JP2008207262A - Manipulator system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manipulator system which simply corrects differences in motion and position between the time when instructions are given and the time when the instruction is reproduced to obtain accurate motion. <P>SOLUTION: This manipulator system is provided with: an instructing work condition information generating part provided with an instructing operation information generating means 21 for generating instructing operation information by measuring the operation performed by a man for an object to be assembled, a motion controlling part for driving and controlling a manipulator based on the instructing operation information, and a work condition measuring means 13 for measuring a work condition with respect to the object to be assembled by the manipulator, so as to generate instructing work condition information at instruction giving time; an actual work condition information generating part for generating actual work condition information at instruction reprocessing time for driving the manipulator by the instructing operation information; and a correction means for comparing the actual work condition information with the instructing work condition information generating part to correct motion of the manipulator based on the instructing operation information at the instruction reprocessing time. Even if the object to be assembled at the instruction reprocessing time has the attitude and position being different from those at the instruction giving time, they are corrected. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a manipulator system, and more particularly to a manipulator system having a function of teaching operation to a manipulator (robot).

  Japanese Patent Laid-Open No. 2000-308985 discloses a method for generating a teaching command for a manipulator based on an operation performed by a human. This is a virtual environment in which the real environment where the robot (manipulator) is placed is virtually presented three-dimensionally, and the virtual object to be operated is operated by a virtual hand linked to the movement of a human hand wearing a force feedback glove. The teaching command is generated based on the observed value of the three-dimensional position and velocity of the human hand and finger and the observed value of the virtual drag at this time. This can quickly teach a robot having a humanoid hand that is required to teach multiple points simultaneously.

However, in the above, the movement of the virtual hand in the virtual environment at the time of teaching, the position and posture of the assembly held by the virtual hand, and the actual environment at the time of reproducing the created teaching command There are many differences between the movement of the actual hand and the position and posture of the assembly held by the actual hand, and this difference cannot be dealt with.
JP 2000-308985 A

  The present invention has been invented in view of the above-described conventional problems, and when there is a difference in movement or position between teaching and reproduction of teaching information, this can be easily corrected. It is an object to provide a manipulator system.

  In order to solve the above problems, a manipulator system according to the present invention is a teaching that measures an operation performed by a human on an assembly and generates teaching operation information for moving a working manipulator based on the measured value. A manipulator system comprising operation information generating means and an operation control unit for controlling driving of the manipulator that handles the assembly based on the generated teaching operation information, wherein the work state of the assembly by the manipulator A teaching work state for generating teaching work state information which is position / posture information of the manipulator and the assembly based on the measurement values of the work state measuring means at the time of teaching Measured values by the information generation unit and the work state measuring means at the time of teaching reproduction that drives the manipulator with the obtained teaching operation information An actual work state information generation unit that generates actual work state information that is position / posture information of the manipulator and the assembly based on the actual work state information compared with the teaching work state information generation unit during teaching reproduction And correction means for correcting the movement of the manipulator based on the teaching operation information. Since the correction means can perform correction control to match the teaching work state information corresponding to the teaching operation information and the actual work state information, even if the assembly at the time of teaching reproduction has a posture or position different from that at the time of teaching. It is to be corrected.

  As a measuring means for measuring an operation performed by a human, a data glove can be preferably used. In particular, in the case of a master-slave type manipulator that interlocks the manipulator with an operation performed by a human, the manipulator is connected to an assembly. It is preferable that the data glove is a force feedback type in which the output of the contact sensor is fed back.

  As a measuring unit for measuring an operation performed by a human, an imaging unit and an image processing unit may be used, or a position and orientation detection unit provided in an assembly to be operated may be used.

  The work state measuring means is preferably a contact sensor provided in the imaging means and / or the manipulator, and the operation control unit preferably corrects the movement of the manipulator based on the teaching operation information with reference to the output of the work measuring means. More accurate teaching reproduction can be performed.

  Viscosity adding means for applying a viscous load to an operation performed by a human may be provided. Since camera shake that occurs during teaching can be prevented, camera shake is not reflected in the teaching.

  The manipulator handles the assembly on the 6-axis movable table, and the operation control unit also drives the 6-axis movable table, the teaching work state in which the position and orientation of the assembly are stored in advance. Even if it is in a different state, correction control can be easily performed with a 6-axis movable table that can control each degree of freedom independently, so that the compatibility of assembly of the assembly is widened.

  When the six-axis movable table and / or the manipulator is provided with a vibration adding means for giving a slight vibration to the assembly, the assembly operation is performed while giving an amplitude vibration corresponding to an error in the relative position between the manipulator and the assembly. Since the copying operation can be realized with this, assembly is possible without correction calculation even if there is a position error.

  A reading device that reads information about the assembly from an IC tag included in the assembly is provided, and the operation control unit is configured to store the above-described object from a storage unit that stores a plurality of types of teaching operation information based on the read information. The teaching operation information corresponding to the assembly may be selected and the manipulator may be driven based on the teaching operation information. It is possible to automatically respond to multiple types of assembly.

  A reading device that reads the dimension information of the assembly from an IC tag included in the assembly; and the operation control unit corrects the movement of the manipulator based on the teaching operation information based on the read dimension information. Also good. Assembly under conditions corresponding to the dimensions of the assembly can be automatically performed.

  It is preferable that the operation control unit has a partially variable playback speed during teaching playback. Assembly at higher speed than teaching is possible.

  The manipulator includes a plurality of contact sensors on a hand that grips the assembly, and the operation control unit changes a gripping force for gripping the assembly by the hand according to an output change of the contact sensor during gripping of the assembly. As long as it can be assembled, it can be assembled without dropping the assembly.

  Provided with an obstacle detection means, the motion control unit teaches if the movement of the manipulator based on the teaching operation information at the time of teaching reproduction is corrected to avoid the obstacle detected by the obstacle detection means. Even if there are obstacles that did not exist sometimes, it can be assembled without any problems.

  According to the present invention, in order to obtain teaching operation information for moving a manipulator based on an operation performed by a human, complicated movement can be easily taught. Since this is corrected even if the posture or position is different from the above, an accurate operation can always be obtained.

  Hereinafter, the present invention will be described based on an embodiment shown in the accompanying drawings. As shown in FIG. 1, the manipulator system includes a manipulator control system 1 and a manipulator teaching system 2. The manipulator control system 1 for operating is based on the manipulator 10 that handles the assembly 9 with a hand having a high degree of freedom, a central processing unit 11 that controls the entire system, and an instruction signal from the central processing unit 11. A manipulator control unit 12 that controls and drives the manipulator 10, a work state recognition device 13 that measures a work state of the assembly 9 by the manipulator 10, and an actual work that generates actual work state information from the output of the work state recognition device 13 The status information generating unit 14 and the storage unit 15 are included.

  The manipulator teaching system 2 includes a teaching device 20 that measures an operation performed by a human on an assembly, an operation information generating unit 21 that generates teaching operation information from a measurement value obtained by the teaching device 20, and the manipulator The teaching work state information generating unit 24 generates teaching work state information from the output of the work state recognition device 13 of the operation system 1.

  The actual work state information generation unit 14 and the teaching work state information generation unit 24 are connected to the manipulator and the target from the output of the work state recognition device 13 when the manipulator 10 is moved based on the same teaching operation information as described later. Since it generates work state information that is position / posture information of the assembly, it can be configured as a single entity.

  The teaching operation may be a master-slave type teaching method in which a manipulator 10 is remotely operated by a human to handle the assembly target, but here, a human being uses a hand to cover the manipulator 10. The teaching in the form of handling the assembly will be described with reference to FIG. In FIG. 2, t is a time variable.

  In teaching, a human performs a series of assembling operations on an assembly target. At this time, the teaching device 20 measures the above operation, and based on the measured value, the operation information generating unit 21 generates teaching operation information with a time stamp (S1) and stores the teaching operation information in the manipulator operation system 1. The data is transmitted to the unit 15 and stored in the storage unit 15 (S2).

  After this teaching operation is completed, a teaching reproduction trial (S3) is performed. The central processing unit 11 acquires teaching operation information from the storage unit 15 (S32), generates a target motion trajectory from the teaching operation information (S33), and the manipulator control unit 12 based on the obtained target motion trajectory. Performs the control drive (S34) of the manipulator 10 for each time stamp of the teaching operation information, thereby trying to determine whether the manipulator 10 can assemble the assembly object. The state information generation unit 24 generates teaching work state information with a time stamp from the measured values relating to the position and orientation of the manipulator and the assembly obtained from the work state recognition device 13 during the control of the manipulator 10 (S35).

  At this time, the assembling operation of the assembly by the manipulator 10 is carried out smoothly in the same manner as the operation by human beings, and when properly assembled (S4, S5), the central processing unit 11 attaches a unique teaching information code. The teaching operation information and the teaching work state information are transmitted to the storage unit 15 of the manipulator operation system 1 and stored in the storage unit 15 (S6). If the assembling operation is not successful in the teaching regeneration trial, the teaching operation is repeated.

  When the manipulator 10 performs teaching reproduction based on the teaching operation information, the manipulator 10 is based on the teaching operation information acquired by the central processing unit 11 from the storage unit 15 (S72), as in the case of the teaching reproduction trial. A target motion trajectory of (hand and arm) is generated (S73), and the manipulator control unit 12 drives and controls the manipulator 10 based on the target motion trajectory (S74). At this time, an actual work state information generation unit 14 generates actual work state information with a time stamp based on the measurement value obtained from the work state recognition device 13 during manipulator control (S75).

  At the time of teaching reproduction, the central processing unit 11 sequentially compares the actual work state information with the time stamp obtained and the teaching work state information acquired from the storage unit 15 at the same time stamp, and the comparison evaluation value V (t ) Is generated (S76), and when the comparison evaluation value V (t) exceeds the allowable upper limit value V_limit in the comparison (S77) between the comparative evaluation value V (t) and the allowable upper limit value V_limit, the central processing unit 11 Corrects the teaching operation information or the target motion trajectory (S80), thereby correcting the movement of the manipulator 10 so that the actual work state information matches the teaching work state information.

  This process is repeated until the end time t_end every time new actual work state information is obtained, so that the teaching regeneration trial when the assembly of the assembly by the manipulator 10 is performed without any trouble and the currently performed teaching regeneration are performed. Sometimes the position and posture of the assembly are the same.

  Even if the position and posture of the assembly when the assembly is held by the manipulator 10 are different from those at the time of teaching reproduction, the assembly operation by the manipulator 10 is performed after this point is corrected. There will be no hindrance.

  As the teaching device 20 for measuring an operation performed by a human on an assembly, for example, a data glove attached to a human hand performing the above operation can be used. As the data glove, one that can output at least a three-dimensional wrist position and posture and a finger joint angle (see FIG. 3) is used. In this case, the accurate movement of the hand and the position of the wrist are known, and teaching to a humanoid hand having the same degree of freedom and the same shape can be easily performed as compared with the teaching box, so the teaching time can be reduced.

  As the teaching device 20, an apparatus including an imaging unit and an image processing unit that processes an image obtained by the imaging unit can be used. Even in this case, the image processing means recognizes the positions of the wrist and finger joints, extracts the information (see FIG. 4), and obtains the wrist three-dimensional position, posture, and finger joint angle from here. Use what you can. In this case, the physical burden on the teacher can be reduced as compared with the case of using the data glove.

  Instead of the movement of the human hand, the position and posture of the assembly operated by the human hand may be detected by a sensor, an imaging processing unit, and an image processing unit, and teaching operation information may be obtained therefrom. Accurate position information of the parts to be assembled can be obtained. Note that a plurality of types of teaching devices 20 may be used in combination.

  As the work state recognition device 13 for obtaining the position / posture information of the manipulator and the assembly, an imaging unit and an image processing unit can be preferably used. In this case, in generating the teaching work state information and the actual work state information from the measurement values by the work state recognition device 13, the reference position (xh, yh, zh) of the hand holding the assembly in the manipulator 10 and the hand In addition to the normal vector (xs, ys, zs) of the reference plane and the degree of freedom of the hand (θh1, θh2,...), The center of gravity position information (xp, yp, zp) of the assembly shown in FIG. The outermost edge angle information (θL, θR) is also generated, and the comparison evaluation value V (t) is calculated by comparing the actual work state information and the teaching work state information. When it is determined that the comparative evaluation value V (t) exceeds the allowable value V_lim and is not reproduced correctly, the target locus generation by the sequential teaching operation information along the time stamp is stopped, and the target locus correction process is performed. I do.

Incidentally, the comparative evaluation value V is obtained as follows. That is, when an evaluation function (comparison evaluation value) V is obtained by multiplying the norm of the teaching work state information and the actual work state information by a weight, when the assembly is grasped,
V = w1 | xp_r (t) −xp_t (t) | + w2 | yp_r (t) −yp_t (t) | + w3 | yp_r (t) −yp_t (t) | + w4 | θLp_r (t) −θLp_t (t) | + W5 | θRp_r (t) −θRp_t (t) |
When you are not holding the assembly
V = w6 | xh_r (t) -xh_t (t) | + w7 | yh_r (t) -yh_t (t) | + w8 | yh_r (t) -yh_t (t) | + w9 | xs_r (t) -xs_t (t) | + W10 | ys_r (t) −ys_t (t) | + w11 | ys_r (t) −ys_t (t) | + w12 | θh1_r (t) −θh1_t (t) | + w13 | θh2_r (t) −θh2_t (t) | +
Seeking in. However, w1 to w13 are weight parameters, the end_r is teaching work state information, and the end_t is actual work state information.

  The work state recognition device 13 is a plurality of contact sensors provided on the hand. When generating teaching work state information and actual work state information based on output information (measured values) of these contact sensors, the reference position of the hand In addition to (xh, yh, zh), the normal vector (xs, ys, zs) of the hand reference plane and the degree of freedom (θh1, θh2...) Of the hand, as shown in FIG. f1, f2,... are also generated, and a comparative evaluation value V (t) is calculated by comparing the actual work state information and the teaching work state information. When it is determined that the comparative evaluation value V (t) exceeds the allowable value V_lim and is not reproduced correctly, the target locus generation by the sequential teaching operation information along the time stamp is stopped, and the target locus correction process is performed. I do.

In this case, the evaluation function (comparison evaluation value) V when grasping an object is
V = w1 | f1_r (t) −f1_t (t) | + w2 | f2_r (t) −f2_t (t) | +.
Seeking in. Note that the evaluation function when the object is not grasped is obtained by the same mathematical expression as that formed by the imaging means and the image processing means. When the contact sensor is used, since the work state of each fingertip can be confirmed, detailed teaching information can be accurately reproduced.

  Of course, as the work state recognition device 13, the above-mentioned imaging means and image recognition means may be used in combination with a contact sensor provided on the hand. The former cannot calculate a fine correction amount, and the contact sensor cannot calculate a correction amount when the part is far away from the fingertip, but by combining the two, the former calculates a rough position / posture correction amount. Since the latter contact sensor can calculate a fine correction amount, it can cope with both a large deviation and a small deviation at the same time.

  As shown in FIG. 7, when the IC tag 3 in which the component information is described is attached to the assembly (including the case where the IC tag is attached to the tray on which the assembly is placed), The following processing may be performed by reading the information with the reading device 30.

  For example, when a single manipulator 10 performs assembly of a plurality of types in small-quantity production of other varieties, teaching operation information for each type is stored in the storage means 15 and read from the IC tag 3 as shown in FIG. The corresponding teaching operation information is acquired from the storage means 15 based on the unique teaching information code, and the manipulator 10 is operated based on the teaching operation information.

  It is possible to automatically determine and assemble two or more products to be assembled with different teaching information, reduce the teaching time, and do not assemble products that do not yet have teaching information. As a result, defects are reduced.

  It is also possible to describe part dimension information on the IC tag 3 and finely adjust the position on the teaching operation information, the gripping condition, and the fitting force condition based on the read part dimension information.

  When the assembly is performed by holding the assembly by the manipulator 10, the assembling work is performed on the table. As this table, the 6-axis movable table 4 is used as shown in FIG. When the control is performed by the central processing unit 11 of the manipulator operation system 1, assembly accuracy and assembly freedom can be increased.

  For example, the manipulator 10 has many restrictions on the degree of freedom, and although it is efficient assembly to assemble the assembly in an oblique direction with respect to the insertion object, the manipulator 10 cannot respond to this. In addition, the above assembly can be performed by tilting the insertion object 8 on the 6-axis movable table 4 side. In addition, the position and orientation information of the parts is acquired by the imaging unit 5 and the position of the insertion object 8 is adjusted on the 6-axis movable table 4 side according to the position of the assembly 9 held by the manipulator 10, Even when the stop position accuracy of the assembly 9 in the manipulator 10 is not sufficient, the position accuracy can be improved.

  As shown in FIG. 10, if the table movement amount (x, y, z, θ) of the 6-axis movable table 4 is written in the IC tag 3 attached to the assembly 9, each assembly 9 is provided. Since the six-axis movable table 4 (and the inserted object 8) can be arranged at a position and posture suitable for assembly, the assembly can be speeded up. Also, the amount of calculation at the time of correction can be reduced.

  The table may be a movable table 4 ′ having a vibration generator 40 as shown in FIG. Even if the component stop position accuracy is not sufficient when assembling with the manipulator 10, the assembly error can be absorbed and absorbed by generating vibration in the movable table 4 ′ on which the inserted object 8 is installed. If the error is a minute position, assembly is possible without correction calculation. The vibration function may be provided not on the table side but on the hand side of the manipulator 10.

  Although there was no obstacle during the teaching, there may be a case where there is an obstacle 7 on the table and the manipulator 10 may hit the obstacle 7 when the manipulator 10 operates on the optimum path a based on the teaching operation information. Therefore, as shown in FIG. 12, an environment recognition device (imaging means) 70 for detecting an obstacle is provided, and when the obstacle 7 is found, the positional information of the obstacle 7 is sent to the central processing unit 11, It is preferable to calculate a route that does not interfere with the obstacle 7. It is possible to trace the human movement while avoiding the obstacle 7.

  As shown in FIG. 13, while the plurality of contact sensors 6 are arranged on the hand of the manipulator 10 and the hand is holding the assembly 9, the outputs of the plurality of contact sensors are constantly monitored, If any of the contact sensors is changed, it is also preferable that the gripping force with which the hand grips the assembly 9 is increased beyond the teaching value, assuming that the assembly 9 has slipped. . It is possible to prevent the assembly target 9 from sliding off the hand.

  In addition, the human movement is usually more limited than the movement of the manipulator 10 due to the movable frame of the joint, and the human has operated to reverse the posture of the assembly. However, in some cases, the manipulator 10 only needs to rotate the hand by 180 °, while it may be necessary to hold it halfway. Accordingly, if a human operation is performed in advance, a series of a plurality of operations is performed due to conditions such as joints, but the manipulator 10 stores in advance a database of operation information in a case where a simple operation can be performed. It is effective for speeding up the assembly to replace operation information that can be substituted when there is an operation.

  By the way, when teaching operation information is created on the basis of an operation performed by a human, the speed at which the manipulator 10 moves is basically the same as the speed at which the manipulator operates, but the manipulator 10 should perform a faster movement. Is often possible.

  For this purpose, a speed gauge 25 for changing the speed magnification as shown in FIG. 14 is provided, and by changing the magnification setting by the speed gauge 25 at any time during teaching, a specific movement such as linear movement can be performed. Productivity can be improved by making it possible to obtain teaching operation information that accelerates only movement.

  The operation speed of the manipulator 10 is changed by operating the speed gauge 25 during teaching reproduction trial or teaching reproduction instead of during teaching, and when teaching reproduction is finished, the speed change by the speed gauge 25 is reflected. Various teaching operation information may be stored in the storage unit 15. In this case, since the motion can be taught separately from the movement and the speed, it is easy to perform local optimization and teaching with higher productivity can be performed.

  The speed change by the speed gauge 25 may be applied not only to a part during the operation of the manipulator 10 but also to the whole, and different speed changes may be performed between the arm part of the manipulator 10 and the hand. preferable.

  It is also preferable to include a viscosity adding means for applying a viscous load to an operation performed by a human. This can be suitably used by attaching to a person who teaches and using a functional fluid such as ER or MR to add a viscosity to the human movement. The teaching operation of assembly may be performed. The viscous load applied to the movement of the human can prevent camera shake that occurs during teaching, and teaching operation information without unnecessary information can be obtained. Further, when the functional fluid is used, the viscosity can be optimally changed according to the assembly, so that more optimal teaching can be performed.

  In addition, for a certain assembly, a plurality of teaching operation information is stored in the storage unit 15 and production is performed with the teaching operation information with the highest productivity. For some reason, the assembly based on the teaching operation information has a defect rate. If it becomes higher, the assembly can be continued if the manipulator 10 is operated using the teaching operation information having the second highest productivity.

  In each of the above examples, as described above, teaching in a form in which a human handles an assembly using a hand has been described, but a master that causes a manipulator 10 to remotely operate the manipulator 10 to handle the assembly. This can also be applied to a slave type. In this case, the teaching reproduction trial is performed simultaneously with the teaching.

  Moreover, in a master slave type, what has the following structures can be used suitably.

  That is, when a data glove is used as the teaching device 20, a contact sensor is provided in the hand of the manipulator 10, and a force feedback type is used as the data glove, and the data glove is charged based on the output information of the contact sensor. The actuator at the corresponding position reacts to stimulate the human fingertip. Since the movement of the fingertip of the hand can be sensed in real time and more directly, detailed teaching can be performed in a short time.

  A vibrator is provided in the data glove instead of the actuator, and the vibrator at the corresponding position is operated based on the information of the contact sensor of the hand, or a light is provided in the data glove, and the response is performed based on the information of the contact sensor. The light of the position may be turned on. Although it is more limited than the case where an actuator is provided, it can be provided at a low cost.

1 shows an example of an embodiment of the present invention, where (a) is a block diagram of the above and (b) is a schematic diagram of the same. It is a flowchart which shows operation | movement same as the above. It is operation | movement explanatory drawing of an example same as the above. It is operation | movement explanatory drawing of the other example same as the above. (a) and (b) are the operation | movement explanatory drawings same as the above. It is operation | movement explanatory drawing of the other example same as the above. It is the schematic of another example same as the above. It is a flowchart which shows operation | movement same as the above. It is a perspective view of a different example same as the above. It is a perspective view of the other example same as the above. It is a perspective view of another example same as the above. It is a perspective view which shows other movement same as the above. It is explanatory drawing of another example same as the above. (a) is a perspective view of a speed gauge, (b) is an explanatory view of speed change.

Explanation of symbols

1 Manipulator operation system 2 Manipulator teaching system 10 Manipulator

Claims (14)

  Based on the generated teaching operation information, teaching operation information generating means for measuring an operation performed on a to-be-assembled object and generating teaching operation information for moving a work manipulator based on the measured value A manipulator system including an operation control unit for controlling the driving of the manipulator that handles the assembly object, the manipulator system including work state measuring means for measuring a work state of the assembly object by the manipulator, and at the time of teaching Based on the measurement value of the above-mentioned work state measuring means, the manipulator and the teaching work state information generating unit for generating the teaching work state information which is the position / posture information of the assembly, and the manipulator are driven by the obtained teaching operation information Actual work work that is the position / posture information of the manipulator and the assembly based on the measurement value of the work state measuring means at the time of teaching reproduction An actual work state information generating unit that generates state information, and a correction unit that compares the actual work state information with the teaching work state information generation unit and corrects the movement of the manipulator based on teaching operation information during teaching reproduction. A manipulator system characterized by comprising.   The manipulator system according to claim 1, wherein the measuring means for measuring an operation performed by a human is a data glove.   It is a master-slave manipulator that interlocks the manipulator with operations performed by humans, the manipulator is equipped with a contact sensor that detects contact with the assembly, and the data glove is a force feedback type that feeds back the output of the contact sensor. The manipulator system according to claim 2, wherein the manipulator system is provided.   2. The manipulator system according to claim 1, wherein the measuring means for measuring an operation performed by a human is an imaging means and an image processing means.   The manipulator system according to claim 1, wherein the manipulator system is a position and orientation detection means provided on an assembly to be operated by a measuring means for measuring an operation performed by a human.   The work state measuring means is a contact sensor provided in the image pickup means and / or the manipulator, and the motion control unit corrects the movement of the manipulator based on the teaching operation information with reference to the output of the work measuring means. Item 6. The manipulator system according to any one of Items 1 to 5.   The manipulator system according to any one of claims 1 to 6, further comprising a viscosity adding unit that applies a viscous load to an operation performed by a human.   8. The manipulator handles an assembly on a 6-axis movable table, and the operation control unit also drives the 6-axis movable table. The described manipulator system.   9. The manipulator system according to claim 8, wherein the six-axis movable table and / or the manipulator is provided with vibration applying means for giving a fine vibration to the assembly.   A reading device that reads information about the assembly from an IC tag included in the assembly is provided, and the operation control unit is configured to store the above-described object from a storage unit that stores a plurality of types of teaching operation information based on the read information. The manipulator system according to any one of claims 1 to 9, wherein teaching operation information corresponding to an assembly is selected, and the manipulator is driven based on the teaching operation information.   A reading device that reads the dimension information of the assembly from an IC tag included in the assembly; and the operation control unit corrects the movement of the manipulator based on the teaching operation information based on the read dimension information. The manipulator system according to any one of claims 1 to 5, wherein:   The manipulator system according to any one of claims 1 to 11, wherein the operation control unit partially changes a reproduction speed during teaching reproduction.   The manipulator includes a plurality of contact sensors on a hand that grips the assembly, and the operation control unit changes a gripping force for gripping the assembly by the hand according to an output change of the contact sensor during gripping of the assembly. The manipulator system according to any one of claims 1 to 12, wherein the manipulator system is any one of the above.   It is provided with obstacle detection means, and the operation control unit adds correction for avoiding the obstacle detected by the obstacle detection means to the movement of the manipulator based on the teaching operation information at the time of teaching reproduction. The manipulator system according to any one of claims 1 to 13.

Images