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

A robot control apparatus comprising:

• a controller configured to control a robot, wherein
• the controller includes an operation control unit comprising at least one processor configured to cause the robot to operate along a first operation path and a state estimation unit comprising at least one processor configured to estimate a state of the robot,
• when the state estimation unit detects collision with at least a part of the robot, the operation control unit is configured to acquire an avoidance operation path on which the robot would operate to mitigate energy of the collision, and upon acquiring the avoidance operation path, the operation control unit is configured to cause the robot to execute an avoidance operation along the avoidance operation path, and
• the operation control unit is configured to interrupt a power supply of the robot when the robot cannot execute the avoidance operation within a predetermined time.

A robot control apparatus comprising:

• a controller configured to control a robot, wherein
• the controller includes an operation control unit comprising at least one processor configured to cause the robot to operate along a first operation path and a state estimation unit comprising at least one processor configured to estimate a state of the robot, and
• when the state estimation unit detects collision with at least a part of the robot, the operation control unit is configured to acquire an avoidance operation path on which the robot would operate to mitigate energy of the collision, and upon acquiring the avoidance operation path, the operation control unit is configured to cause the robot to execute an avoidance operation along the avoidance operation path;
• wherein the state estimation unit is configured to estimate an external force applied to the robot on the basis of a change in a motor current of the robot, and detect collision of the robot on the basis of the estimated external force,
• wherein the state estimation unit is configured to detect collision of the robot when the external force is greater than a first threshold value, and
• wherein the operation control unit is configured to cause the robot to execute the avoidance operation until the external force is less than a second threshold value.