Controller of robot and control method
AssigneeCanon Kabushiki Kaisha
InventorMasakazu Takahashi
Life of this patent
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Abstract
A robot includes a handling portion handled in teaching an operation of a robot arm, a first sensor acquiring data of a first force acting on a tip of the robot arm, a second sensor acquiring data of a second force acting on the handling portion and a third sensor acquiring data of position and orientation of the tip of the robot arm. A controller of the robot is configured to generate teaching data having a first period and a second period based on analytical results of the first and second force data at a time of teaching the robot arm. The robot arm is controlled by position and orientation control based on the position and orientation data of the third sensor in the first period. The robot arm is controlled by force control based on the first and second force data in the second period.
Claims37
A controller of a robot system, the robot system comprising a robot arm to which an operator can perform direct teaching, a first sensor configured to acquire first information related to a contact force acting on a predetermined portion of the robot arm, a second sensor configured to acquire second information related to a position of the predetermined portion of the robot arm, and a third sensor configured to acquire third information related to an operational force by the direct teaching of the operator, the controller comprising a processing part executing:
- a first acquiring process of acquiring the first information, the second information, and the third information during the predetermined portion being moved by the direct teaching;
- a second acquiring process of acquiring information related to the contact force generated by a contact of the predetermined portion and a peripheral object based on the first information;
- a setting process of setting the second information in a first section and a second section during the predetermined portion being moved by the direct teaching, the first section being a section for performing a position control of the robot arm, and the second section being a section for performing a force control of the robot arm;
- a third acquiring process of acquiring information related to the operational force given by the direct teaching of the operator in the second section based on the first information and the third information;
- and
- a fourth acquiring process of acquiring force control data to perform the force control of the robot arm in the second section based on the information related to the operational force.
A robot system comprising:
- a robot arm to which an operator can perform direct teaching, a first sensor configured to acquire first information related to a contact force acting on a predetermined portion of the robot arm, a second sensor configured to acquire second information related to a position of the predetermined portion, a third sensor configured to acquire third information related to an operational force by the direct teaching of the operator, and a controller comprising a processing part executing:
- a first acquiring process of acquiring the first information, the second information, and the third information during the predetermined portion being moved by the direct teaching;
- a second acquiring process of acquiring information related to the contact force generated by a contact of the predetermined portion and a peripheral object based on the first information;
- a setting process of setting the second information in a first section and a second section during the predetermined portion being moved by the direct teaching, the first section being a section for performing a position control of the robot arm, and the second section being a section for performing a force control of the robot arm;
- a third acquiring process of acquiring information related to the operational force given by the direct teaching of the operator in the second section based on the first information and the third information;
- and
- a fourth acquiring process of acquiring force control data to perform the force control of the robot arm in the second section based on the information related to the operational force.
A control method of a controller controlling a robot system comprising a robot arm to which an operator can perform direct teaching, the control method comprising:
- acquiring first information related to a contact force acting on a predetermined portion of the robot arm by using a first sensor, second information related to position of the predetermined portion by using a second sensor, and third information related to an operational force by the direct teaching of the operator during the predetermined portion moved by the direct teaching;
- acquiring information related to a contact force generated by a contact of the predetermined portion and a peripheral object based on the first information;
- setting the second information in a first section and a second section during the predetermined portion being moved by the direct teaching, the first section being a section for performing a position control of the robot arm, and the second section being a section for performing a force control of the robot arm;
- acquiring information related to the operational force given by the direct teaching of the operator in the second section based on the first information and the third information;
- and
- acquiring force control data to perform the force control of the robot arm in the second section based on the information related to the operational force.
A product manufacturing method manufacturing a product by operating workpieces by controlling a robot system controlled by a controller,
- wherein the robot system comprises a robot arm to which an operator can perform direct teaching, a first sensor configured to acquire first information related to a force acting on a predetermined portion of the robot arm, and a second sensor configured to acquire second information related to a position of the predetermined portion,
- wherein the controller comprises a processing part executing the method of:
- a first acquiring process of acquiring the first information and the second information, during the predetermined portion being moved by the direct teaching;
- a second acquiring process of acquiring information related to a contact force generated by a contact of the predetermined portion and a peripheral object based on the first information;
- a setting process of setting a first section and a second section in the second information during the predetermined portion being moved by the direct teaching, the first section being a section for performing a position control of the robot arm, the second section being a section for performing a force control of the robot arm;
- and
- a manufacturing process of manufacturing the product by operating workpieces by using the predetermined portion by controlling the robot arm by using a position control data of the first section and a force control data of the second section.
Dependencies are inferred from the claim text.