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US 10,618,176 B2Granted
Robot apparatus, robot control method, program, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorToshiya Takahashi
Life of this patent
Estimating the term…
Abstract
A force detector provided between a robot arm and a robot hand detects forces Fx, Fy, and Fz. A robot controller performs a filtering process for the forces Fx and Fy by a first low-pass filter of a cutoff frequency Fc1, moves the robot hand so that the forces Fx and Fy become smaller, corrects a trajectory of the robot arm, performs a filtering process for the force Fz by a second low-pass filter of a cutoff frequency Fc2 having a frequency higher than the cutoff frequency Fc1, performs a threshold value determination for the force Fz, and stops the movement of the robot hand when the force Fz exceeds a threshold value during a fitting operation.
Claims17
A robot apparatus comprising:
- a robot arm;
- a robot hand attached to a distal end of the robot arm;
- a detection sensor provided in the robot arm or attached to the distal end of the robot arm, and configured to detect, when the robot hand or an object gripped by the robot hand comes into contact with another object, a first detection value indicating a force acting on the robot hand in a first direction and a second detection value indicating a force acting on the robot hand in a second direction different from the first direction;
- and
- a controller configured to control an operation of the robot arm so as to perform a moving operation for moving the object gripped by the robot hand in the second direction toward a counterpart object on the basis of trajectory data of the robot arm,
- wherein the controller executes:
- a first detection value correction process for performing a first filtering process on the first detection value during the moving operation;
- a first force control process for correcting, in the first direction, a trajectory of the robot arm for moving the object in the second direction so as to reduce the first detection value subjected to the first filtering process;
- a second detection value correction process for performing a second filtering process on the second detection value, using a filter that passes a frequency band higher than a filter used for the first filtering process;
- and
- a second force control process for stopping movement of the robot hand in the second direction when the second detection value subjected for the filtering process exceeds a threshold value.
8 more elements
A method for controlling a robot apparatus including
- a robot arm,
- a robot hand attached to a distal end of the robot arm,
- a detection sensor provided in the robot arm or attached to the distal end of the robot arm and configured to detect, when the robot hand or an object gripped by the robot hand comes into contact with another object, a first detection value indicating a force acting on the robot hand in a first direction and a second detection value indicating a force acting on the robot hand in a second direction different from the first direction, and
- a controller configured to control an operation of the robot arm so as to perform a moving operation for moving the object gripped by the robot hand in the second direction toward a counterpart object on the basis of trajectory data of the robot arm,
- the method comprising:
- executing a first detection value correction process for performing a first filtering process on the first detection value during the moving operation;
- executing a first force control process for correcting, in the first direction, a trajectory of the robot arm for moving the object in the second direction to reduce the first detection value subjected to the first filtering process;
- executing a second detection value correction process for performing a second filtering process on the second detection value, using a filter that passes a frequency band higher than a filter used for the first filtering process;
- and
- executing a second force control process for stopping movement of the robot hand in the second direction when the second detection value subjected for the filtering process exceeds a threshold value.
7 more elements
A non-transitory computer-readable recording medium storing a program for executing a control method for controlling a robot apparatus that includes a robot arm, a robot hand attached to a distal end of the robot arm, a detection sensor provided in the robot arm or attached to the distal end of the robot arm and configured to detect, when the robot hand or an object gripped by the robot hand comes into contact with another object, a first detection value indicating a force acting on the robot hand in a first direction and a second detection value indicating a force acting on the robot hand in a second direction different from the first direction, and a controller configured to control an operation of the robot arm so as to perform a moving operation for moving the object gripped by the robot hand in the second direction toward a counterpart object on the basis of trajectory data of the robot arm, the control method comprising:
- executing a first detection value correction process for performing a first filtering process on the first detection value during the moving operation;
- executing a first force control process for correcting, in the first direction, a trajectory of the robot arm for moving the object in the second direction to reduce the first detection value subjected to the first filtering process;
- executing a second detection value correction process for performing a second filtering process on the second detection value, using a filter that passes a frequency band higher than a filter used for the first filtering process;
- and
- executing a second force control process for stopping movement of the robot hand in the second direction when the second detection value subjected for the filtering process exceeds a threshold value.
2 more elements
A robot apparatus comprising:
- a robot arm that has a robot hand at a distal end;
- a detection sensor configured to detect forces received by the robot hand when the robot hand or an object gripped by the robot hand comes into contact with another object, wherein the detected forces include a first detection force as a force acting in a moving direction of the object gripped by the robot hand and a second detection force as a force acting in a direction intersecting the moving direction;
- a filter configured to perform filtering on detection values of the first detection force and the second detection force detected by the detection sensor, wherein filtering performed by the filter on the detection value of the first detection force detected by the detection sensor is different from filtering performed by the filter on the detection value of the second detection force detected by the detection sensor;
- and
- a controller configured to control operation of the robot arm so as to perform a moving operation of moving the gripped object from a distant position toward the counterpart object located in the moving direction on a basis of trajectory data of the robot arm,
- wherein the controller performs first processing of stopping the movement of the robot hand in the moving direction in a case where the gripped object comes into contact with the counterpart object during the moving operation and second processing of correcting a trajectory of the robot arm to a direction intersecting the moving direction so as to decrease the second detection force in a case where the gripped object comes into contact with the counterpart object during the moving operation, and
- wherein the first processing is based on the filtering performed on the detection value of the first detection force and is performed with higher sensitivity than the second processing which is based on the filtering performed on the detection value of the second detection force in a case where the gripped object comes into contact with the counterpart object.
4 more elements
A control method for controlling a robot arm that has a robot hand, comprising:
- detecting a first detection force as a force acting in a moving direction of an object gripped by the robot hand and a second detection force as a force acting in a direction intersecting the moving direction;
- performing filtering on detection values of the first detection force and the second detection force, wherein filtering performed on the detection value of the first detection force is different from filtering performed on the detection value of the second detection force;
- and
- controlling operation of the robot arm so as to perform a moving operation of moving the gripped object from a distant position toward a counterpart object located in the moving direction on a basis of trajectory data of the robot arm,
- wherein first processing of stopping the movement of the robot hand in the moving direction is performed in a case where the gripped object comes into contact with the counterpart object during the moving operation,
- wherein second processing of correcting a trajectory of the robot arm to a direction intersecting the moving direction so as to decrease the second detection force is performed in a case where the gripped object comes into contact with the counterpart object during the moving operation, and
- wherein the first processing is based on the filtering performed on the detection value of the first detection force and is performed with higher sensitivity than the second processing which is based on the filtering performed on the detection value of the second detection force in a case where the gripped object comes into contact with the counterpart object.
4 more elements
A non-transitory computer-readable recording medium storing a program for executing a control method by reading and running the program by a computer, the control method for controlling a robot arm that has a robot hand, the control method comprising:
- detecting a first detection force as a force acting in a moving direction of an object gripped by the robot hand and a second detection force as a force acting in a direction intersecting the moving direction;
- performing filtering on detection values of the first detection force and the second detection force, wherein filtering performed on the detection value of the first detection force is different from filtering performed on the detection value of the second detection force;
- and
- controlling operation of the robot arm so as to perform a moving operation of moving the gripped object from a distant position toward a counterpart object located in the moving direction on a basis of trajectory data of the robot arm,
- wherein first processing of stopping the movement of the robot hand in the moving direction is performed in a case where the gripped object comes into contact with the counterpart object during the moving operation,
- wherein second processing of correcting a trajectory of the robot arm to a direction intersecting the moving direction so as to decrease the second detection force is performed in a case where the gripped object comes into contact with the counterpart object during the moving operation, and
- wherein the first processing is based on the filtering performed on the detection value of the first detection force and is performed with higher sensitivity than the second processing which is based on the filtering performed on the detection value of the second detection force in a case where the gripped object comes into contact with the counterpart object.
4 more elements
A method for manufacturing an article by operating a robot arm that has a robot hand using a control method for controlling the robot arm, the control method comprising:
- detecting a first detection force as a force acting in a moving direction of an object gripped by the robot hand and a second detection force as a force acting in a direction intersecting the moving direction;
- performing filtering on detection values of the first detection force and the second detection force, wherein filtering performed on the detection value of the first detection force is different from filtering performed on the detection value of the second detection force;
- and
- controlling operation of the robot arm so as to perform a moving operation of moving the gripped object from a distant position toward a counterpart object located in the moving direction on a basis of trajectory data of the robot arm,
- wherein first processing of stopping the movement of the robot hand in the moving direction is performed in a case where the gripped object comes into contact with the counterpart object during the moving operation,
- wherein second processing of correcting a trajectory of the robot arm to a direction intersecting the moving direction so as to decrease the second detection force is performed in a case where the gripped object comes into contact with the counterpart object during the moving operation, and
- wherein the first processing is based on the filtering performed on the detection value of the first detection force and is performed with higher sensitivity than the second processing which is based on the filtering performed on the detection value of the second detection force in a case where the gripped object comes into contact with the counterpart object.
4 more elements
Dependencies are inferred from the claim text.