JP2014151377A5

JP2014151377A5 -

Info

Publication number: JP2014151377A5
Application number: JP2013021117A
Authority: JP
Filing date: 2013-02-06
Publication date: 2016-03-17

Claims

A first step of acquiring an image including a first object and a second object held by the end effector;
A second step of recognizing a first position, which is an arbitrary position on the surface of the first object, and a second position, which is an arbitrary position on the surface of the second object, from the acquired image;
A third step of determining whether or not the first position and the second position can be recognized in the second step;
Based on the determination result of the third step, the second position is moved from the first position to the inside of the first object by a predetermined distance using a different control method. A fourth step in which the end effector controls a movable part provided at the tip so that the end effector approaches,
In the fourth step, when the first position and the second position are recognized, the movable unit is controlled based on the recognition result of the first position and the second position, and When at least one of the first position and the second position cannot be recognized, a force applied to the end effector is acquired, and the movable unit is controlled based on the acquired force applied to the end effector. A robot control method characterized by the above.

The robot control method according to claim 1,
In the fourth step, when at least one of the first position and the second position cannot be recognized, the movable unit is controlled by impedance control.

The robot control method according to claim 1 or 2,
In the fourth step, when the first position and the second position are recognized, the movable portion is controlled so that the second position moves by a first amount, and the first position When at least one of the second position and the second position cannot be recognized, the movable portion is controlled so that the second position moves by a second amount smaller than the first amount. A robot control method.

In the robot control method according to any one of claims 1 to 3,
In the third step, when at least one of the first position and the second position cannot be recognized, at least one of the first position and the second position is included in the image. If at least one of the first position and the second position is not included in an arbitrary range of the image, at least one of the first position and the second position is image processing. The robot control method is characterized in that the robot control method is at least one of the case where the position relationship is not recognized and the case where the positional relationship between the first position and the second position is outside a set range.

In the robot control method according to any one of claims 1 to 4,
In the first step, the step of acquiring the image acquires two images obtained by capturing the first object and the second object from different directions,
In the fourth step, when at least one of the first position and the second position cannot be recognized from at least one of the two images, the first position and the second position The robot control method, wherein the movable part is controlled as being when at least one of the positions cannot be recognized.

In the robot control method according to any one of claims 1 to 5,
In the fourth step, the third position is calculated by moving from the second position in a direction toward the inside of the second object by the predetermined distance, and the calculated third position The robot control method characterized by controlling the movable part so that the second position approaches.

In the robot control method according to any one of claims 1 to 6,
In the fourth step, when the first position and the second position can be recognized, the second position is obtained from the recognition result, and at least the first position and the second position are determined. The robot control method characterized in that, when one of them is not recognized, the second position is obtained based on the amount of movement of the movable part.

An image acquisition unit that acquires an image including a first object and a second object held by the end effector;
An image processing unit for recognizing a first position that is an arbitrary position on the surface of the first object and a second position that is an arbitrary position on the surface of the second object from the acquired image;
Based on the recognition result of the first position and the second position, the second position is separated from the first position to the inside of the first object by a predetermined distance using different control methods. The end effector is a control unit that controls the movable part provided at the tip so as to approach the third position, and when the first position and the second position can be recognized, the first effector The movable portion is controlled based on the recognition result of the position and the second position, and when at least one of the first position and the second position cannot be recognized, the movable portion is A control unit that acquires applied force and controls the movable unit based on the acquired force applied to the tip of the movable unit;
A robot control device comprising:

A robot having a movable part and an end effector provided at the tip of the movable part;
An imaging unit that captures an image including a first object and a second object held by the movable unit;
An image processing unit for recognizing a first position that is an arbitrary position on the surface of the first object and a second position that is an arbitrary position on the surface of the second object;
Based on the recognition result of the first position and the second position, the second position is separated from the first position to the inside of the first object by a predetermined distance using different control methods. A control unit that controls the movable unit so as to approach the third position, and when the first position and the second position are recognized, the first position and the second position. Based on the recognition result, the movable part is controlled, and when at least one of the first position and the second position cannot be recognized, a force applied to the tip of the movable part is obtained, and the acquisition is performed. A control unit that controls the movable unit based on a force applied to the tip of the movable unit,
A robot system comprising:

Moving parts;
An end effector provided at the tip of the movable part,
An image including a first object and a second object held by the end effector is acquired, and a first position that is an arbitrary position on the surface of the first object and a surface of the second object recognizes a second position is an arbitrary position, before Symbol when he could not at least one of recognition of the first position and the second position to obtain the force applied to the tip of the movable part, the acquisition robot, characterized in that said movable portion is controlled on the basis of the force applied to the tip of the movable portion.