumatic hand interface is used)
1 (support 2 contacts)1 (support 2 contacts)1 (support 2 contacts)
1 (for connecting a personal computer, vision sensor etc.)1 (for connecting a teaching pendant)
1 (for connecting a pneumatic hand interface)
1 (for connecting an optional memory cassette)1 (for connecting a parallel I/O unit)
0 to 4045 to 85
100 or less (D-class grounding)
CR3-535M CR2B-574
Compact, with Greater Speed, Higher Payload, and Amazing RigidityEven more
450
380 3.2
(75)
550
625
550
(65)
615
420(15) (15) (40.5)
(50)(35)
100
(67)
(45)
(19.5)320380
Eyebolt 2-M10
Dimensions at Castor Wheel Specification (Special Specification at Shipment)
Controller External Dimension Diagram
Robot Arm External Dimension/Movement Range Diagrams
Specification
Features
RV-6S/6SC RV-6SL/6SLC RV-12S/12SC RV-12SL/12SLC
Common PartsRV-6S/6SL Series
Common PartsRV-12S/12SL Series
TypeMaximum load massReachEnvironment specificationStandard classificationConnected controller
RV-6S RV-6SL RV-6SC RV-6SLC RV-12S RV-12SL RV-12SC RV-12SLC
696mmIP65 (J4 to J6) IP54 (J1 to J3)
Standard modelClean class 10 (0.3 µmm)
Special specification modelClean class 10 (0.3 µmm)
Special specification model
902mm 695mm 901mm 1086mm 1385mm 1086mm 1385mm
CR3-535M (vertical type, dust-proof specification IP54), CR2B-574 (horizontal installation type, open structure IP20) *1
6kg 12kg
CR3-535M (vertical type, dust-proof specification IP54)
*1: Select either one of the controller types according to the purpose.
Model Structure
Fastest in the class
High load capacity and rigidity
Accommodates complex operationsthrough a variety of functions
Speedy
Strong
Specialist
RV-6S RV-6SL RV-12S RV-12SL
CR3-535M CR2B-574
Posture: J1=J2=J4=J5=J6=0˚, J3=90
97 670
200 or more
P-point trajectory 928 457 317 768
B
A
P
690 470
716
1685
560
450
854
8058
5 322
Flange downward limit(two-dot chain line)
R560
R560
A
B
P
P-point trajectory
R536100˚130
40˚
70˚
R355
R536
R536
R266
R936
R400 R
400
R673R307
R675
R675
R1235
R467
130˚
40˚
70˚
100˚
15097 530
670 416 205 581
200 or more
569 349 Flange downward limit(two-dot chain line)
150
*
341 2344775 20
93
5040
*
201 23447
75 20
93 5040
100
150
155 27
025
0
125250150155
View B Rear Surface Diagram; Installation Dimension Detail
96
115
122 20
416
0
102.5205
140115
View B Rear Surface Diagram; Installation Dimension Detail
View A Mechanical Interface
45˚4-M6 screwdepth 9
+0.012 0 depth 9
+0.021 0 depth 9.5 0-0.039depth 8
View A Mechanical Interface
45˚4-M5 screwdepth 9
+0.012 0 depth 5
+0.021 0 depth 7.5 0-0.039 depth 6.5
170˚170˚
170˚
170˚
170˚
170˚
R1085
R138
5
R457
R317
170˚170˚
89
130
R786
R108
6
R416
R205
89
130
215
230230
164161
(*1)
1386
8045
040
0
156
646
784
343
215161
164
4-M5 screw
400
310400460
4-M4 screw15 153
(24)45
837
2
333
20
400
1645
540
115
185
200
(36)
7
45
38
7126
0
Op
erat
ing
ran
ge
Max
imum
sp
eed
P-point trajectory:Reverse range (two-dot chain line)
P-point trajectory:Front range (solid line)
P-point trajectory:Reverse range (two-dot chain line)
P-point trajectory:Front range (solid line)
Installationreferencesurface
Inst
alla
tion
refe
renc
esu
rface
Installationreferencesurface
Inst
alla
tion
refe
renc
esu
rface
Fastest robots in their class with composite speeds up to 9.6 m/s (RV-12S)It is possible to improve tact time and perform multiple, complex operations in one station.High payload capacity up to 12 kg (26.4 lbs.)A high payload capacity was achieved by incorporating hollow-structure motors, specifically designed for robot applications. More sophisticated, complex end of arm tooling is also supported.High Precision Motion ControlImproved motion control through the use of a rigid arm design, and forward feed optimal trajectory control.Hardened to Withstand Environmental Conditions - [arm IP65; body IP54]The rotating joints and reduction gears are sealed within the motor's hollow structure, allowing the S-Series robots to be used in almost any environmental condition for a multitude of applications.Space SavingBy incorporating the reduction gears and bearings within the hollow structure of the motors, incredible space savings were realized making the S-series our most compact robots yet.SophisticatedWith true multi-tasking capability, additional axis control, and many other features, the robots are ready for any task.
[New] Impact Detection function - damage to peripheral devices are minimized[New] Position Restoration function - less time required for start-up, adjustment and maintenance tasks[New] Maintenance Forecast function: Notifies you when maintenance is due
Fail safe brakes at all axes ensure the robot stays in place when the power is off.Redundant emergency stop breakers are provided for safe, efficient operation.
Programming and operations are common for Mitsubishi’s entire range of robots, from 1 kg payload capacity through 150 kg payload capacity, making the S-series easy to use and maintain.
* indicates service screw holes for tooling (M4 6 places). * indicates service screw holes for tooling (M4 x 6 places). * indicates service screw holes for tooling (M4 6 places). * indicates service screw holes for tooling (M4 6 places).
Posture: J1=J2=J4=J5=J6=0˚, J3=90Opening angle limit of the rear surface areaIf | J1 | 60˚ and J2 -95, then J3 50˚ (*1)
Robot Body ControllerRV-6S/6SC
280+315696
285 (-107 to +166)
401321401
Approx. 9300Order of 0.4 seconds
±0.02
Approx. 58
RV-6SL/6SLC
380+425902
295 (-129 to +166)
250267267
Approx. 8500Order of 0.6 seconds
±0.02
Approx. 60
RV-12S/12SC
400+5301086
276230267
Approx. 9600Order of 0.7 seconds
±0.05
Approx. 93
RV-12SL/12SLC
560+6701385
230172200
Approx. 9500Order of 0.7 seconds
±0.05
Approx. 98
12 (10)
230 (-100 to +130)290 (+160 to -130)
375
Primary: 6 x 2, Secondary: 6 x 8
7 m (fixed on the controller side)
6 (5)
227 (-92 to +135)
450
Primary: 6 x 2, Secondary: 4 x 8
5 m (connector at both ends)
2 (for connecting optional extensions)
1 (for connecting additional axes)
3-phase, AC 180 to 2533.0 (excluding inrush current)
450(W) x 380(D) x 625(H)Approx. 60
Self-contained floor type/closed structure [IP54]
3 (for connecting optional extensions)0 (the optional additional axis
interface is used for connection)
Single phase, AC 180-2532.0 (excluding inrush current)
460(W) x 400(D) x 200(H)Approx. 20
Self-contained floor type/closed structure [IP20]
Vertical multiple-joint type6
AC servo motor (brakes for all axes)Absolute encoder
340 (±170), can be limited after shipment (in 45˚ intervals)
320 (±160)240 (±120)720 (±360)
352
660
0 to 40
8 input points/8 output points (No.2 arm)
Installation on floor, hanging (hanging on wall *6)
IP65 (J4 to J6) IP54 (J1 to J3)
5H7
20H7 40H8
31.5
4- 9 installation hole 2- 6 hole( 8 prepared hole for positioning pin)
25H750H8
6H7
40
4- 14 installation hole2- 6 hole( 8 prepared hole for positioning pin)
IP65 (J4 to J6) IP54 (J1 to J3)Standard model
2 x 2- 15 hole
*2: The maximum load capacity is the maximum mass capacity when the wrist flange is pointing downward ( 10˚).*3: Value at the hand flange surface when all the axes are combined*4: Value at a load of 1 kg for RV-6S and at a load of 5 kg for RV-12S when the robot reciprocates 25 mm
vertically and 300 mm horizontally*5: To use the tool (hand) output, the (optional) pneumatic hand interface is required.*6: The movement range of the J1 axis is limited in the special specification that allows the robot to hang on a wall.
48
*
32
4337 50
265 60
162 165
204
162 165
204
48
*
80 20
155
4337
32
50
6080 20
92˚
R287 R280
Opening angle limit (*2)
Opening angle limit (*3)
Opening angle limit (*1)
The area limited with (*1), (*3)
The area limited with (*2), (*4)
Opening angle limit (*3)
Opening angle limit (*2)
Opening angle limit (*5)Opening angle limit (*1)
Opening angle limit (*4)
Opening angle limit (*5)
Opening angle limit (*4)
85 315 85308 238
Flange downward limit(two-dot chain line)
P
961
179
350 59
428
010
0
R173
R611
17˚
76˚
437 258444474
294 42
1
170˚170˚
R902
R732
R285
R185
P
85 425403
85333
R388100
380
1167
649
350
355
R817
R198
39˚
76˚
R437R270
R437
617 285 185 547
100
476R437
R380
170˚
170˚
170˚
170˚
R202
R526
R696
R258
Flange downward limit(two-dot chain line)
170˚170˚
92˚135˚
R28
0
R33
1
R33113
5˚
P-point trajectory:Reverse range (two-dot chain line)
P-point trajectory:Front range (solid line)
P-point trajectory:Reverse range (two-dot chain line)
P-point trajectory:Front range (solid line)
Posture: J1=J2=J4=J5=J6=0˚, J3=90Opening angle limit of the rear surface areaIf -45˚ J2 < 15˚, then J2 + J3 x 2 -200˚ (*1)If | J1 | 75˚ and J2 < -45˚, then J2 + J3 +8˚ (*2)If | J1 | > 75˚ and J2 < -45˚, then J2 + J3 -40˚ (*3)Opening angle limit of the front surface areaIf -105˚ J1 95˚ and J2 123˚, then J3 -40˚ (*4)If J1 < 105˚ and J1 > 95˚, then J2 110˚but if 85˚ J2 110˚, then J2 - J3 150˚ (*5)
Posture: J1=J2=J4=J5=J6=0˚, J3=90Opening angle limit of the rear surface areaIf -38˚ J2 < 4˚, then J2 + J3 x 2 -254˚ (*1)If | J1 | 70˚, -80˚ < J2 < -38˚, then J2 x 1.5 + J3 -165˚ (*2)If | J1 | 70˚, J2 < -80˚, then J2 + J3 -47˚ (*3)If | J1 | > 70˚, J2 < -38˚, then J2 + J3 x 2 -254˚ (*4)Opening angle limit of the front surface areaIf J1 < -120˚, J1 > 95˚, then J2 110˚ (*5)
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Nektere normy popisujıcı chrakterizaci presnosti robotujsou:
• ANSI/RIA R15.05-1-1990 (R1999) American NationalStandard for Industrial Robots and Robot Systems -Point-to-Point and Static Performance Characteristics- Eval Approved September 13, 1989, reaffirmed August5, 1999. 36 pages.
This standard is intended to facilitate understandingbetween manufacturers and users of industrial robots.The standard defines the most important performancecriteria and a method for evaluating these criteria.Included in the test method are performance classes,standard test paths and standard test loads. The pur-pose is to provide meaningful technical information thatrobot users can apply in the selection of the proper ro-bot for their specific application.
• ANSI/RIA R15.05-2-1992 (R1999) American NationalStandard for Industrial Robots and Robot Systems -Path-Related and Dynamic Performance Characteris-tics - Eval Approved September 14, 1992, ReaffirmedAugust 5, 1999. 45 pages.
This standard is intended to facilitate understandingbetween manufacturers and users of industrial robots.
The standard defines the fundamental dynamic path-related performance characteristics and provides a me-thod to quantify dynamic performance. Included inthe test method are performance classes, standard testpaths and standard test loads. The purpose is to pro-vide meaningful technical information that robot userscan apply in the selection of the proper robot for theirspecific application.
• ANSI/RIA R15.05-3-1992 (R1999) American NationalStandard for Industrial Robots and Robot Systems -Guidelines for Reliability Acceptance Testing ApprovedOctober 16, 1992, Reaffirmed August 5, 1999. 6 pages.
This standard provides the minimum testing require-ments that will qualify a newly manufactured of a newlyrebuilt industrial robot to be placed into use withoutadditional testing. The purpose of this standard is toprovide assurance, through testing, that infant morta-lity failures in industrial robots have been detected andcorrected by the manufacturer at their facility prior toshipment to a user. These tests may be reproduced bythe user if desired.
• ISO 9283:1998 Manipulating Industrial Robots - Perfor-mance Criteria and Related Test Methods. PublicationDate: Apr 1, 1998
ROBOTICS: Vladimır Smutny Slide 4, Page 3
Řízení robotů – Negeometrické parametry modelu:
� poddajnost (compliance), opak tuhosti (stifness),� vůle v převodech (gear backlash),� rozlišení snímačů (encoder resolution),� teplotní roztažnost (temperature-related expansion),� vůle ve vedeních (linkage wobble).
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ROBOTICS: Vladimır Smutny Slide 5, Page 4
Řízení robotů – Geometrické parametry modelu:
� rozměry ramen,� úhly mezi jednotlivými klouby,� poloha nuly snímačů.
Jestliže máme např. polohu chapadla vyjádřenu jako funkci parametrů modelu,můžeme derivováním získat citlivosti polohy chapadla na změny parametrů. Proodhad chyby parametrů pak můžeme odhadnout výslednou chybu polohy chapadla aodvodit z ní (případně optimalizovat) přesnost manipulátoru.
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ROBOTICS: Vladimır Smutny Slide 6, Page 5