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US 12,138,811 B2Granted
Robot control device and direct teaching method for robot
AssigneeFuji Corporation
InventorsShigeyoshi Inagaki, Naofumi Yoshida, Yasuhiro Yamashita
Life of this patent
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Abstract
A robot control device executes assist control for generating an assist force in a direction of an external force applied to a robot in a case where a position of the robot is located in a first area set in a work area of the robot when the external force is applied to the robot. The robot control device stops the execution of the assist control in a case where the position of the robot is located in a second area set outside the work area of the robot. The robot control device restricts the execution of the assist control in a case where the position of the robot is located in a third area set outside the first area and inside the second area.
Claims6
A robot control device that controls a robot, comprising:
- a position sensor configured to sense a position of the robot;
- a force sensor configured to sense an external force applied to the robot by an operator's operation and a direction of the external force;
- and
- a control device configured to
- determine the position of the robot using the position sensor and the direction of the external force using the force sensor,
- when the position of the robot is located in a first area set in a work area of the robot, set a target load, which is a target value of a load applied to a hand of the operator when the operator operates the robot, to a predetermined minimum value,
- when the position of the robot is located in a second area set outside the work area of the robot and the direction of the external force is not a first area direction, set the target load to a predetermined maximum value,
- when the position of the robot is located in the second area and the direction of the external force is the first area direction, set the target load to the predetermined minimum value,
- when the position of the robot is located in a third area set outside the first area and inside the second area and the direction of the external force is not the first area direction, set the target load using a set target load setting map, the target load being between the predetermined minimum value and the predetermined maximum value depending on the position of the robot,
- when the position of the robot is located in the third area and the direction of the external force is the first area direction, set the target load to the predetermined minimum value,
- set a target assist force based on the target load, and
- control motors of the robot based on the target assist force so as to generate the target assist force in the direction of the external force applied to the robot,
- wherein the target assist force is set to zero when the target load is set to the predetermined maximum value.
10 more elements
A direct teaching method for a robot comprising:
- setting a work area in a part of a movable area of the robot;
- setting a first area in the work area;
- setting a second area outside the work area;
- setting a third area outside the first area and inside the second area;
- determining a position of the robot using a position sensor and a direction of an external force using a force sensor;
- when the position of the robot is located in the first area, setting a target load, which is a target value of a load applied to a hand of an operator when the operator operates the robot, to a predetermined minimum value;
- when the position of the robot is located in the second area and the direction of the external force is not a first area direction, setting the target load to a predetermined maximum value;
- when the position of the robot is located in the second area and the direction of the external force is the first area direction, setting the target load to the predetermined minimum value;
- when the position of the robot is located in the third area and the direction of the external force is not the first area direction, setting the target load using a set target load setting map, the target load being between the predetermined minimum value and the predetermined maximum value depending on the position of the robot;
- when the position of the robot is located in the third area and the direction of the external force is the first area direction, setting the target load to the predetermined minimum value;
- set a target assist force based on the target load;
- and
- controlling motors of the robot based on the target assist force so as to generate the target assist force in the direction of the external force applied to the robot,
- wherein the target assist force is set to zero when the target load is set to the predetermined maximum value.
11 more elements
Dependencies are inferred from the claim text.