Robot, robot control apparatus, robot control method, and robot system

A robot control apparatus of a robot, the robot including:

• an arm that is configured with a plurality of sub-arm members and a joint, the joint being provided between two adjacent sub-arm members of the plurality of sub-arm members;
• an end effector that is provided at an end of the arm, the end effector being configured to grasp a fitting member, the fitting member having one of a projection and a hole;
• a plurality of motors that are configured to relatively drive the plurality of sub-arm members so as to move the arm, one of the plurality of motors being configured to drive the end effector so that the end effector grasps the fitting member;
• and
• a force detector that is adjacent to the end effector, the force detector being configured to detect force applied to the end effector so as to output a detection signal,
• the robot control apparatus comprising:
• a memory that is configured to store computer-readable instructions;
• and
• a processor that is configured to execute the computer-readable instructions so as to:
• cause the robot to perform an initial operation in which the fitting member grasped by the end effector is positioned at a first fitting posture with respect to a fitted member, the fitted member having the other of the projection and the hole;
• cause the robot to perform a first posture change operation in which the fitting member grasped by the end effector is positioned at a contact posture by inclining the fitting member in a first direction from the first fitting posture with respect to the fitted member;
• cause the robot to perform a contact operation in which the fitting member grasped by the end effector is moved in a contact direction and is brought into contact with part of the fitted member while the fitting member is inclined with respect to the fitted member;
• cause the robot to perform a second posture change operation in which the fitting member is positioned at a second fitting posture changed from the contact posture by inclining the fitting member in a second direction opposite to the first direction with respect to the fitted member;
• and
• cause the robot to perform a fitting operation in which the fitting member in the second fitting posture is moved along a searching plane, and while the fitting member is moved along the searching plan, the fitting is pressed toward the fitted member with a pressing force in a fitting direction so that the projection is fit into the hole,
• wherein the contact direction, all extending directions within the searching plane, and the fitting direction are different from one another, and
• the processor is configured to adjust the pressing force in accordance with the detection signal from the force detector.

A robot control method of a robot for causing a processor to execute computer-readable instructions stored in a memory, the robot including:

• an arm that is configured with a plurality of sub-arm members and a joint, the joint being provided between two adjacent sub-arm members of the plurality of sub-arm members;
• an end effector that is provided at an end of the arm, the end effector being configured to grasp a fitting member, the fitting member having one of a projection and a hole;
• a plurality of motors that are configured to relatively drive the plurality of sub-arm members so as to move the arm, one of the plurality of motors being configured to drive the end effector so that the end effector grasps the fitting member;
• and
• a force detector that is adjacent to the end effector, the force detector being configured to detect force applied to the end effector so as to output a detection signal,
• the robot control method comprising executing on the processor the steps of:
• performing an initial operation in which the fitting member grasped by the end effector is positioned at a first fitting posture with respect to a fitted member, the fitted member having the other of the projection and the hole;
• performing a first posture change operation in which the fitting member grasped by the end effector is positioned at a contact posture by inclining the fitting member in a first direction from the first fitting posture with respect to the fitted member;
• performing a contact operation in which the fitting member grasped by the end effector is moved in a contact direction and is brought into contact with part of the fitted member while the fitting member is inclined with respect to the fitted member;
• performing a second posture change operation in which the fitting member is positioned at a second fitting posture changed from the contact posture by inclining the fitting member in a second direction opposite to the first direction with respect to the fitted member;
• and
• performing a fitting operation in which the fitting member in the second fitting posture is moved along a searching plane, and while the fitting member is moved along the searching plane, the fitting member is pressed toward the fitted member with a pressing force in a fitting direction so that the projection is fit into the hole,
• wherein the contact direction, all extending directions within the searching plane, and the fitting direction are different from one another, and
• the processor is configured to adjust the pressing force in accordance with the detection signal from the force detector.