JP2014188642A - Robot and robot control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot and a robot control method, which enable work including an operation for moving an end of a robot arm to a target position safely and reliably.SOLUTION: A robot includes: a robot arm; a body part, having a force sensor, for performing an operation including an action for moving an end of the robot arm to a target position; an imaging part for imaging the target position and obtaining image data; and a control part for controlling the body part. The control part includes a control mode setup part that determines whether the pickup image of the image data contains the target position, and, if it does, sets a control mode of the body part to a first control mode for performing positional control based on the image data, or, if it does not, sets the control mode to a second control mode for performing power control based on the detection result of the force sensor.

Description

  The present invention relates to a robot and a robot control method.

  Conventionally, a robot having a robot arm is known. For example, a hand is attached to the arm portion at the tip of the robot arm as an end effector. Then, the robot grips the moving object with the hand (gripping unit) of the robot arm, and moves the moving object to the target position. In this case, for example, an operation of inserting the moving object gripped by the hand into a hole formed in another moving object is performed. In this case, the hole position is the target position, but the target position differs depending on the work content.

  In the robot described in Patent Document 1, when a work object is moved and inserted into a hole which is a target position, first, the work held by the tip of the robot arm in a trajectory set by teaching by position control. The object is moved to the vicinity of the hole, and the target position can be searched by following the hole. Then, after switching from position control to force control, the work object is moved to a position where it can be inserted into the hole by the search by the copying work, and inserted into the hole.

JP 2009-66685 A

However, in the robot described in Patent Document 1, if there is another object on the way, the moving object collides with the object, thereby causing the moving object to be damaged or damaged, or to target the moving object. There is a problem that it cannot be moved to a position.
An object of the present invention is to provide a robot and a robot control method capable of easily and accurately performing an operation including an operation of moving the tip of a robot arm to a target position.

Providing a robot and a robot control method capable of safely and accurately performing an operation including an operation of moving the tip of the robot arm to a target position is achieved from the following according to the present invention.
(Application example 1)
A robot according to the present invention includes a main body that includes a robot arm and a force sensor installed at a tip of the robot arm and performs an operation including an operation of moving the tip to a target position;
An imaging unit that acquires image data captured by the first imaging device;
A control unit for controlling the operation of the main body based on the image data and the detection result of the force sensor,
The control unit determines whether the image data includes imaging information of the target position;
When the image data includes imaging information of the target position, the first control mode for performing position control based on the image data is set. When the imaging information of the target position is not included, detection of the force sensor It is characterized by setting to the 2nd control mode which performs force control based on a result.

  Thus, when the image data acquired by the imaging unit includes imaging information of the target position, the position control is performed based on the image data, and the robot arm moves without colliding with another object. Can be made. Further, for example, when an obstacle is interposed between the imaging device and the target position and the imaging information of the target position is not included, force control based on the detection result of the force sensor is performed, and the robot is safely The tip of the arm can be moved. Accordingly, it is possible to perform an operation including an operation of moving the tip of the robot arm to the target position safely and accurately without causing a collision with another object.

(Application example 2)
In the robot according to the present invention, a main body unit including a robot arm and a force sensor installed at the tip of the robot arm, and performing an operation including an operation of moving the tip to a target position;
An imaging unit that acquires image data captured by the first imaging unit;
A control unit for controlling the operation of the main body based on the image data and the detection result of the force sensor,
The controller determines whether the image data includes imaging information of the target position and whether a distance from the tip to the target position is equal to or less than a threshold;
When the image data includes imaging information of the target position and when the distance from the tip to the target position is greater than a threshold value, the first control mode is set to perform position control based on the image data, and the target position Is not included, and when the distance to the target position is equal to or smaller than a threshold value, a second control mode in which force control based on the detection result of the force sensor is performed is set.

  As a result, when the image data acquired by the imaging unit includes imaging information of the target position and when the distance from the tip to the target position is larger than the threshold, position control is performed based on the image data. The tip of the robot arm can be moved without colliding with another object. Further, for example, if a threshold value of the distance from the tip to the target position is set in advance, the object can be moved without colliding with other objects regardless of whether or not the imaging result of the target position is included. it can. Accordingly, it is possible to perform an operation including an operation of moving the tip of the robot arm to the target position without colliding with another object safely and accurately.

(Application example 3)
In the robot according to the present invention, in the operation, a gripping unit installed via a force sensor of the robot arm grips a moving object,
It is preferable that the control unit sets the second control mode to move to the target position while following the moving object.
As a result, the moving object can be moved while following the target position by force control using a force sensor, so that the impact at that time can be reduced, and the moving object can be brought to the target position safely and accurately. Can be moved.

(Application example 4)
In the robot according to the present invention, it is preferable that the imaging unit acquires image data captured by the first imaging device installed at a fixed position.
As a result, the first imaging device installed at a fixed position can stably capture an image, so that the operation of moving the tip of the robot arm to the target position without colliding with another object can be performed safely and accurately. Including operations can be performed.

(Application example 5)
In the robot according to the present invention, it is preferable that the image pickup unit obtains image data picked up by the second image pickup device provided in the robot arm and movable with the robot arm together with the first image pickup device.
As a result, the movable second imaging device can take an image, and image data including imaging information from various angles can be acquired. Therefore, the tip of the robot arm can be safely and accurately placed on the target position with another object. It is possible to perform operations including an operation of moving without causing a collision.

(Application example 6)
In the robot according to the present invention, the control unit determines whether the image data captured by the first imaging device or the second imaging device includes imaging information of the target position.
When the image data includes imaging information of the target position, the first control mode for performing position control based on the image data is set. When the imaging information of the target position is not included, detection of the force sensor It is preferable to set to the 2nd control mode which performs force control based on a result.
Thereby, it is possible to acquire image data including either imaging information stably imaged by the first imaging device installed at a fixed position or imaging information from various angles captured by the movable second imaging device. Therefore, it is possible to perform an operation including an operation of moving the tip of the robot arm to the target position without colliding with another object safely and accurately.

(Application example 7)
In the robot according to the present invention, the main body includes a plurality of the robot arms,
It is preferable that the second imaging device is provided in any one of the robot arms.
As a result, the imaging information including the target position is obtained from the second imaging device at various angles, and position control is performed based on the acquired imaging information to move the tip of the robot arm without causing collision with other objects. Can do.

(Application example 8)
In the robot according to the present invention, the main body unit, the control unit, and the imaging device are separately provided and wired between each other by a cable, or the main body unit and the control unit are integrated. Installed and wired between the imaging device installed separately and by a cable, or installed between the main unit and the imaging device integrally, and between the control unit installed separately. It is preferable that any one of wiring by a cable or the body part, the control part, and the imaging device are integrally formed.
Accordingly, the main body unit, the control unit, and the imaging device can be configured to be suitable for the installation environment or usage situation of the robot.

(Application example 9)
The robot control method according to the present invention includes an image data acquisition means for acquiring image data captured by an imaging unit by an imaging unit;
When the image data includes imaging information of the target position, the control unit sets the first control mode. When the image data does not include imaging information of the target position, the control unit enters the second control mode. Control mode selection means to be set;
In a main body provided with a robot arm and a force sensor installed at the tip of the robot arm, the operation of the main body is performed based on position control based on the image data when the control unit is set to the first control mode. Control means for controlling the operation of the main body based on position control based on the detection result of the force sensor when the control unit is set to the second control mode;
When the operation of the main body is set to the first control mode, the moving object gripped by the gripping portion installed via the force sensor of the robot arm is controlled based on the position control based on the image data. First moving means for moving to a target position;
And second movement means for moving to the target position while following the moving object gripped by the gripper when the operation of the main body is set to the second control mode.
.

  Thereby, when the imaging data of the target position is included in the image data acquired by the imaging unit, position control is performed based on the image data, and the tip of the robot arm collides with another object. It can be moved without Further, for example, when an obstacle is interposed between the imaging device and the target position and the imaging information of the target position is not included, force control based on the detection result of the force sensor is performed, and the robot is safely The tip of the arm can be moved. By these, even if it moves without making it collide with another object, the operation | movement including the operation | movement which moves the front-end | tip of a robot arm to a target position safely and accurately can be performed.

It is the perspective view which looked at the main-body part in 1st Embodiment of the robot concerning this invention from the front side. It is the perspective view which looked at the main-body part of the robot shown in FIG. 1 from the back side. It is the schematic of the main-body part and imaging device of the robot shown in FIG. It is the schematic of the main-body part and imaging device of the robot shown in FIG. It is a block diagram of the principal part of the robot shown in FIG. It is a block diagram of the control part of the robot shown in FIG. It is a flowchart which shows the control action of the control part of the robot shown in FIG. It is the schematic of the main-body part in 2nd Embodiment of the robot concerning this invention. It is a block diagram of the control part in 2nd Embodiment of the robot concerning this invention. It is a flowchart which shows the control action of the control part in 2nd Embodiment of the robot concerning this invention. It is the schematic of the main-body part in 3rd Embodiment of the robot concerning this invention. It is a block diagram of the control part in 3rd Embodiment of the robot concerning this invention.

Hereinafter, a robot, a robot control method, and a control unit according to the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
<First Embodiment>
FIG. 1 is a perspective view of the main body of the robot according to the first embodiment of the present invention as viewed from the front side. FIG. 2 is a perspective view of the main body of the robot shown in FIG. 1 as viewed from the back side. FIG. 3 is a schematic diagram of the main body and the imaging device of the robot shown in FIG. FIG. 4 is a schematic diagram of the main body and the imaging device of the robot shown in FIG. FIG. 5 is a block diagram of the robot shown in FIG. FIG. 6 is a block diagram of the controller of the robot shown in FIG. FIG. 7 is a flowchart showing the control operation of the controller of the robot shown in FIG.
In the following, for convenience of explanation, the upper side in FIGS. 1 to 4 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. Moreover, the base side in FIGS. 1-4 is called "base end", and the opposite side is called "tip". Further, in FIG. 1, in order to show the configuration of the front end surface of the wrist, the illustration of the grip portion is omitted, and FIG.

  The robot 100 shown in FIGS. 1 to 3 includes a main body unit 10, a control unit 20 (see FIGS. 4 and 5) that controls the operation of the main body unit 10, and an imaging device 71 installed at a fixed position. ing. The main body unit 10, the control unit 20, and the imaging device 71 are electrically connected to each other. The control unit 20 can be configured by, for example, a personal computer (PC) with a built-in CPU (Central Processing Unit). The main body unit 10 and the control unit 20 constitute a robot, but the main body unit 10 and the control unit 20 may be integrated or separate. Furthermore, the imaging device 71, the main body unit 10, and the control unit 20 may be integrated, or only the imaging device 71 may be a separate body. The control unit 20 will be described in detail later.

  The main body 10 includes a robot arm 31 having a base 11, four arms 12, 13, 14, 15, a wrist 16, and six drive sources 401, 402, 403, 404, 405, 406. I have. The main body 10 is a main body of a vertical articulated (6-axis) robot in which a base 11, arms 12, 13, 14, 15 and a wrist 16 are connected in this order from the base end side to the tip end side. It is. In the vertical articulated robot, the base 11, the arms 12 to 15 and the list 16 can be collectively referred to as “arm”. The arm 12 is “first arm” and the arm 13 is “ The second arm portion, the arm portion 14 can be divided into “third arm portion”, the arm portion 15 can be divided into “fourth arm portion”, and the list 16 can be divided into “fifth arm portion and sixth arm portion”. An end effector or the like can be attached to the wrist 16.

  As shown in FIG. 3, the arm portions 12 to 15 and the wrist 16 are supported so as to be independently displaceable with respect to the base 11. The lengths of the arm portions 12 to 15 and the list 16 are not particularly limited, but in the illustrated configuration, the length of the arm portions 12 to 14 is set longer than the other arm portions 15 and the list 16. Yes. For example, the length of the third arm portion 14 may be shorter than the lengths of the first arm portion 12 and the second arm portion 13.

  The base 11 and the first arm portion 12 are connected via a joint 171. The first arm portion 12 is rotatable about the first rotation axis O1 with respect to the base 11 with the first rotation axis O1 parallel to the vertical direction as the center of rotation. The first rotation axis O <b> 1 coincides with the normal line of the upper surface of the floor 101 that is the installation surface of the base 11. The rotation about the first rotation axis O <b> 1 is performed by driving the first drive source 401. The first drive source 401 is driven by a motor 401M and a cable (not shown), and the motor 401M is controlled by the control unit 20 via an electrically connected motor driver 301. The first drive source 401 may receive drive from the motor 401M by a speed reducer (not shown) provided together with the motor 401M, and the speed reducer may be omitted.

  The first arm portion 12 and the second arm portion 13 are connected via a joint 172. The second arm portion 13 is rotatable with respect to the first arm portion 12 about a second rotation axis O2 parallel to the horizontal direction. The second rotation axis O2 is orthogonal to the first rotation axis O1. The rotation around the second rotation axis O <b> 2 is performed by driving the second drive source 402. The second drive source 402 is driven by a motor 402M and a cable (not shown), and the motor 402M is controlled by the control unit 20 through an electrically connected motor driver 302. The second drive source 402 may receive drive from the motor 402M by a speed reducer (not shown) provided in addition to the motor 402M, and the speed reducer may be omitted. The second rotation axis O2 may be parallel to an axis orthogonal to the first rotation axis O1.

  The second arm part 13 and the third arm part 14 are connected via a joint 173. The third arm arm portion and the second arm arm portion are rotatable about a third rotation axis O3 with a rotation axis O3 parallel to the horizontal direction as a rotation center. The third rotation axis O3 is parallel to the second rotation axis O2. The rotation about the third rotation axis O <b> 3 is performed by driving the third drive source 403. The third drive source 403 is driven by a motor 403M and a cable (not shown), and the motor 403M is controlled by the control unit 20 through an electrically connected motor driver 303. The third drive source 403 may be provided with a speed reducer (not shown) in addition to the motor 403M to transmit the drive from the motor 403M, or the speed reducer may be omitted.

  The third arm portion 14 and the fourth arm portion 15 are connected via a joint 174. And the 4th arm part 15 makes the rotation center the 4th rotating shaft O4 with the 4th rotating shaft O4 parallel to the center axis direction of the 3rd arm part 14 with respect to the 3rd arm part 14 (base 11). It can turn freely. The fourth rotation axis O4 is orthogonal to the third rotation axis O3. The rotation about the fourth rotation axis O4 is performed by driving the fourth drive source 404. The fourth drive source 404 is driven by a motor 404M and a cable (not shown), and the motor 404M is controlled by the control unit 20 via an electrically connected motor driver 304. The fourth drive source 404 may receive drive from the motor 404M by a speed reducer (not shown) provided together with the motor 404M, and the speed reducer may be omitted. The fourth rotation axis O4 may be parallel to an axis orthogonal to the third rotation axis O3.

  The fourth arm portion 15 and the wrist 16 are connected via a joint 175. The wrist 16 has a fifth rotation axis O5 parallel to the horizontal direction (y-axis direction) with respect to the fourth arm portion 15 as a center of rotation, and is rotatable about the fifth rotation axis O5. The fifth rotation axis O5 is orthogonal to the fourth rotation axis O4. The rotation about the fifth rotation axis O5 is performed by driving the fifth drive source 405. The fifth drive source 405 is driven by a motor 405M and a cable (not shown), and the motor 405M is controlled by the control unit 20 via an electrically connected motor driver 305. The fifth drive source 405 may receive drive from the motor 405M by a speed reducer (not shown) provided together with the motor 405M, and the speed reducer may be omitted. Further, the wrist 16 is rotatable about a sixth rotation axis O6 with a sixth rotation axis O6 perpendicular to the fifth rotation axis O5 as a rotation center via a joint (joint) 176. The rotation axis O6 is orthogonal to the rotation axis O5. The rotation about the sixth rotation axis O6 is performed by driving the sixth drive source 406. The driving of the sixth drive source 406 is driven by a motor 406M and a cable (not shown), and the motor 406M is controlled by the control unit 20 via an electrically connected motor driver 306. The sixth drive source 406 may be provided with a speed reducer (not shown) in addition to the motor 406M to transmit the drive from the motor 406M, or the speed reducer may be omitted. The fifth rotation axis O5 may be parallel to the axis orthogonal to the fourth rotation axis O4, and the sixth rotation axis O6 may be parallel to the axis orthogonal to the fifth rotation axis O5. Good.

  The driving sources 401 to 406 include a first angle sensor 411, a second angle sensor 412, a third angle sensor 413, a fourth angle sensor 414, a fifth angle sensor 415, and a sixth angle sensor. 416 is provided. An encoder, a rotary encoder, etc. can be used as these angle sensors. These angle sensors 411 to 416 detect the rotation angles of the rotation shafts of the motors of the drive sources 401 to 406 or the reduction gears, respectively. The motors of the drive sources 401 to 406 are not particularly limited, and for example, a servo motor such as an AC servo motor or a DC servo motor is preferably used. Each cable may be inserted through the main body 10.

The main body 10 is electrically connected to the control unit 20. That is, the drive sources 401 to 406 and the angle sensors 411 to 416 are electrically connected to the control unit 20, respectively.
And the control part 20 can operate the arm parts 12-15 and the list | wrist 16 each independently, ie, controls the drive sources 401-406 independently via the motor drivers 301-306, respectively. Can do. In this case, the control unit 20 performs detection using the angle sensors 411 to 416, and controls driving of the drive sources 401 to 406, for example, angular acceleration, angular velocity, rotation angle, and the like based on the detection results. This control program is stored in advance in a recording medium built in the control unit 20.

  As shown in FIGS. 1 and 2, when the main body 10 is a main body of a vertical articulated robot, the base 11 is located at the lowermost part of the vertical articulated robot and is fixed to the floor 101 of the installation space. It is. The fixing method is not particularly limited. For example, in the present embodiment shown in FIGS. 1 and 2, a fixing method using a plurality of bolts 111 is used. In addition, as a fixed location in the installation space of the base 11, it can also be set as the wall and ceiling of an installation space other than a floor.

The base 11 has a hollow base body (housing) 112. The base body 112 can be divided into a cylindrical portion 113 having a cylindrical shape and a box-shaped portion 114 having a box shape formed integrally with the outer peripheral portion of the cylindrical portion 113. In such a base body 112, for example, a motor 401M and motor drivers 301 to 306 are accommodated.
Each of the arm portions 12 to 15 has a hollow arm portion main body 2, a drive mechanism 3, and a sealing means 4. In the following, for convenience of explanation, the arm body 2, the drive mechanism 3, and the sealing unit 4 included in the first arm unit 12 are referred to as “arm body 2 a”, “drive mechanism 3 a”, and “sealing unit 4 a, respectively. The arm body 2, the drive mechanism 3, and the sealing means 4 included in the second arm 13 are referred to as “arm body 2 b”, “drive mechanism 3 b”, and “sealing means 4 b”, respectively. The arm part body 2, the drive mechanism 3, and the sealing means 4 that the arm part 14 has are referred to as “arm part body 2 c”, “drive mechanism 3 c”, and “sealing means 4 c”, respectively, and the arm that the fourth arm part 15 has. The part body 2, the drive mechanism 3, and the sealing means 4 may be referred to as “arm part body 2d”, “drive mechanism 3d”, and “sealing means 4d”, respectively.

  Each of the joints 171 to 176 has a rotation support mechanism (not shown). This rotation support mechanism is a mechanism that supports one of two arms connected to each other so as to be rotatable with respect to the other, and one of the base 11 and the first arm 12 connected to each other. It is a mechanism that supports the other in a rotatable manner, and a mechanism that supports one of the fourth arm portion 15 and the fifth list 16 that are connected to each other so as to be rotatable with respect to the other. When the fourth arm portion 15 and the fifth arm portion (list) 16 connected to each other are taken as an example, the rotation support mechanism can rotate the wrist 16 with respect to the fourth arm portion 15. Each rotation support mechanism decelerates the rotation speed of the corresponding motor by a predetermined reduction ratio, and transmits the driving force to the corresponding arm portion, the wrist body 161 of the wrist 16, and the support ring 162. (Not shown).

The first arm portion 12 is connected to the upper end portion (tip portion) of the base 11 in a posture inclined with respect to the horizontal direction. In the first arm portion 12, the drive mechanism 3a has a motor 402M and is housed in the arm portion main body 2a. Moreover, the inside of the arm part main body 2a is hermetically sealed by the sealing means 4a.
The second arm portion 13 is connected to the distal end portion of the first arm portion 12. In the second arm portion 13, the drive mechanism 3b has a motor 403M and is housed in the arm portion main body 2b. The inside of the arm part main body 2a is hermetically sealed by the sealing means 4b.
The third arm portion 14 is connected to the distal end portion of the second arm portion 13. In the third arm portion 14, the drive mechanism 3c has a motor 404M and is housed in the arm portion main body 2c. The inside of the arm part main body 2c is hermetically sealed by the sealing means 4c.

The fourth arm portion 15 is connected to the distal end portion of the third arm portion 14 in parallel with the central axis direction. In this arm portion 15, the drive mechanism 3d has motors 405M and 406M and is housed in the arm portion main body 2d. Further, the inside of the arm main body 2d is hermetically sealed by the sealing means 4d.
A wrist 16 is connected to the tip of the fourth arm 15 (the end opposite to the base 11). The wrist 16 of the robot arm 31 has a gripping part (a gripping part for gripping a precision device such as a wristwatch in the present embodiment as an end effector at its tip (end opposite to the fourth arm part 15). A hand) 91 (see FIGS. 3 and 4) is detachably attached. Although it does not specifically limit as the holding | grip part 91, In this embodiment, the holding | grip part 91 has two drive parts (not shown) which drive the two finger parts 17 and 18 and the finger parts) 17 and 18. have. The operation of each drive source is controlled by the control unit 20. Note that the number of finger portions of the grip portion 91 is not limited to two, and may be three or more.

The robot 00 controls the operation of the main body unit 10 (arms 12 to 15, wrist 16, gripping unit 91, etc.) and the imaging device 71 by the control unit 20, so that the gripping unit 91 performs the first moving work object. The moving object 41 (see FIG. 3 and FIG. 4) is held (supported), and the insertion part 42 that is the second moving object placed on the work table 61 is inserted in the insertion portion 42 of the moving object 41. The operation of inserting into the hole 52, which is the insertion location provided in, that is, the assembling work is performed. The position of the hole 52 is the target position for this movement. In the illustrated configuration, a recess corresponding to the insertion object 51 is formed on the upper surface of the work table 61, and the insertion object 51 is disposed in the recess so that the upper surface of the work table 61. And the continuous surface without a level | step difference is formed with the upper surface of the insertion target object 51. FIG. Needless to say, the concave portion is not formed on the upper surface of the work table 61, and the insertion object 51 may be placed on the upper surface of the work table 61.
The shape of the moving object 41 and the shape of the insertion object 51 are not particularly limited, but in the present embodiment, the shapes of the holes 52 of the moving object 41 and the insertion object 51 are typically cylindrical. The case where the overall shape of the insertion object 51 is a rectangular parallelepiped shape will be described.

  In addition, the hole 52 formed in the insertion object 51 includes a through hole and a hole that does not penetrate, that is, a bottomed hole (concave portion). The bottom hole is illustrated and described. Moreover, as for the movement target object 41, only the insertion part 42 may be inserted in the hole 52, and the whole movement target object 41 may be inserted. Further, when the hole is a through hole, the moving object 41 may pass through the through hole. Moreover, the insertion location provided in the insertion object 51 is not limited to a hole.

  Further, the work performed by the main body 10 is not limited to the movement of inserting the insertion portion 42 of the moving object 41 into the hole 52 of the inserting object 51. Examples of other work include, for example, a work of grasping a moving object by the grasping unit 91 and bringing the moving object into contact with another object, a work of arranging in the vicinity of the other object, another object Examples include an operation of adhering to an object with an adhesive, an operation of moving to a target position, an operation of moving a work target at the target position to another target position, and an operation of fastening a bolt at the target position, for example. . That is, the work performed by the main body 10 includes each work having an operation of moving the grip 91 (the tip of the robot arm 31) to the target position.

The wrist 16 is constituted by a wrist body (sixth arm) 161 having a cylindrical shape and a wrist body 161 separately from the wrist body 161. The wrist 16 is provided at the base end of the wrist body 161 and has a ring-shaped support ring (fifth ring). Arm portion) 162.
The front end surface 163 of the wrist body 161 is a flat surface, and the front end surface 163 serves as a mounting portion on which the grip portion 91 (92) or the like is mounted. The wrist main body 161 is connected to the drive mechanism 3d of the fourth arm portion 15 via the joint 176, and rotates around the rotation axis O6 by driving the motor 406M of the drive mechanism 3d.
The support ring 162 is connected to the drive mechanism 3d of the fourth arm portion 15 via the joint 175, and rotates around the rotation axis O5 together with the wrist body 161 by the drive of the motor 405M of the drive mechanism 3d.

As shown in FIGS. 3 to 5, the main body 10 has a force sensor 81 provided at the tip of the wrist 16 of the robot arm 31 (between the wrist 16 and the grip 91). . Note that the force sensor 81 is not limited to the above position, and may be provided, for example, at the proximal end portion of the grip portion 91 or the like.
The force sensor 81 detects a force and a moment such as a reaction force received via the moving object 41 gripped by the grip portion 91. The force sensor 81 is not particularly limited, and various types of sensors can be used. For example, for example, a force in each axial direction of three axes orthogonal to each other and a moment around each axis are detected. And a six-axis force sensor. In the following, the force and the moment are referred to as a force.

The shape of the force sensor 81 is not particularly limited, but in the present embodiment, the force sensor 81 is circular in plan view, that is, when viewed from the left-right direction in FIG.
The detection result of the force sensor 81, that is, the signal output from the force sensor 81 is input to the control unit 20, and the control unit 20 performs a predetermined process based on the detection result of the force sensor 81, The operation of the main body 10 is controlled.

The first imaging device 71 is installed at a fixed position (see FIGS. 3 and 4). The first image pickup device 71 has an image pickup device and can pick up an image of a region in which the main body unit 10 operates, that is, a movable range, and is a moving object gripped by the grip portion 91 of the robot arm 31. The object 41, the insertion object 51 on the work table 61, etc., in particular, the insertion object 51 and its vicinity are imaged. Image data captured and acquired by the first imaging device 71 is input to the robot control unit 20, and the robot control unit 20 performs predetermined processing based on the image data (including imaging information obtained from the image data). And the operation of the main body 10 is controlled.
Further, the first imaging device 71 is installed at a position separated from the main body 10 by a predetermined distance. Thereby, even if the main-body part 10 operate | moves, the 1st imaging device 71 is normally in a fixed position, and the control part (control means) 20 can grasp | ascertain a positional relationship easily, and can perform each process. .

Next, the configuration of the control unit 20 will be described with reference to FIGS. 1, 2, 5, and 6.
The control unit 20 includes the entire main body 10, that is, the first drive source 401, the second drive source 402, the third drive source 403, the fourth drive source 404, the fifth drive source 405, the sixth drive source 406, and the list 16. Is a device that controls the operation of the drive source of the grip portion 91 attached to the first imaging device 71 and the like.

  As shown in FIGS. 1, 2, and 5, the control unit 20 includes a first drive source control unit 201 that controls the operation of the first drive source 401 and a second drive that controls the operation of the second drive source 402. A source control unit 202, a third drive source control unit 203 that controls the operation of the third drive source 403, a fourth drive source control unit 204 that controls the operation of the fourth drive source 404, and a fifth drive source 405. A fifth drive source control unit 205 that controls the operation and a sixth drive source control unit 206 that controls the operation of the sixth drive source 406 are provided.

  Here, the control unit 20 is attached to the target position of the front end of the list 16, that is, the list 16 based on the image data acquired by imaging with the first imaging device 71 and the content of the processing performed by the main body unit 10. The target position of the grip portion 91 is obtained, and a trajectory for moving the grip portion 91 to the target position is generated. And the control part 20 measures the rotation angle of each drive source 401-406 for every predetermined | prescribed control period so that the holding | grip part 91 (list 16) may move along the produced | generated track | orbit, and it is based on this measurement result. The calculated values are output to the drive source control units 201 to 206 as the position commands Pc of the drive sources 401 to 406, respectively. In the above and the following, “value is input and output” and the like are described, which means “a signal corresponding to the value is input and output”.

  In addition to the position command Pc of the first drive source 401, a detection signal is input from the first angle sensor 411 to the first drive source control unit 201. In the first drive source control unit 201, the rotation angle (position feedback value Pfb) of the first drive source 401 calculated from the detection signal of the first angle sensor 411 becomes a position command Pc, and an angular velocity feedback value ωfb described later. The first drive source 401 is driven by feedback control using each detection signal so that becomes an angular velocity command ωc described later.

  That is, a position command Pc is input to a first subtracter (not shown) of the first drive source control unit 201, and a position feedback value Pfb described later is input. In the first drive source control unit 201, the number of pulses input from the first angle sensor 411 is counted, and the rotation angle of the first drive source 401 corresponding to the count value is used as the position feedback value Pfb. Is output. The first subtracter outputs a deviation between the position command Pc and the position feedback value Pfb (a value obtained by subtracting the position feedback value Pfb from the target value of the rotation angle of the first drive source 401).

  In addition, the first drive source control unit 201 performs a predetermined calculation process using the deviation input from the first subtracter and a proportional gain that is a predetermined coefficient, etc. The target value of the angular velocity of one drive source 401 is calculated. And the signal which shows the target value (command value) of the angular velocity of the 1st drive source 401 is output to a 2nd subtracter (not shown) as angular velocity command (1st angular velocity command) (omega) c. Here, in this embodiment, proportional control (P control) is performed as feedback control, but the present invention is not limited to this.

The first drive source control unit 201 calculates the angular velocity of the first drive source 401 based on the frequency of the pulse signal input from the first angle sensor 411, and the angular velocity is subjected to the second subtraction as the angular velocity feedback value ωfb. Is output to the instrument.
The second subtracter receives an angular velocity command ωc and an angular velocity feedback value ωfb. The second subtracter outputs a deviation between the angular velocity command ωc and the angular velocity feedback value ωfb (a value obtained by subtracting the angular velocity feedback value ωfb from the target value of the angular velocity of the first drive source 401).

Further, the first drive source control unit 201 uses a deviation input from the second subtractor and a predetermined coefficient, such as a proportional gain and an integral gain, to perform predetermined calculation processing including integration, A target value of angular acceleration (torque) of the first drive source 401 corresponding to the deviation is calculated. Then, the first drive source control unit 201 generates a signal indicating the target value (command value) of the angular acceleration of the first drive source 401 as an angular acceleration command (torque command). Here, in this embodiment, PI control is performed as feedback control, but the present invention is not limited to this.
The first drive source control unit 201 generates a drive signal (drive current) for the first drive source 401 based on the angular acceleration command, and supplies it to the motor 401M via the motor driver 301.

In this way, the angular acceleration, that is, the torque of the first drive source 401 becomes as equal as possible to the target value, and the position feedback value Pfb becomes as equal as possible to the position command Pc, and the angular velocity feedback. Feedback control is performed so that the value ωfb is as equal as possible to the angular velocity command ωc, and the drive current of the first drive source 401 is controlled.
Note that the second drive source control unit 202 to the sixth drive source control unit 206 are the same as the first drive source control unit 201, respectively, and thus description thereof is omitted.

As shown in FIG. 6, the control unit 20 includes a storage unit 21, an image determination unit 22, a distance determination unit 23, and a control mode setting unit 24. The storage unit 21 stores various programs, various data, and the like. The control unit 20 controls the operation of the main body unit 10 based on image data obtained by imaging with the first imaging device 71, a detection result of the force sensor 81, and the like.
As described above, the robot 100 controls the operation of the main body unit 10 (arms 12 to 15, wrist 16, gripping units 91 and 92) and the imaging device 71 by the control unit 20. An assembly operation is performed in which the moving object 41 is grasped and the insertion portion 42 of the moving object 41 is inserted into the hole 52 of the insertion object 51 placed on the work table 61. At the time of this assembling work, the moving object 41 and the insertion object 51, in particular, the insertion object 51 and its vicinity are imaged by the imaging device 71, and image data (including an image obtained from the image data) is acquired. Based on the image data, the position and orientation of the insertion portion 42 of the moving object 41 and the hole 52 of the insertion object 51 are specified, position control is performed, and the detection result of the force sensor 81 is used. Force control is performed to operate the first robot arm 31 and the grip portion 91, and the insertion portion 42 of the moving object 41 is inserted into the hole 52 of the insertion object 51.

  That is, the control unit 20 performs position control based on the image data as a control mode of the main body unit 10 to control the operation of the main body unit 10, and directs the grip unit 91 (the tip of the robot arm 31) to the target position. The first control mode and the force control based on the detection result of the force sensor 81 to control the operation of the main body 10, and the second to direct the grip 91 (tip of the robot arm 31) to the target position. And a control mode. Then, based on the image data, the control mode is set to one of the first control mode and the second control mode. This review of the control mode setting is performed sequentially.

First, imaging is performed by the first imaging device 71 to acquire image data, and the image determination unit 22 captures the hole 52 (target position) in a captured image (imaging region of the first imaging device 71) obtained from the image data. It is determined whether or not. In determining whether or not the hole 52 is included in the captured image, the case where the hole 52 can be specified in the captured image is “includes imaging information”, and the case where the hole 52 cannot be specified is “the imaging information is included. No ". For identifying the hole 52 in the captured image, for example, an image of the insertion object 51 or the hole 52 created by CAD (hereinafter also referred to as “CAD image”) is prepared as a reference image of the insertion object 51 or the hole 52. The CAD image and the captured image can be matched with each other. For example, as illustrated in FIG. 4, when an obstacle 62 is interposed between the first imaging device 71 and the hole 52, the hole 52 is hidden by the obstacle 62, and the captured image is displayed. The hole 52 is not shown.
Then, when the hole 52 is shown in the image, the control mode setting unit 24 sets the control mode to the first control mode. The control unit 20 performs position control based on the image data and moves the moving object 41 to the hole 52. Thereby, the moving object 41 (gripping part 91) can be moved without making it collide with another object.

The control mode setting unit 24 sets the control mode to the second control mode when the hole 52 is not shown in the image. Thereafter, the control unit 20 brings the tip of the insertion unit 42 of the moving object 41 into contact with the surface following the hole 52, that is, the upper surface of the insertion object 51 or the upper surface of the work table 61 in the illustrated configuration. Since force control is performed when the moving object 41 is brought into contact with the upper surface of the insertion object 51 or the upper surface of the work table 61, the moving object 41 can be prevented from being damaged or damaged. Then, the control unit 20 performs force control based on the detection result of the force sensor 81, and moves the moving object 41 while bringing the insertion part 42 of the moving object 41 into contact with the upper surface of the insertion object 51 or the upper surface of the work table 61. 41 is moved along the upper surface and moved to the hole 52. Thereby, the moving object 41 (gripping part 91) can be moved safely. That is, even if the moving object 41 collides with something while the moving object 41 is moving, it is possible to prevent the moving object 41 from being broken or damaged.
Examples of the force control include impedance control. In the force control, for example, control is performed such that a force exceeding a predetermined threshold is not applied to the grip portion 91 (the moving object 41).

Further, when the moving object 41 approaches the hole 52 with the control mode set to the first control mode, the control mode is set to the second control mode. In this case, first, the distance determination unit 23 determines whether or not the distance L (see FIG. 3) between the moving object 41 and the hole 52 (target position) is equal to or less than a preset threshold value.
The distance L is a distance between a predetermined representative point of the moving object 41 and a predetermined representative point of the hole 52. The representative point of the moving object 41 is, for example, the center of the distal end surface of the insertion portion 42 of the moving object 41. The representative point of the hole 52 is, for example, the center of the opening 53 of the hole 52. The distance L can be obtained from an image obtained from the image data acquired by the first imaging device 71, for example.

  And the control mode setting part 24 sets a control mode to a 2nd control mode, when the distance L is below a threshold value. Thereafter, the tip of the insertion portion 42 of the moving object 41 is brought into contact with the surface following the hole 52, that is, in the illustrated configuration, the upper surface of the insertion object 51 or the upper surface of the work table 61. Since force control is performed when the moving object 41 is brought into contact with the upper surface of the insertion object 51 or the upper surface of the work table 61, the moving object 41 can be prevented from being damaged or damaged.

The control unit 20 performs an operation of inserting the insertion unit 42 of the moving object 41 into the hole 52 by force control. In this operation, scanning (search for moving the moving object 41 along the upper surface of the insertion object 51 or the work table 61 while bringing the insertion part 42 of the moving object 41 held by the holding part 91 into contact with the upper surface of the insertion object 51 or the upper surface of the work table 61. )I do. During the scanning, force is detected by the force sensor 81, and the position of the hole 52 is specified based on the detection result of the force sensor 81. In addition, since the detection value of the force sensor 81 changes at the position of the hole 52, the position of the hole 52 can be specified thereby. Then, the insertion portion 42 of the moving object 41 is inserted into the hole 52 of the insertion object 51. This operation is the same when the image does not include the imaging information of the hole 52.
In this way, when the imaging information of the hole 52 is included in the image, the moving object 41 can be moved to the vicinity of the hole 52 without colliding with another object by position control, from which the force By control, it can be accurately moved to the hole 52 and inserted into the hole 52.

  The threshold value of the distance L is not particularly limited and is appropriately set according to various conditions, but is preferably 1 mm or more and 50 mm or less, and more preferably 3 mm or more and 10 mm or less. If the threshold value is smaller than the lower limit value, depending on other conditions, it is difficult to make the distance L less than or equal to the threshold value by position control, and if the threshold value is larger than the upper limit value, depending on other conditions, It takes a long time to move and insert the moving object 41 into the hole 52 by force control.

Next, based on the flowchart shown in FIG. 7, the control operation of the control unit 20 in the operation of inserting the insertion part 42 of the moving object 41 into the hole 52 of the insertion object 51 will be described.
As shown in FIG. 7, first, an image is captured by the second imaging device 71 to acquire image data (image data acquisition means) (step S101).
Next, the image data is processed (step S102), and it is determined whether or not the hole 52 is shown in the image obtained from the image data (step S103).
In step S103, when the hole 52 is reflected in the image, it is determined whether or not the distance L between the moving object 41 and the hole 52 (target position) is equal to or less than a threshold value (step S104).

If the distance L is not less than or equal to the threshold value in step S104, the control mode is set to the first control mode (step S105), position control is performed based on the image data, and the moving object 41 is moved toward the hole 52. (First moving means) (step S106). Then, the process returns to step S101, and step S101 and subsequent steps are executed again.
In step S104, when the distance L is equal to or smaller than the threshold value, the control mode is set to the second control mode (step S107), the force is detected by the force sensor 81, and the force control based on the detection result is performed. Then, the tip of the insertion portion 42 of the moving object 41 is brought into contact with the upper surface of the insertion object 51 or the upper surface of the work table 61 (step S108), and the process proceeds to step S109.

  If the hole 52 is not shown in the image in step S103, the control mode is set to the second control mode (step S107), the force is detected by the force sensor 81, and the force control based on the detection result is performed. The tip of the insertion portion 42 of the moving object 41 is brought into contact with the upper surface of the inserting object 51 or the upper surface of the work table 61 (second moving means) (step S108), and the process proceeds to step S109.

Next, an operation of inserting the insertion portion 42 of the moving object 41 into the hole 52 of the inserting object 51 by force control is performed (second moving means) (step S109).
Next, it is determined whether or not the operation of inserting the insertion portion 42 of the moving object 41 into the hole 52 of the insertion object 51 is completed (step S110).
In step S110, when the operation of inserting the insertion portion 42 of the moving object 41 into the hole 52 of the insertion object 51 is not completed, the process returns to step S101, and step S101 and subsequent steps are executed again. And when the said work is completed, this program is complete | finished.

  As described above, according to the robot 100, when the image information obtained from the image data acquired by the first imaging device 71 includes the imaging information of the hole 52, the position control is performed, The moving object 41 can be moved without causing it to collide with an object, and when the imaging information of the hole 52 is not included, force control can be performed to move the moving object 41 safely. Thereby, it is possible to move the moving object 41 to the hole 52 and insert it into the hole 52 safely, quickly and reliably.

Second Embodiment
FIG. 8 is a schematic view of the main body in the second embodiment of the robot according to the present invention. FIG. 9 is a block diagram of a control unit in the second embodiment. FIG. 10 is a flowchart showing the control operation of the control unit in the second embodiment.
Hereinafter, the second embodiment will be described with a focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

In the following, for convenience of explanation, the upper side in FIG. 8 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. Further, the base side in FIG. 8 is referred to as “base end”, and the opposite side is referred to as “tip”.
As shown in FIGS. 8 and 9, the robot 100 of the second embodiment has a second imaging device 72 installed on the list 16 of the robot arm 31. The second imaging device 72 is movable together with the robot arm 31. Since the second imaging device 72 is the same as the first imaging device 71, the description thereof is omitted.

  The control unit 20 controls the operation of the main body unit 10 based on image data obtained by imaging with the first imaging device 71 and the second imaging device 72, a detection result of the force sensor 81, and the like. Image data obtained by imaging with the first imaging device 71 is preferentially selected from image data obtained by imaging with the first imaging device 71 and image data obtained by imaging with the second imaging device. Use. The image data of the first imaging device 71 placed at a fixed position is more accurate, and thus the moving object 41 can be moved to the hole 52 more reliably.

  Further, the image determination unit 22 determines whether or not the hole 52 (target position) is included in the image obtained from the image data based on the image data acquired by the second imaging device 72. The control mode setting unit 24 includes the imaging information of the hole 52 in at least one of the image obtained from the image data acquired by the first imaging device 71 and the image obtained from the image data acquired by the imaging device 72. If the image is not included in any image, the control mode is set to the second control mode.

  In addition, when the image obtained from the image data acquired by the first imaging device 71 does not include the imaging information of the hole 52, the control unit 20 operates the robot arm 31 and the attitude of the second imaging device 72. Is adjusted so that the imaged information of the hole 52 is included in the captured image obtained from the image data acquired by the second imaging device 72 as much as possible. Thereby, position control can be performed, and by moving the position control, it is possible to move the moving object 41 (gripping part 91) without causing collision with other objects.

Next, based on the flowchart shown in FIG. 10, the control operation of the control unit 20 in the operation of inserting the insertion part 42 of the moving object 41 into the hole 52 of the insertion object 51 will be described.
As shown in FIG. 10, first, the first image pickup device 71 and the second image pickup device 72 are used to acquire images, respectively (step S201).
Next, each image data is processed (step S202), and it is determined whether or not the imaging information of the hole 52 is included in the image obtained from the image data acquired by the first imaging device 71 (step S203).
In step S203, when the image acquired by the first imaging device 71 includes the imaging information of the hole 52, whether or not the distance L between the moving object 41 and the hole 52 (target position) is equal to or less than the threshold value. Is determined (step S204).

  In step S204, when the distance L is not less than or equal to the threshold value, the control mode is set to the first control mode (step S205), the position control is performed based on the image data acquired by the first imaging device 71, and the movement target An operation of moving the object 41 toward the hole 52 is performed (step S206). Then, the process returns to step S201, and step S201 and subsequent steps are executed again.

If the distance L is equal to or smaller than the threshold value in step S204, the control mode is set to the second control mode (step S208), the force is detected by the force sensor 81, and the force control based on the detection result is performed. The tip of the insertion portion 42 of the moving object 41 is brought into contact with the upper surface of the insertion object 51 or the upper surface of the work table 61 (step S209), and the process proceeds to step S210.
If the image acquired by the first imaging device 71 does not include the imaging information of the hole 52 in step S203, the imaging of the hole 52 is performed on the image obtained from the image data acquired by the second imaging device 72. It is determined whether or not information is included (step S207).

In step S207, when the image acquired by the second imaging device 72 includes the imaging information of the hole 52, the process proceeds to step S204, and the subsequent processing is performed as described above. In this case, the position control is performed based on the image data acquired by the second imaging device 72.
In step S207, when the image acquired by the second imaging device 72 does not include the imaging information of the hole 52, the control mode is set to the second control mode (step S208), and the force sensor 81 is used. Force detection is performed, force control is performed based on the detection result, and the tip of the insertion portion 42 of the moving object 41 is brought into contact with the upper surface of the insertion object 51 or the upper surface of the work table 61 (step S209). move on.

Next, an operation of inserting the insertion portion 42 of the moving object 41 into the hole 52 of the insertion object 51 by force control is performed (step S210).
Next, it is determined whether or not the operation of inserting the insertion portion 42 of the moving object 41 into the hole 52 of the insertion object 51 is completed (step S211).
In step S211, when the operation of inserting the insertion portion 42 of the moving object 41 into the hole 52 of the insertion object 51 is not completed, the process returns to step S201, and step S201 and subsequent steps are executed again. And when the said work is completed, this program is complete | finished.
According to this robot 100, the same effects as those of the first embodiment described above can be obtained.
In the present embodiment, the first imaging device 71 may be omitted.

<Third Embodiment>
FIG. 11 is a schematic view of a main body in a third embodiment of the robot of the present invention. FIG. 12 is a block diagram of the main part of the control unit in the third embodiment of the robot of the present invention.
Hereinafter, the third embodiment will be described with a focus on differences from the second embodiment described above, and description of similar matters will be omitted.
In the following, for convenience of explanation, the upper side in FIG. 11 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. Further, the base side in FIG. 11 is referred to as “base end”, and the opposite side is referred to as “tip”.

  As shown in FIGS. 11 and 12, in the robot 100 of the third embodiment, the main body 10 includes a base 11, four arms 12, 13, 14, 15, a list (link) 16, A robot arm 31 having six drive sources 401, 402, 403, 404, 405, 406 (see FIG. 1), a base 11, four arm portions 12, 13, 14, 15, and a list (link) ) 16 and a robot arm 32 having six drive sources 401, 402, 403, 404, 405, and 406 (see FIG. 1). Note that the robot arm 31 and the robot arm 32 are bilaterally symmetric and have the same configuration, and thus the description of the robot arm 32 is omitted.

In addition, a grip portion 92 is detachably attached to the wrist 16 of the robot arm 32 as an end effector at the tip (end opposite to the fourth arm portion 15). Since the grip portion 92 is the same as the grip portion 91, the description thereof is omitted.
Further, the main body 10 has a force sensor 82 provided at the tip of the wrist 16 of the robot arm 32 (between the wrist 16 and the grip 92). Note that the force sensor 82 is not limited to the above position, and may be provided, for example, at the proximal end portion of the grip portion 92 or the like. Since the force sensor 82 is the same as the force sensor 81, the description thereof is omitted.

The second imaging device 72 is provided in the list 16 of the robot arm 31 and grips the moving object 41 by the grip portion 92. Thereby, the restriction | limiting at the time of adjustment of the attitude | position of the 2nd imaging device 72 can be reduced.
Note that the second imaging device 72 may be provided on the wrist 16 of the robot arm 32 and the insert 41 may be gripped by the hand 91.
According to this robot 100, the same effects as those of the second embodiment described above can be obtained.
In the present embodiment, the two robot arms 31 and 32 are separated from each other. However, the present invention is not limited to this. For example, the base ends of the two robot arms 31 and 32 are connected to each other. You may do it. As an example, a configuration in which the main body portion has a trunk portion and the like, and two robot arms are connected to the trunk portion, respectively.

As described above, the robot and the robot control method of the present invention have been described based on the illustrated embodiment, but the present invention is not limited to this, and the configuration of each unit is an arbitrary configuration having the same function. Can be substituted. In addition, any other component may be added to the present invention.
Further, the present invention may be a combination of any two or more configurations (features) of the above embodiments.
In addition to the servo motor, examples of the motor of each drive source include a stepping motor. Moreover, when using a stepping motor as a motor, you may use what detects the rotation angle of a motor by measuring the number of the drive pulses input into a stepping motor as an angle sensor, for example.

In addition, the method of each angle sensor is not particularly limited, and examples thereof include an optical method, a magnetic method, an electromagnetic method, and an electric method.
Moreover, in the said embodiment, a main-body part is the body part of the single arm robot which has one robot arm formed by connecting the said arm parts which adjoin each other, and the double-arm robot which has two robot arms. Although it is a main-body part, in this invention, it is not limited to this, For example, the main-body part which has three or more robot arms may be sufficient.

In the embodiment, the number of rotation axes of the robot arm is six. However, the present invention is not limited to this, and the number of rotation axes of the robot arm is three, four, five, for example. It may be one or seven or more. That is, in this embodiment, since the list has two arm portions, the number of arm portions of the robot arm is six. However, the present invention is not limited to this, and the arm of the robot arm is not limited thereto. The number of parts may be, for example, 3, 4, 5 or 7 or more.
In the present invention, the main body is not limited to an arm type robot (robot arm), but may be another type of robot, such as a legged walking (running) robot having legs.

  DESCRIPTION OF SYMBOLS 10 ... Main part 101 ... Floor 11 ... Base 111 ... Multiple bolts 112 ... Base main part 113 ... Cylindrical part 114 ... Box-shaped part 12, 13, 14, 15 ... Arm part 16. List 161 ... List body 162 ... Support ring 163 ... Tip surface 171, 172, 173, 174, 175, 176 ... Joint 17, 18 ... Fingers 2, 2a, 2b, 2c, 2d ... ... arm part body 3, 3a, 3b, 3c, 3d ... drive mechanism 4, 4a, 4b, 4c, 4d ... sealing means 20 ... control part 21 ... storage part 22 ... image discrimination part 23 ... Distance discrimination unit 24 …… Control mode setting unit 100 …… Robot 31, 32 …… Robot arm 41 …… Movement object 42 …… Insertion part 51 …… Insertion object 52 …… Hole 53 …… Opening 61 …… Work Table 62 ... Obstacles 71, 72 ...... imaging device 81 ...... force sensor 91, 92 ...... gripper O1, O2, O3, O4, O5, O6 ...... rotary shaft S101~S110, S201~S211 ...... step

Claims (9)

A main body that includes a robot arm and a force sensor installed at a tip of the robot arm, and performs an operation including an operation of moving the tip to a target position;
An imaging unit that acquires image data captured by the first imaging device;
A control unit for controlling the operation of the main body based on the image data and the detection result of the force sensor,
The control unit determines whether the image data includes imaging information of the target position;
When the image data includes imaging information of the target position, the first control mode for performing position control based on the image data is set. When the imaging information of the target position is not included, detection of the force sensor A robot is set to a second control mode for performing force control based on a result. A main body that includes a robot arm and a force sensor installed at a tip of the robot arm, and performs an operation including an operation of moving the tip to a target position;
An imaging unit that acquires image data captured by the first imaging unit;
A control unit for controlling the operation of the main body based on the image data and the detection result of the force sensor,
The controller determines whether the image data includes imaging information of the target position and whether a distance from the tip to the target position is equal to or less than a threshold;
When the image data includes imaging information of the target position and when the distance from the tip to the target position is greater than a threshold value, the first control mode is set to perform position control based on the image data, and the target position The robot is set to a second control mode in which force control based on the detection result of the force sensor is performed when the imaging result is not included and the distance to the target position is equal to or less than a threshold value. In the operation, a gripping unit installed via a force sensor of the robot arm grips a moving object,
The robot according to claim 1, wherein the control unit is set to the second control mode and moves to the target position while following the moving object.   The robot according to claim 1, wherein the imaging unit acquires image data captured by the first imaging device installed at a fixed position.   5. The image capturing unit according to claim 1, wherein the image capturing unit acquires image data captured by a second image capturing device that is provided on the robot arm and movable with the robot arm together with the first image capturing device. robot. The control unit determines whether or not imaging information of the target position is included in image data captured by the first imaging device or the second imaging device,
When the image data includes imaging information of the target position, the first control mode for performing position control based on the image data is set. When the imaging information of the target position is not included, detection of the force sensor The robot according to claim 5, wherein the robot is set to a second control mode for performing force control based on the result. The main body includes a plurality of the robot arms,
The robot according to claim 5 or 6, wherein the second imaging device is provided on any one of the robot arms. The main body unit, the control unit, and the imaging device are separately installed and wired between each other by a cable, or the main body unit and the control unit are installed integrally and installed separately. The imaging device is wired with a cable, or the main body unit and the imaging device are installed integrally, and the control unit installed separately is wired with a cable, or the main body Part, the control unit, and the imaging device are integrally formed.
The robot according to any one of claims 1 to 7. Image data acquisition means for acquiring image data captured by the imaging device by the imaging device;
When the image data includes imaging information of the target position, the control unit sets the first control mode. When the image data does not include imaging information of the target position, the control unit enters the second control mode. Control mode selection means to be set;
In a main body provided with a robot arm and a force sensor installed at the tip of the robot arm, the operation of the main body is performed based on position control based on the image data when the control unit is set to the first control mode. Control means for controlling the operation of the main body based on position control based on the detection result of the force sensor when the control unit is set to the second control mode;
When the operation of the main body is set to the first control mode, the moving object gripped by the gripping portion installed via the force sensor of the robot arm is controlled based on the position control based on the image data. First moving means for moving to a target position;
And a second moving means for moving to the target position while following the moving object gripped by the gripping portion when the operation of the main body is set to the second control mode. .

Images