Separate moving and positioning modes for a robot, method providing separate moving and positioning modes for the robot, method of manufacturing a product, and a recording medium

A method of controlling a robot performed by a control device, the robot including:

• an end effector configured to hold a first workpiece, and
• a robot arm configured to move the end effector and cause the first workpiece to contact a second workpiece, the robot arm including:
• a first driving source,
• a second driving source, and
• an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted,
• the method comprising:
• executing, by the control device, a first process or a second process depending on a motion of the robot to be performed,
• wherein in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction,
• wherein in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward the predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction,
• wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and
• wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece.

A method of manufacturing a product by using a robot, the robot including:

• an end effector configured to hold a first workpiece, and
• a robot arm configured to move the end effector and cause the first workpiece to contact a second workpiece, the robot arm including:
• a first driving source,
• a second driving source, and
• an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted,
• the method comprising:
• executing, by a control device, a first process and a second process depending on a motion of the robot to be performed,
• wherein, in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, for positioning the end effector at a predetermined position via the output portion and causing the end effector to hold the first workpiece,
• wherein, in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in the predetermined direction, the output portion is able to rotate in a direction opposite to the predetermined direction, for moving the end effector via the output portion and causing the first workpiece to contact the second workpiece to manufacture the product,
• wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and
• wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece.

A driving device for driving a robot, the robot comprising:

• an end effector configured to hold a first workpiece, and
• a robot arm including the driving device and configured to move the end effector and cause the first workpiece to contact a second workpiece, the driving device including:
• a first driving source,
• a second driving source,
• an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, and
• a control device configured to execute a first process and a second process,
• wherein in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction,
• wherein in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward the predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction,
• wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and
• wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece.

A control method of a driving device for driving a robot that includes an end effector configured to hold a first workpiece, and a robot arm including the driving device and configured to move the end effector and cause the first workpiece to contact a second workpiece, the driving device including:

• a first driving source,
• a second driving source, and
• an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted,
• the method comprising:
• executing, by a control device, a first process and a second process depending on a motion of the robot to be performed,
• wherein, in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, for positioning the end effector at a predetermined position via the output portion and causing the end effector to hold the first workpiece,
• wherein, in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in the predetermined direction, the output portion is able to rotate in a direction opposite to the predetermined direction, for moving the end effector via the output portion and causing the first workpiece to contact the second workpiece to manufacture a product,
• wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and
• wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece.