Robot control device, robot control method, and robot control program

A robot control device comprising:

• a detection part which detects a collision of a robot with an object at a predetermined collision detection sensitivity;
• a robot control part which performs control of operating the robot, and stopping the robot when the detection part detects the collision;
• an estimation part which identifies a friction model representing a friction occurring in the robot by using a predetermined matrix to obtain an estimated torque of the robot;
• an identification progress degree calculation part which calculates a progress degree of identification of the friction model based on the predetermined matrix;
• and
• a detection control part which decreases the collision detection sensitivity when the progress degree is small.

A robot control method comprising:

• a detection step of detecting a collision of a robot with an object at a predetermined collision detection sensitivity;
• a robot control step of performing control of operating the robot, and stopping the robot when the collision is detected in the detection step;
• and
• a detection control step of decreasing, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.

A robot control method comprising:

• a detection step of detecting a collision of a robot with an object at a predetermined collision detection sensitivity;
• a robot control step of performing control of operating the robot, and stopping the robot when the collision is detected in the detection step;
• an estimation step of identifying a friction model representing a friction occurring in the robot by using a predetermined matrix to obtain an estimated torque of the robot;
• an identification progress degree calculation step of calculating a progress degree of identification of the friction model based on the predetermined matrix;
• and
• a detection control step of decreasing the collision detection sensitivity when the progress degree is small.

A robot control program for causing a computer of a robot to allow:

• detection of detecting a collision of the robot with an object at a predetermined collision detection sensitivity;
• robot control of performing control of operating the robot, and stopping the robot when the collision is detected by the detection;
• and
• detection control of decreasing, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.

A robot control program for causing a computer of a robot to allow:

• detection of detecting a collision of the robot with an object at a predetermined collision detection sensitivity;
• robot control of performing control of operating the robot, and stopping the robot when the collision is detected by the detection;
• estimation of identifying a friction model representing a friction occurring in the robot by using a predetermined matrix to obtain an estimated torque of the robot;
• identification progress degree calculation of calculating a progress degree of identification of the friction model based on the predetermined matrix;
• and
• detection control of decreasing the collision detection sensitivity when the progress degree is small.