CN117921712A - Robot controller - Google Patents

Abstract

The present invention relates to a robot controller. The robot controller is used for controlling a robot capable of holding a workpiece, and comprises: a storage unit that stores lamination direction vector information indicating a lamination direction of a lamination structure of a jig for holding a workpiece; and a grip control unit that executes control related to gripping of the robot based on the stacking direction vector information when the robot grips the workpiece.

Description

Robot controller

Technical Field

The present invention relates to a robot controller.

Background

Conventionally, a robot having a hand capable of gripping a workpiece is known (for example, patent document 1).

Patent document 1: japanese patent application laid-open No. 2017-36924

Disclosure of Invention

In particular, in the assembly process of products using industrial robots, jigs for holding workpieces are often used. However, since the hand of the robot is in contact with the workpiece and a load is applied to the jig holding the workpiece, the jig may be adversely affected, and thus improvement in robot control is demanded.

In view of the above-described circumstances, an object of the present invention is to provide a robot controller capable of suppressing adverse effects on a jig.

An exemplary robot controller according to the present invention is a robot controller for controlling a robot capable of holding a workpiece, the robot controller including: a storage unit that stores lamination direction vector information indicating a lamination direction of a lamination structure of a jig for holding the workpiece; and a grip control unit that executes control related to gripping of the robot based on the stacking direction vector information when the robot grips the workpiece.

According to the robot controller of the example of the present invention, adverse effects on the jig can be suppressed.

Drawings

Fig. 1 is a diagram schematically showing an example of a jig.

Fig. 2 is a view showing an example of the load direction with respect to the jig.

Fig. 3 is a block diagram of a robotic system of an exemplary embodiment of the present disclosure.

Fig. 4 is a diagram schematically showing an example of a robot.

Fig. 5 is a flow chart regarding robot control of an exemplary embodiment of the present disclosure.

Fig. 6 is a schematic view showing an example of a working environment of the robot.

Fig. 7 is a view showing an example of a predetermined range set in the jig.

Fig. 8 is an exploded view showing the amount of movement of the minute motion.

Fig. 9 is a diagram showing an example in which predetermined ranges overlap.

Fig. 10 is a diagram for explaining a modification of the robot control.

Fig. 11 is a diagram showing an example of a parallel chuck type manipulator.

Description of the reference numerals

1, A robot; 1A hand; 1B torque sensor; 2a robot controller; 3, a demonstrator; 10 a robotic system; 11 chucks; a 21 control unit; 21A grip control unit; 22 storage unit; 22A robot program; 22B teaching point data; 22C control program; a Cs center; dj stacking direction; doc opening and closing direction; j, clamping; j1, J2 clamps; s is a preset range; s1, S2 is a preset range; SA repetition areas; vj stacking direction vector; w workpiece.

Detailed Description

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

< 1. Jig made by 3D Printer >)

Since 3D printers can easily form a stereoscopic model having a complex structure using resin or the like without a metal grinder, they are applied to various fields. In factories for assembling products, jigs, which are tools used in an auxiliary manner in producing products, are used. The jig is used for holding the workpiece. By manufacturing a jig that matches the workpiece, the workpiece can be fixed at a position or angle at which the work is easy to perform.

Sometimes a 3D printer is used for manufacturing the jig. Fig. 1 is a diagram schematically showing an example of a jig manufactured by a 3D printer. Since the 3D printer forms the jig so as to laminate the materials from below, the jig J manufactured as shown in fig. 1 has a structure in which the materials are laminated in the lamination direction Dj. Further, in fig. 1, a workpiece W held by a jig J is illustrated.

However, as shown in fig. 2, the jig manufactured using the 3D printer has a characteristic that the strength is strong against the load (LA, etc.) in the stacking direction Dj, but weak against the load (LB, LC, etc.) in the direction orthogonal to the stacking direction Dj.

When the jig is disposed in a work environment of a robot having a structure capable of gripping a workpiece, a load is applied to the jig holding the workpiece when the robot contacts the workpiece. In the case of manufacturing the jig by a 3D printer, there is a possibility that the jig is adversely affected by the direction of the applied load. Therefore, in order to suppress such adverse effects on the jig, it is required to appropriately control the robot.

< 2 Robot System >)

Fig. 3 is a diagram showing the structure of the robot system 10 according to the exemplary embodiment of the present invention. The robot system 10 includes a robot 1, a robot controller 2, a teaching tool 3, and an external PC (personal computer) 4.

As an example schematically shown in fig. 4, the robot 1 is an industrial multi-joint robot (mechanical arm). The robot 1 has motors mounted on respective joint axes, and has a hand 1A at a tip end. The hand 1A is configured to hold a workpiece. The hand 1A may be configured to hold a workpiece by fingers or may be configured to hold a workpiece by suction. The hand 1A is controlled to a predetermined position and posture by driving of the motor.

The robot 1 further includes a torque sensor 1B at each joint. The torque sensor 1B is configured to detect a torque applied to each joint shaft, and is configured by a strain gauge, for example. The grip state of the hand 1A can be estimated by detecting the torque of each joint axis and comprehensively evaluating the torque. In order to grasp the grip state of the hand 1A, a force sensor provided on the wrist portion of the hand 1A or a tactile sensor provided on the fingertip of the hand 1A may be used instead of the torque sensor.

The robot controller 2 is a device for controlling the robot 1, and includes a control unit 21 and a storage unit 22. The robot controller 2 is constituted by, for example, a PC. The control unit 21 performs various controls using the robot program 22A, the teaching point data 22B, and the control program 22C stored in the storage unit 22.

An operation device called a teaching tool 3 is connected to the robot controller 2. Using the teaching tool 3, the position and orientation of the robot 1 can be registered in the robot controller 2. For example, if the joints of the robot 1 are controlled by the operation in the teach pendant 3 and the registration operation is performed in the teach pendant 3 at the desired position and orientation, the position and orientation at that time is registered in the robot controller 2. Such a registration task is called teaching, and the registered position and orientation are called teaching points. The teaching points are registered in the storage unit 22 as teaching point data 22B. The teaching point is position and orientation information of the tip portion (hand 1A) of the robot 1.

The robot program 22A is composed of a programming language such as BASIC or Python. The external PC4 can generate the robot program 22A by programming an operation instruction using the teaching point data 22B. The control program 22C is a program for performing control for realizing the operation instructed by the robot program 22A. The grip control unit 21A included in the control unit 21 performs control related to gripping of the workpiece by the robot 1. The grip control unit 21A executes control in accordance with the control program 22C.

< 3 Robot control >)

Next, control of the robot controller 2 will be described with reference to a flowchart shown in fig. 5. The control shown in fig. 5 is performed by the grip control unit 21A, and indicates control until the hand 1A reaches a target point for gripping a workpiece.

Fig. 6 schematically shows an example of a work environment of the robot 1in which a plurality of jigs J (J1, J2) manufactured using a 3D printer are arranged. Furthermore, the present invention can also be applied to a work environment in which a single jig J is arranged.

When the process shown in fig. 5 is started, first, in step S1, the grip control unit 21A obtains the current position of the distal end portion (hand 1A) of the robot 1. As shown in fig. 6, various position coordinates such as the position of the hand 1A are specified in a fixed coordinate system (X, Y, Z).

Next, the process advances to step S2, where the grip control unit 21A calculates a minute motion of the robot by one control cycle amount for moving to the target point (target coordinates). Then, in step S3, the grip control unit 21A determines whether or not the position of the hand 1A after the minute operation is within a predetermined range of the clamp J. An example of the predetermined range of the jig J will be described with reference to fig. 7.

Fig. 7 is a view showing a predetermined range S preset for the jig J. The predetermined range S shown in fig. 7 is a space of a sphere centered on the center Cs. The radius of the predetermined range S is the length of the lamination direction vector Vj indicating the lamination direction of the jig J. The predetermined range S surrounds the entirety of the jig J. Further, the predetermined range S may also surround a part of the jig J. The predetermined range S of the jig J can be set by storing the position of the center Cs and the radius of the predetermined range S in the storage section 22 in advance. In addition, as shown in fig. 6, in the case where a plurality of jigs J (J1, J2) are set, a predetermined range S is set for each of the jigs J by setting a center Cs and a radius for each of the jigs J (S1, S2).

The predetermined range of the jig J is not limited to a sphere, and may be, for example, a cube.

In step S3, if the predetermined range S of the jig J is the sphere as described above, it can be determined whether the hand 1A is within the predetermined range S of the jig J by determining whether the distance between the position after the minute motion of the hand 1A and the position of the center Cs is equal to or smaller than the set radius. This makes it possible to determine whether or not the hand 1A is positioned close to the clamp J. In step S3, one of the jigs J is determined.

In step S3, if the clamp J is within the predetermined range (yes in step S3), the routine proceeds to step S4. In step S4, as shown in fig. 8, the grip control unit 21A calculates an angle θ between the stacking direction vector Vj of the jig J and the minute operation direction of the hand 1A. The angle θ is calculated in the range of 0 degrees to 90 degrees. The closer the angle θ is to 90 degrees, the weaker the strength of the jig J is in the minute movement direction. Here, the lamination direction vector Vj indicating the lamination direction Dj is stored in the storage unit 22 for each clip J (Vj 1, vj2 in fig. 6).

Next, in step S5, as shown in fig. 8, the grip control unit 21A divides the movement amount M of the minute operation into a component M1 in the stacking direction Dj of the jigs J and a component M2 in the direction orthogonal thereto.

Then, the process proceeds to step S6, where the grip control unit 21A reduces the component (movement amount component) M2 in the orthogonal direction. Here, the decrease amount is larger as the calculated angle θ is closer to 90 degrees. For example, the decrease amount is set in proportion to the angle θ.

Next, the process proceeds to step S7, where the grip control unit 21A updates the minute operation based on the reduced component in the orthogonal direction and the component in the stacking direction Dj. This reduces the amount of movement of the minute motion in the control cycle of the robot 1, and reduces the motion speed of the hand 1A. Therefore, when the hand 1A approaches the jig J, the operation speed of the hand 1A is reduced in advance before the hand 1A contacts the workpiece, and even when the hand 1A contacts the workpiece, the load in the direction in which the strength of the jig J is weak can be suppressed. When the amount of movement in the updated minute movement is smaller than the minimum amount of movement due to the attenuation of the amount of movement, the amount of movement in the updated minute movement is set to the minimum amount of movement.

Further, whether or not to execute the reduction process in step S6 may be switched depending on whether or not the angle θ calculated in step S4 is equal to or larger than a predetermined angle threshold. In this case, in step S6, the reduction amount is set to a fixed value.

After step S7, in step S8, the grip control unit 21A executes a load detection threshold lowering process. The load detection threshold is a threshold for detecting an overload applied to the hand 1A, and is, for example, a torque detection threshold of a torque sensor 1B provided in the robot 1. In this case, in step S8, the torque detection threshold value is lowered from the initial value. The decrease amount in this case is, for example, a decrease amount proportional to the angle θ calculated in step S4. Alternatively, whether to lower the torque detection threshold by a fixed value may be switched depending on whether or not the angle θ is equal to or larger than a predetermined angle threshold.

The load detection threshold may be a threshold of a load estimated from the torque detected by the torque sensor 1B. The initial value of the load detection threshold value such as the torque detection threshold value may be different for each jig J. The strength of the jig J manufactured by the 3D printer varies according to the material (ABS, PLA, etc.), or the filling rate and filling method of the inside, and thus an upper initial value is set according to the strength of the jig J. Specifically, the stronger the intensity, the larger the initial value.

On the other hand, when the predetermined range S of the jig J is out of the step S3 (no in the step S3), the process proceeds to a step S9.

After step S8 (or step S3), the process proceeds to step S9, where the grip control unit 21A determines whether or not all the jigs J have been processed. If all the jigs J have not been processed (no in step S9), the routine returns to step S3. Here, when the processing falls within the predetermined range S of the jig J (yes in step S3), the processing of step S4 and thereafter is executed.

For example, as shown in fig. 9, when the predetermined range S1 of the jig J1 and the predetermined range S2 of the jig J2 overlap in the overlap area SA, when the hand 1A is located in the overlap area SA, the processes of step S4 and subsequent steps are performed on the jigs J1 and J2, respectively.

When the processing is completed for all the jigs J (yes in step S9), the flow proceeds to step S10, and the grip control unit 21A executes the minute operation of the hand 1A. Then, in step S11, the grip control unit 21A determines whether or not the hand 1A has reached the target point. If not (no in step S11), the routine returns to step S1. In this case, the amount of movement of the minute action calculated in step S2 is the same as the amount of movement of the minute action performed in step S10. When this is reached (yes in step 11), the process of fig. 5 ends.

Further, the grip control unit 21A performs control using the load detection threshold value in parallel with the processing of fig. 5. Specifically, for example, it is determined which of the plurality of jigs J the current position of the hand 1A is located within the predetermined range S, the distance between the position of the center Cs and the position of the hand 1A is calculated for the predetermined range S in which the hand 1A is located, and the load detection threshold value with respect to the jig J having the shortest distance is compared with the current load detection value (for example, the torque detection value of the torque sensor 1B). As a result of the comparison, when the load detection value exceeds the load detection threshold value, the operation of the robot 1 is stopped. When the load detection threshold is lowered in step S8, the operation of the robot 1 is easily stopped, and adverse effects of the overload on the jig J can be suppressed.

The processing of fig. 5 is performed during the operation of the robot 1 during mass production of the product, but may be performed during confirmation of the operation after teaching. Thus, even when a decrease in the operation speed is confirmed, for example, the teaching can be performed again so as to change the trajectory of the hand 1A.

In other words, the robot controller 2 is a robot controller for controlling the robot 1 capable of gripping a workpiece, and includes: a storage unit 22 that stores lamination direction vector information Vj indicating a lamination direction Dj of a lamination structure of a jig J for holding a workpiece; the grip control unit 21A performs control related to gripping of the robot 1 based on the stacking direction vector information Vj when the robot 1 grips the workpiece.

Thus, when the robot 1 grips the workpiece, it is difficult to apply an overload in a direction in which the strength of the jig J of the laminated structure is weak, and adverse effects on the jig J can be suppressed. In addition, the robot program 22A itself does not need to be particularly intentionally adjusted.

Further, a predetermined range S surrounding at least a part of the jig J is set, and the grip control unit 21A determines whether or not a predetermined position in the robot 1 is included in the predetermined range S, and if included, performs control related to gripping of the robot 1. Thereby, when the robot 1 approaches the jig J, control can be automatically performed.

The predetermined range S is a sphere having a radius of the vector length of the lamination direction vector information Vj. Thus, the predetermined range is easily determined.

When the predetermined position of the robot 1 is included in the predetermined range S, the grip control unit 21A calculates an angle θ between the vector Vj of the lamination direction vector information and the operation direction of the robot 1, and reduces the operation speed of the robot 1 based on the calculation result.

Accordingly, when the robot 1 approaches the jig J, the movement speed of the robot 1 is reduced in advance before the robot 1 contacts the workpiece, based on the relationship between the direction of movement of the robot 1 and the direction in which the strength of the jig J is weak, so that adverse effects on the jig can be suppressed.

The grip control unit 21A may continuously change the amount of decrease in the operation speed based on the calculation result. In this case, the reduction control of the operation speed can be performed more finely.

The grip control unit 21A may switch whether or not to reduce the operation speed based on the relationship between the calculation result and the angle threshold. This can suppress the computational load.

In the processing of fig. 5, the grip control unit 21A may change the amount of decrease in step S6 according to the distance between the center Cs of the predetermined range S and the position after the minute operation, in addition to the calculated angle θ. Specifically, the shorter the distance is, the larger the reduction amount is. That is, the grip control unit 21A reduces the operation speed based on the calculation result and the distance between the robot 1 and the gripper J. This enables the reduction control of the operation speed to be performed more finely.

Further, as described above, the strength of the jig J manufactured by the 3D printer varies according to the material, the filling rate, the filling method, and the like. Therefore, the robot controller 2 may acquire parameters related to these intensities from the 3D printer, and the grip control unit 21A may change the amount of decrease in step S6 based on the acquired parameters in addition to the calculated angle θ in the process of fig. 5. Specifically, the stronger the intensity, the smaller the amount of reduction. That is, the grip control unit 21A reduces the operation speed based on the parameter related to the strength of the clamp J. This enables the reduction control of the operation speed to be performed more finely.

When the predetermined position of the robot 1 is included in the predetermined range S, the grip control unit 21A calculates an angle θ between the vector Vj of the lamination direction vector information and the operation direction of the robot 1, and reduces a load detection threshold for detecting an overload applied to the robot 1 based on the calculation result.

Accordingly, when the robot 1 approaches the jig J, the load detection threshold is lowered in advance before the robot 1 contacts the workpiece according to the relationship between the operation direction of the robot 1 and the weak direction of the jig, and thus, the operation (for example, stop) in the case of overload is easily performed, and adverse effects on the jig J can be suppressed.

The grip control unit 21A may continuously change the amount of decrease in the load detection threshold based on the calculation result. This makes it possible to control the decrease in the load detection threshold more precisely.

The grip control unit 21A may switch whether or not to lower the load detection threshold based on the relationship between the calculation result and the angle threshold. This can suppress the computational load.

In the processing of fig. 5, the grip control unit 21A may change the amount of decrease in step S8 in accordance with the distance between the center Cs of the predetermined range S and the position after the minute operation, in addition to the calculated angle θ. Specifically, the shorter the distance, the larger the reduction amount. That is, the grip control unit 21A lowers the load detection threshold based on the calculation result and the distance between the robot 1 and the gripper J. This enables finer control of the load detection threshold.

In the processing of fig. 5, the grip control unit 21A may change the amount of decrease in step S8 based on the parameter related to the strength of the obtained jig J, in addition to the calculated angle θ. Specifically, the stronger the intensity, the smaller the amount of decrease. That is, the grip control unit 21A lowers the load detection threshold based on the parameter related to the strength of the clamp J. This enables finer control of the load detection threshold.

Further, the grip control unit 21A determines whether or not the predetermined position of the robot 1 is included in the predetermined range S for each of the plurality of jigs J. This makes it possible to cope with a case where a plurality of jigs having a laminated structure are arranged.

The jig J is a jig for forming a laminated structure by a 3D printer. In the case where jigs having different shapes according to objects are required in small-quantity and multi-variety production or the like, it is efficient to manufacture jigs by a 3D printer, and the present invention is effective in such a situation.

<4. Modification of robot control >

In addition, as the control in the case where the load is detected, the following control may be performed. For example, when a load applied to the hand 1A is detected based on the detection of the torque sensor 1B, as shown in fig. 10, the grip control unit 21A decomposes the vector L of the detected load into a component L1 in the direction of the lamination direction vector Vj and a component L2 in the direction orthogonal to the direction. When the size of the component L2 is equal to or larger than a fixed value, the grip control unit 21A makes the operation of the robot 1 be stopped promptly. In this case, the robot 1 may be moved in the direction of the vector L of the load to move the hand 1A. This allows the hand 1A to move in a direction including a component opposite to the direction in which the strength of the clamp J is weak and the load component increases (the direction opposite to the direction of L2). After the reversing operation of the hand 1A is performed in this way, the operation of the robot 1 is stopped. This can prevent the clamp J from being continuously loaded after the robot 1 stops.

That is, when detecting a load applied to the robot 1, the grip control unit 21A controls the operation of the robot 1 based on the magnitude of the component L2 in the orthogonal direction when the vector of the load is decomposed into the component L1 in the vector direction of the lamination direction vector information and the component in the direction orthogonal to the vector direction. Thus, when a load is applied to the robot 1, appropriate operation control (stop or reverse operation) can be performed when the load component in the weak direction in the jig J is large.

<5 Notification control of operator >

In the case where the hand 1A is a parallel chuck type hand as shown in fig. 11, for example, when the grip 11 configured as a chuck is closed, the increase or decrease in the force applied to the workpiece cannot be adjusted, and therefore, a load is applied to the clamp J at the moment when the grip 11 is closed, which may adversely affect the clamp J. Therefore, the grip control unit 21A calculates the opening/closing direction Doc of the grip 11 based on the posture of the hand 1A, and calculates the angle formed between the opening/closing direction Doc and the stacking vector Vj. When the calculated angle is close to 90 degrees, the grip control unit 21A notifies an alarm to the operator. The notification is performed by, for example, sound or display. Thereby prompting the operator to confirm in advance whether the closing chuck is free of problems.

That is, the robot 1 includes a hand 1A having an openable and closable grip 11, and the grip control unit 21A calculates an opening/closing direction Doc of the grip 11 based on the posture of the hand 1A, calculates an angle formed between the opening/closing direction Doc and a vector Vj of the lamination direction vector information, and executes notification control based on the calculation result of the angle. This allows the operator to be notified when the opening/closing direction Doc of the grip 11 approaches the weak direction of the clamp J.

< 6 >, Others

The embodiments of the present invention have been described above. The scope of the present invention is not limited to the above embodiment. The present invention can be implemented by variously changing the above-described embodiments within a range not departing from the gist of the present invention. The matters described in the above embodiments can be appropriately combined in any range where no contradiction occurs.

< 7. Additionally remembered >

As described above, a robot controller (2) according to an embodiment of the present invention is a robot controller for controlling a robot (1) capable of holding a workpiece, the robot controller including: a storage unit (22) that stores lamination direction vector information (Vj) indicating the lamination direction of a lamination structure that a jig (J) for holding the workpiece has; a grip control unit (21A) that executes control (first configuration) relating to gripping of the robot based on the stacking direction vector information when the robot grips the workpiece

In the first configuration, a predetermined range (S) surrounding at least a part of the jig may be set, and the gripping control unit may determine whether or not a predetermined position in the robot is included in the predetermined range, and if so, may perform control related to gripping of the robot (a second configuration)

In the second configuration, the predetermined range may be a sphere having a radius equal to a vector length of the lamination direction vector information (third configuration).

In the second or third configuration, when the predetermined position of the robot is included in the predetermined range, the grip control unit may calculate an angle (θ) between the vector of the stacking direction vector information and the operation direction of the robot, and may reduce the operation speed of the robot based on the calculation result (fourth configuration).

In the fourth configuration, the grip control unit may continuously change the amount of decrease in the operation speed based on the calculation result (fifth configuration).

In the fourth configuration, the grip control unit may be configured to switch whether or not to reduce the operation speed based on a relationship between the calculation result and an angle threshold (a sixth configuration).

In the fourth or fifth configuration, the grip control unit may be configured to reduce the operation speed based on the calculation result and a distance between the robot and the gripper (seventh configuration).

In the fourth or fifth configuration, the grip control unit may be configured to reduce the operation speed based on a parameter related to the strength of the jig (eighth configuration).

In the second or third configuration, when the predetermined position of the robot is included in the predetermined range, the grip control unit may calculate an angle between the vector of the stacking direction vector information and the operation direction of the robot, and may reduce a load detection threshold for detecting an overload applied to the robot based on a calculation result (a ninth configuration).

In the ninth aspect, the grip control unit may continuously change the amount of decrease in the load detection threshold based on the calculation result (a tenth aspect).

In the ninth aspect, the grip control unit may be configured to switch whether or not to reduce the load threshold value based on a relationship between the calculation result and the angle threshold value (eleventh aspect).

In the ninth or tenth aspect, the grip control unit may be configured to reduce the load threshold based on the calculation result and a distance between the robot and the jig. (twelfth structure).

In the ninth or tenth aspect, the grip control unit may be configured to lower the load detection threshold value based on a parameter related to the strength of the jig (thirteenth aspect).

In any one of the second to thirteenth configurations, the grip control unit may determine whether or not the predetermined position of the robot is included in the predetermined range for each of the plurality of jigs (a fourteenth configuration).

In any one of the first to fourteenth configurations, the grip control unit may be configured to control the operation of the robot based on a magnitude of a component in a direction orthogonal to a vector direction of the lamination direction vector information and a component in a direction orthogonal to the vector direction when the load applied to the robot is detected (fifteenth configuration).

In any one of the first to fifteenth configurations, the robot may include a hand having an openable and closable grip, and the grip control unit may calculate an opening and closing direction of the grip based on a posture of the hand, calculate an angle formed by the opening and closing direction and a vector of the stacked direction vector information, and perform notification control based on a calculation result of the angle. (sixteenth structure)

In any one of the first to sixteenth configurations, the jig may be configured to have the laminated structure formed by a 3D printer (seventeenth configuration).

The technique of the present invention can be used, for example, in an industrial robot system.

Claims (17)

1. A robot controller for controlling a robot capable of holding a workpiece, the robot controller comprising:

A storage unit that stores lamination direction vector information indicating a lamination direction of a lamination structure of a jig for holding the workpiece;

and a grip control unit that executes control related to gripping of the robot based on the stacking direction vector information when the robot grips the workpiece.

2. The robot controller of claim 1, wherein the controller is configured to,

A predetermined range surrounding at least a portion of the jig is set,

The grip control unit determines whether or not a predetermined position of the robot is included in the predetermined range, and executes control related to gripping of the robot when the predetermined position is included.

3. The robot controller of claim 2, wherein the controller is configured to,

The predetermined range is a sphere having a radius of a vector length of the lamination direction vector information.

4. The robot controller of claim 2, wherein the controller is configured to,

When the predetermined position of the robot is included in the predetermined range, the grip control unit calculates an angle between a vector of the lamination direction vector information and an operation direction of the robot, and reduces an operation speed of the robot based on a calculation result.

5. The robot controller of claim 4, wherein the controller is configured to,

The grip control unit continuously changes the amount of decrease in the operation speed based on the calculation result.

6. The robot controller of claim 4, wherein the controller is configured to,

The grip control unit switches whether or not to reduce the operation speed, based on the relationship between the calculation result and the angle threshold.

7. The robot controller of claim 4, wherein the controller is configured to,

The grip control unit reduces the operation speed based on the calculation result and the distance between the robot and the jig.

8. The robot controller of claim 4, wherein the controller is configured to,

The grip control unit reduces the operation speed based on a parameter related to the strength of the jig.

9. The robot controller of claim 2, wherein the controller is configured to,

When the predetermined position of the robot is included in the predetermined range, the grip control unit calculates an angle between a vector of the lamination direction vector information and an operation direction of the robot, and reduces a load detection threshold for detecting an overload applied to the robot based on a calculation result.

10. The robot controller of claim 9, wherein the controller is configured to,

The grip control unit continuously changes the amount of decrease in the load detection threshold value based on the calculation result.

11. The robot controller of claim 9, wherein the controller is configured to,

The grip control unit switches whether or not to lower the load detection threshold based on the relationship between the calculation result and the angle threshold.

12. The robot controller of claim 9, wherein the controller is configured to,

The grip control unit decreases the load detection threshold based on the calculation result and the distance between the robot and the jig.

13. The robot controller of claim 9, wherein the controller is configured to,

The grip control unit decreases the load detection threshold based on a parameter related to the strength of the jig.

14. The robot controller of claim 2, wherein the controller is configured to,

The grip control unit determines whether or not the predetermined position of the robot is included in the predetermined range for each of the plurality of jigs.

15. The robot controller of claim 1, wherein the controller is configured to,

The grip control unit, when detecting a load applied to the robot, controls the operation of the robot based on the magnitude of a component in the orthogonal direction when decomposing the vector of the load into a component in the vector direction of the lamination direction vector information and a component in the direction orthogonal to the vector direction.

16. The robot controller of claim 1, wherein the controller is configured to,

The robot comprises a hand part with a holding part capable of opening and closing,

The grip control unit calculates an opening/closing direction of the grip unit based on the posture of the hand, calculates an angle formed by the opening/closing direction and a vector of the stacking direction vector information, and executes notification control based on a result of the calculation of the angle.

17. The robot controller of claim 1, wherein the controller is configured to,

The jig is a jig for forming the laminated structure by a 3D printer.