Robot apparatus, robot control method, program, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorToshiya Takahashi
Life of this patent
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Abstract
A force detector provided between a robot arm and a robot hand detects forces Fx, Fy, and Fz. A robot controller performs a filtering process for the forces Fx and Fy by a first low-pass filter of a cutoff frequency Fc1, moves the robot hand so that the forces Fx and Fy become smaller, corrects a trajectory of the robot arm, performs a filtering process for the force Fz by a second low-pass filter of a cutoff frequency Fc2 having a frequency higher than the cutoff frequency Fc1, performs a threshold value determination for the force Fz, and stops the movement of the robot hand when the force Fz exceeds a threshold value during a fitting operation.
Claims4
A robot apparatus comprising:
- a robot arm that includes a plurality of joints;
- a robot hand attached to a distal end of the robot arm;
- a force detector configured to detect a first detection force in a first direction intersecting a distal end shaft extending from the robot arm to the robot hand and a second detection force in a second direction in which the distal end shaft extends;
- 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, and
- wherein
- the control unit executes a first detection force correcting process that performs a filtering process for the first detection force with a first low-pass filter having a first cutoff frequency during the fitting operation;
- a first force control process that moves the robot hand in the first direction to reduce the first detection force to correct a trajectory of the robot arm during the fitting operation;
- a second detection force correcting process that performs a filtering process for the second detection force with a second low-pass filter having a second cutoff frequency higher than the first cutoff frequency during the fitting operation;
- and
- a second force control process that stops the movement of the robot hand in the second direction when the second detection force exceeds a threshold value during the fitting operation,
- wherein
- one of the gripped object and the counterpart object is a fitting object, and the other one is a fitted object having a hole into which the fitting object is fitted, and
- the control unit performs an operation for causing the fitting object to be fitted into the hole of the fitted object.
A method of controlling a robot including a robot hand attached to a distal end of a robot arm that includes a plurality of joints via a force detector, the force detector being configured to detect a first detection force in a first direction intersecting a distal end shaft extending from the robot arm to the robot hand and a second detection force in a second direction in which the distal end shaft extends;
- 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:
- a first detection force correcting step in which the control unit performs a filtering process for the first detection force with a first low-pass filter having a first cutoff frequency during the fitting operation;
- a first force control step in which the control unit moves the robot hand in the first direction to reduce the first detection force to correct a trajectory of the robot arm during the fitting operation;
- a second detection force correcting step in which the control unit performs a filtering process for the second detection force with a second low-pass filter having a second cutoff frequency which is higher than the first cutoff frequency during the fitting operation;
- and
- a second force control step in which the control unit stops the movement of the robot hand in the second direction when the second detection force exceeds a threshold value during the fitting operation,
- wherein
- one of the gripped object and the counterpart object is a fitting object, and the other one is a fitted object having a hole into which the fitting object is fitted, and
- the control unit performs an operation for causing the fitting object to be fitted into the hole of the fitted object.
A non-transitory computer-readable recording medium storing instructions that, when executed by a computer, cause the computer to perform a method of controlling a robot including a robot hand attached to a distal end of a robot arm that includes a plurality of joints via a force detector, the force detector being configured to detect a first detection force in a first direction intersecting a distal end shaft extending from the robot arm to the robot hand and a second detection force in a second direction in which the distal end shaft extends;
- 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:
- a first detection force correcting step in which the control unit performs a filtering process for the first detection force with a first low-pass filter having a first cutoff frequency during the fitting operation;
- a first force control step in which the control unit moves the robot hand in the first direction to reduce the first detection force to correct a trajectory of the robot arm during the fitting operation;
- a second detection force correcting step in which the control unit performs a filtering process for the second detection force with a second low-pass filter having a second cutoff frequency which is higher than the first cutoff frequency during the fitting operation;
- and
- a second force control step in which the control unit stops the movement of the robot hand in the second direction when the second detection force exceeds a threshold value during the fitting operation,
- wherein
- one of the gripped object and the counterpart object is a fitting object, and the other one is a fitted object having a hole into which the fitting object is fitted, and
- the control unit performs an operation for causing the fitting object to be fitted into the hole of the fitted object.
Dependencies are inferred from the claim text.