Robot apparatus, robot control method, program, and recording medium

2:

• A robot apparatus comprising:
• a robot arm;
• a robot hand attached to a distal end of the robot arm;
• a detection unit provided in the robot arm or attached to the distal end of the robot arm, and configured to detect a first detection value indicating force in a first direction and a second detection value indicating force in a second direction;
• and
• a control unit configured to control an operation of the robot arm so as to perform a fitting operation for fitting a gripped object gripped by the robot hand and a counterpart object to each other on the basis of trajectory data of the robot arm,
• wherein the control unit executes:
• a first detection value correction process for performing a first filtering process on the first detection value during the fitting operation;
• a first force control process for moving the robot hand in the first direction so as to reduce the first detection value subjected to the first filtering process and correcting a trajectory of the robot arm;
• 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 larger 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.

4:

• The robot apparatus according to claim 3,
• wherein the fitting object including a column-shaped column portion and a projection formed as to projection portion from an outer peripheral surface of an intermediate portion between a distal end portion and a rear end portion of the column portion,
• wherein the hole has a column-shaped column hole to which the column portion fits and a groove which is connected to the column hole and to which the projection portion fits, and
• wherein, during an operation of fitting the column portion into the column hole and fitting the projection portion into the groove, the control unit rotates, as the fitting operation, the gripped object around a distal end shaft such that the second detection value falls below the threshold value when the distal end portion of the column portion is fitted into the column hole and movement of the gripped portion in the second direction is stopped by the second force control process.

5:

• 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 unit provided in the robot arm or attached to the distal end of the robot arm and configured to detect a first detection value indicating force in a first direction and a second detection value indicating force in a second direction, and
• a control unit configured to control an operation of the robot arm so as to perform a fitting operation for fitting a gripped object gripped by the robot hand and a counterpart object to each other 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 fitting operation;
• executing a first force control process for moving the robot hand in the first direction to reduce the first detection value subjected to the first filtering process and correcting a trajectory of the robot arm;
• 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 larger 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.

6:

• A 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 unit provided in the robot arm or attached to the distal end of the robot arm and configured to detect a first detection value indicating force in a first direction and a second detection value indicating force in a second direction, and a control unit configured to control an operation of the robot arm so as to perform a fitting operation for fitting a gripped object gripped by the robot hand and a counterpart object to each other 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 fitting operation;
• executing a first force control process for moving the robot hand in the first direction to reduce the first detection value subjected to the first filtering process and correcting a trajectory of the robot arm;
• 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 larger 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.