JP2015037818A - Robot, control method for robot, program, and route creation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot, a control method for robot, a program, and a route creation device that make an operation to teach the robot easier.SOLUTION: A robot includes a route determination part 110 which performs determination processing on a route of the robot, and a robot control part 130 which controls the robot according to the determined route of the robot. Then the route determination part 110 acquires a target position attitude of the robot, and performs the determination processing on the route in which an end point of the robot moves from a relay position attitude to a target position attitude along an arc track in a plane orthogonal to a gripping direction or releasing direction of a work in the target position attitude.

Description

  The present invention relates to a robot, a robot control method, a program, a route creation device, and the like.

  When operating a robot arm in a processing assembly work on a production line using a working robot, an engineer (expert) who has expertise in the robot finely determines the target position and orientation of the robot endpoint in each work motion. It is necessary to teach. This work is a heavy burden for the worker who uses the robot.

  Therefore, for example, Patent Document 1 discloses an invention aimed at reducing the burden on an engineer who performs teaching work.

JP 2011-104759 A

  Inventions aimed at reducing the burden of teaching work by engineers having specialized knowledge of robots are disclosed in addition to Patent Document 1, but these inventions are premised on the intervention of engineers, and expertise relating to robots It was difficult for non-experts who did not have to teach.

  According to some aspects of the present invention, it is possible to provide a robot, a robot control method, a program, a route creation device, and the like that make teaching work to the robot easier.

  One aspect of the present invention includes a route determination unit that performs a route determination process of a robot, and a robot control unit that controls the robot based on the determined route of the robot. The target position / posture of the robot is acquired, and the end point of the robot moves from the relay position / posture to the target position / posture in a circular arc trajectory in a plane orthogonal to the workpiece gripping direction or release direction at the target position / posture. The present invention relates to a robot that performs the determination process of the route.

  In one aspect of the present invention, a path along which the end point of the robot moves from the relay position / posture to the target position / posture in an arc trajectory in a plane orthogonal to the workpiece gripping direction or release direction at the acquired target position / posture of the robot. A decision process is performed to control the robot.

  As a result, the teaching work to the robot can be simplified.

  In the aspect of the invention, the route determination unit may include a first joint angle to a kth joint angle (k is an integer of 1 <k <N and N is an integer of N ≧ 3). The determination process of the path may be performed by changing at least one of the joint angles and fixing the joint angle of the joint provided closer to the end point than the k-th joint.

  Thereby, it is possible to narrow down a route to be obtained from a plurality of routes that can reach the target position and orientation.

  In the aspect of the invention, the route determination unit may calculate the i-th joint angle (i is an integer of 2 ≦ i ≦ k) among the first joint angle to the k-th joint angle. The determination process of the route may be performed by changing with the first priority and changing the (i-1) joint angle with a second priority lower than the first priority. .

  Accordingly, it is possible to move the k-th joint with the highest priority, and determine a path to move the joint on the base side of the arm as viewed from the k-th joint with priority in the order of distance from the k-th joint. It becomes possible.

  In one aspect of the present invention, the path determination unit has a first joint angle to a seventh joint angle, and the path determination unit includes the first joint angle to the seventh joint angle of a robot arm. At least one joint angle between 1 joint angle and the fourth joint angle is changed, and the joint angles of the fifth joint to the seventh joint provided closer to the end point than the fourth joint are fixed. Then, the determination process of the route may be performed.

  Accordingly, it is possible to determine a path that can reach the target position and posture by moving only one of the elbow joint and the joint provided on the base side of the arm as viewed from the elbow joint.

  In one aspect of the present invention, the route determination unit obtains the relay position / posture based on the taught target position / posture, a route from the current position / posture to the relay position / posture, and the relay position / posture. The determination process of the route from the target position and orientation may be performed.

  This makes it possible to move the end point of the robot along the same route from the relay position / posture to the target position / posture regardless of the current position / posture of the robot end point.

  Further, according to one aspect of the present invention, an input receiving unit that receives an input of the target position and orientation may be included.

  This makes it possible to input the target position and orientation as a teaching operation to the robot.

  In another aspect of the present invention, a target position / posture of the robot is acquired, and the end point of the robot is a relay position / posture in a circular arc trajectory in a plane perpendicular to the gripping or releasing direction of the workpiece at the target position / posture. The present invention relates to a robot control method for performing a process of determining a path to travel from the target position to the target position and posture, and controlling the robot based on the determined path of the robot.

  According to another aspect of the present invention, the robot moves the end point of the robot from the relay position / posture to the target position / posture in an arc trajectory in a plane perpendicular to the workpiece gripping direction at the target position / posture, and the end point And a control method for holding the workpiece after the movement of the robot.

  In another aspect of the present invention, a computer is caused to function as a route determination unit that performs a route determination process of a robot, and a robot control unit that controls the robot based on the determined route of the robot, The path determination unit acquires a target position / posture of the robot, and the end point of the robot moves from the relay position / posture to the target position in a circular arc trajectory in a plane perpendicular to a gripping direction or a release direction of the workpiece at the target position / posture. The present invention relates to a program that performs the determination process of the route that moves to a position and orientation.

  According to another aspect of the present invention, an input reception unit that receives an input of a target position and orientation of a robot, and a route determination unit that performs a route determination process of the robot, the route determination unit includes: The target position / posture is acquired, and the end point of the robot moves from the relay position / posture to the target position / posture in a circular arc trajectory in a plane orthogonal to the workpiece gripping direction or the release direction at the target position / posture. The present invention relates to a route creation device that performs a decision process.

The system configuration example of this embodiment. The system configuration example of other embodiment. 3A and 3B are specific examples of the robot. The block diagram of the 7-axis arm of the robot of this embodiment. FIG. 5A and FIG. 5B are explanatory diagrams of a workpiece gripping direction or a releasing direction. Explanatory drawing of the path | route which draws a circular arc track | orbit to a target position and attitude | position. Explanatory drawing of the other path | route which moves to a target position and posture. Explanatory drawing of the priority of the joint to rotate. Explanatory drawing of the path | route which rotates two joints and draws an arc trajectory to a target position and posture. The flowchart explaining the flow of a process of this embodiment. The flowchart explaining the flow of processing when there are a plurality of target position and orientation candidates.

  Hereinafter, this embodiment will be described. First, an outline of the present embodiment will be described, and then a system configuration example of the present embodiment will be described. Then, the method of the present embodiment will be described in detail with specific examples, and finally, the flow of processing of the present embodiment will be described using a flowchart. In addition, this embodiment demonstrated below does not unduly limit the content of this invention described in the claim. In addition, all the configurations described in the present embodiment are not necessarily essential configuration requirements of the present invention.

1. Outline When working with a robot arm consisting of a link and joint mechanism in a work assembly process on a production line that uses a working robot, each work is performed by an engineer (expert) who is familiar with the robot control method and robot mechanism. It was necessary to teach the target position and posture of the robot arm in motion in detail. That is, it is necessary to teach not only the final target position and orientation in one work motion but also the position and orientation (path) on the way to the final target position and orientation.

  Also, when the current position and orientation of the end point of the robot are different, the route to the target position and orientation will also change. Even if the situation is the same, even if the human being has the same work content, the human can change the movement flexibly and complete the work. However, the robot only performs the determined action every time even if the situation is different. Therefore, unlike the case of instructing the contents of work to a human, the teaching work to the robot needs to be performed in consideration of the state of the robot before and after the instructed work.

  For this reason, this work is enormous, and is a heavy burden on the worker who uses the robot.

  Here, the above-described Patent Document 1 discloses an invention that reduces an operation sequence teaching operation of a robot arm by using an imaging device and a dedicated auxiliary tool for determining the position and posture of the robot arm in each motion. Yes.

  As described above, inventions aimed at reducing the burden of teaching work by engineers having specialized knowledge of robots are disclosed in addition to Patent Document 1, but these inventions are premised on the intervention of engineers. It is difficult for non-experts who do not have specialized knowledge to perform teaching work.

  Therefore, in this embodiment, the teaching operation of the robot is simplified so that a non-expert can also perform the teaching operation. Specifically, in the present embodiment, when performing a workpiece gripping operation or a releasing operation, the robot preparation motion and completion motion are automatically calculated based on the target position and orientation information to operate the robot. . Details will be described later.

  As a result, even if the worker is not familiar with the robot mechanism or the like, the robot can perform the desired operation only by teaching the position and posture of the robot endpoint when gripping or releasing the workpiece. It is possible to perform teaching work for accomplishing the above.

2. System Configuration Example Next, FIG. 1 shows a configuration example of a robot control system 100, a robot mechanism 200, and a robot including them according to the present embodiment.

  The robot control system 100 includes a route determination unit 110, a robot control unit 130, and an input reception unit 150. The robot mechanism 200 includes an arm 210 and an end effector 220. Note that the robot control system 100, the robot mechanism 200, and the robot including them are not limited to the configuration shown in FIG. 1, and various components such as omitting some of these components or adding other components. Can be implemented.

  For example, FIG. 2 shows a configuration example of a robot 300 and a route creation device 400 in another embodiment. The robot 300 includes a robot control unit 130 and a robot mechanism 200. The route creation device 400 includes a route determination unit 110 and an input reception unit 150.

  Next, processing performed in each unit will be described.

  First, the route determination unit 110 performs a robot route determination process.

  Next, the robot control unit 130 controls the robot based on the determined robot path. The functions of the route determination unit 110 and the robot control unit 130 can be realized by hardware such as various processors (CPU or the like), ASIC (gate array or the like), a program, or the like.

  Then, the input receiving unit 150 receives an input of the target position and orientation. When receiving input from an operator, the input receiving unit 150 may be configured by a switch, a button, a keyboard, a mouse, a touch panel, or the like, or communicate via a network including at least one of wired and wireless. It may be a communication unit (I / F unit) that performs.

  The robot mechanism 200 includes, for example, an arm 210 and an end effector 220 as shown in FIGS. 3A and 3B described later, and operates according to a robot control command acquired from the robot control unit 130.

  Here, the arm 210 is a part of the robot mechanism 200 and refers to a movable part including one or more joints.

  Further, the end point of the arm 210 is a point at a tip portion of the arm 210 and is a portion that is not connected to other portions other than the end effector 220 of the robot mechanism 200.

  Further, the end effector 220 refers to a component attached to the end point of the arm 210 in order to grip, lift, lift, attract, or process the workpiece. The end effector 220 may be, for example, a hand (gripping unit), a hook, a suction cup, or the like. Note that the position of the end point of the arm may be the position of the end effector. Further, a plurality of end effectors may be provided for one arm.

  Next, specific examples of the present embodiment are shown in FIGS. 3 (A) and 3 (B). FIG. 3A is a specific example of the embodiment shown in FIG. For example, in the robot of FIG. 3A, the robot mechanism 200 and the robot control unit 130 are integrally configured, and the robot mechanism 200 (and the robot control unit 130) and the path creation device 400 are configured separately. . In the example of FIG. 3A, the route creation device 400 is a PC (Personal Computer), and is connected to the robot control unit 130 by communication.

  Specifically, the robot in FIG. 3A includes a robot mechanism 200 and a base unit unit that supports the robot mechanism 200, and the robot control unit 130 is stored in the base unit unit. The robot mechanism 200 includes an arm 210 and an end effector 220. Further, the robot shown in FIG. 3A is provided with wheels and the like in the base unit portion so that the entire robot can move. Note that although the robot in FIG. 3A is a double-arm type, the robot may be a single-arm type or a multi-arm type. The robot may be moved manually, or may be moved by providing a motor for driving wheels and controlling the motor by the robot control unit 130. Further, the robot control unit 130 is not necessarily provided in the base unit unit provided below the robot mechanism 200 as shown in FIG.

  On the other hand, FIG. 3B is a specific example of the embodiment shown in FIG. In the robot of FIG. 3B, the robot mechanism 200 and the robot control system 100 (including the robot control unit 130 and the route creation device 400) are configured separately, and the route creation device 400 and the robot control unit 130 are separated. Are realized by the same device. However, the robot of the present embodiment is not limited to the configuration shown in FIGS. 3 (A) and 3 (B).

  Furthermore, FIG. 4 shows an example of one 7-degree-of-freedom arm used in this embodiment.

  First, a shoulder portion SH is connected to the ground contact surface SA at the base position PS of the arm, and a first joint portion (first shoulder joint) JO1 is provided on the shoulder portion SH.

  The link extending from the first joint portion JO1 bends at a right angle at the first position P1 and is connected to the second joint portion (second shoulder joint) JO2.

  Further, the link extending from the second joint portion JO2 also bends at a right angle and is connected to the third joint portion (upper arm joint) JO3. The link extending from the third joint portion JO3 is connected to the fourth joint portion (elbow joint) JO4. Hereinafter, the portion from the first position P1 to the fourth joint portion JO4 is referred to as the upper arm segment UA.

  Further, the fourth joint JO4 is connected to the fifth joint JO5 by the link, and the fifth joint JO5 is connected to the sixth joint JO6. Hereinafter, the portion from the third position P3 to the second position P2 is referred to as a forearm portion BA.

  The sixth joint JO6 is connected to the seventh joint JO7 by the link, and the seventh joint JO7 is connected to the hand HD. The vector TP represents the target position and orientation of the robot hand (end point). In addition, each joint part from 1st joint part JO1 to 7th joint part JO7 shall rotate in the direction shown by the arrow, respectively.

3. Details of Processing Next, the method of the present embodiment will be described.

  The robot according to the present embodiment includes the route determination unit 110 that performs a robot route determination process, and the robot control unit 130 that controls the robot based on the determined robot route. Then, the path determination unit 110 acquires the target position and orientation of the robot, and the end point of the robot is changed from the relay position and orientation to the target position and orientation in a circular arc trajectory in a plane orthogonal to the workpiece gripping direction or release direction in the target position and orientation. To determine the route to travel to.

  In this embodiment, first, the target position and orientation of the robot are acquired. Then, a process for determining a path along which the end point of the robot moves from the relay position / posture to the target position / posture in a circular arc trajectory in a plane orthogonal to the workpiece gripping direction or release direction at the target position / posture is performed. Further, the robot is controlled based on the determined robot path.

  Here, the path of the robot represents not only position movement but also posture movement. In general, simply referring to a route from the first position and orientation (start point) to the second position and orientation (end point) includes not only the shortest route but also a redundant route. Therefore, a plurality of routes are obtained only by specifying the start point and the end point, and it is also necessary to determine which route should be selected from the plurality of obtained routes. In addition, since all possible routes are obtained by calculation, the amount of calculation increases. The technique of this embodiment also solves this point.

  The target position / posture means a position / posture that is a destination of movement of the end point of the robot (end point of the route). On the other hand, the relay position / posture refers to a position / posture that is a movement source (start point of a route) of the end point of the robot. The relay position / posture does not necessarily match the current position / posture of the robot end point, but may be the same position / posture as the current end point position / posture.

  For example, as shown in FIG. 5A, when the hand HD (end effector) grips the work WK in the target position / posture TP, the hand HD applies a force to the work WK (approaches). ) Direction (DR1 or DR2).

  On the other hand, for example, as shown in FIG. 5B, the work release direction refers to a direction (DR3 or DR4) in which the hand HD moves away from the work WK when the hand HD releases the work WK in the target position / posture TP. That means.

  For example, in the example of FIGS. 5A and 5B, the plane orthogonal to the workpiece gripping direction or the releasing direction indicates the plane PL. 5A and 5B, the plane is represented by a dotted circle for convenience of illustration.

  Here, FIG. 6 shows a specific example in which the robot end point is moved from the relay position / posture RP to the target position / posture TP in a circular arc trajectory in a plane orthogonal to the gripping direction (or release direction). In this example, as shown in FIG. 6, the arc trajectory OB1 from the relay position / posture RP to the target position / posture TP is determined as the path of the end point of the robot. This circular arc trajectory OB1 is realized by rotating the fourth joint portion JO4 as shown by an arrow MV.

  Thus, it is necessary to calculate another path from the relay position / posture to the target position / posture by limiting the obtained route to a circular arc trajectory in a plane orthogonal to the workpiece gripping direction or release direction at the target position / posture. Disappear. Thereby, it is possible to reduce the amount of calculation in the process of determining the route of the end point of the robot.

  In addition, by moving the robot end point in a circular orbit in a plane perpendicular to the workpiece gripping or releasing direction, when the robot end point reaches the target position and posture, the robot end effector etc. It becomes possible to suppress the frequency of collision.

  Furthermore, in this example, the operator does not need to teach the position and orientation at each point on the route from the relay position and orientation to the target position and orientation.

  As a result, the teaching work to the robot can be simplified.

  Conversely, in the example of FIG. 6, the path to be obtained is limited to the circular arc trajectory in the plane perpendicular to the gripping or releasing direction of the workpiece at the target position and posture. There are a plurality of paths through which the end point can reach the target position / posture.

  For example, in the example shown in FIG. 7, the joint angle of the fourth joint part JO4 is changed as indicated by an arrow MV1, the joint angle of the fifth joint part JO5 is changed as indicated by an arrow MV2, and the sixth joint part The joint angle of JO6 is changed as indicated by an arrow MV3, and the joint angle of the seventh joint JO7 is changed as indicated by an arrow MV4 to calculate the trajectory NGOB as a path. However, although the route NGOB calculated in the example of FIG. 7 has to change a plurality of joint angles, the route from the relay position / posture to the target position / posture is longer than the route OB1 shown in FIG. There is no merit to obtain the route NGOB in FIG. That is, it is useless to obtain the path NGOB by calculation. As described above, when there is a path in which the workpiece can be gripped with fewer operations or a shorter path, it is not always necessary to obtain a redundant path by calculation.

  Accordingly, the route determination unit 110 calculates at least one joint angle from the first joint angle to the k-th joint angle of the robot arm (k is an integer of 1 <k <N and N is an integer of N ≧ 3). The route determination process may be performed by changing the angle and fixing the joint angle of the joint provided closer to the end point than the k-th joint.

  As a result, when multiple paths are considered as the path where the robot end point reaches the target position and orientation, a restriction condition is added to narrow down the desired path from the multiple paths that can reach the target position and orientation. Is possible.

  In the present embodiment, a redundant degree of freedom robot having 7 degrees of freedom may be used.

  That is, the robot of this embodiment may have a first joint angle to a seventh joint angle. Then, the route determination unit 110 changes at least one joint angle of the first joint angle to the fourth joint angle among the first joint angle to the seventh joint angle of the robot arm to change the fourth joint angle. The route determination process may be performed by fixing the joint angles of the fifth joint to the seventh joint provided on the end point side of the joint.

  As a result, as shown in FIG. 6, only one of the elbow joint JO4 and the joints (JO1 to JO3) provided on the base side (upper side) of the arm as viewed from the elbow joint is moved to the target position. It is possible to determine a route that can reach the posture. In addition, by using a redundant degree of freedom robot having 7 degrees of freedom, it is possible to work while avoiding obstacles in a small place, for example, like a human arm.

  In addition, the route determination unit 110 changes the i-th joint angle (i is an integer of 2 ≦ i ≦ k) from the first joint angle to the k-th joint angle with the first priority, The route determination process may be performed by changing the joint angle of (i-1) with a second priority lower than the first priority.

  Accordingly, it is possible to move the k-th joint with the highest priority, and determine a path to move the joint on the base side of the arm as viewed from the k-th joint with priority in the order of distance from the k-th joint. It becomes possible.

  More specifically, the route determination process may be performed based on the priorities shown in the table of FIG. In the table of FIG. 8, 0 indicates that the joint is not moved, and 1 indicates that the joint is moved. For example, the priority of moving only the fourth joint part JO4 is 15, and the priority of moving only the fourth joint part JO4 and the third joint part JO3 is 11. Then, in order from the highest priority, it is determined whether or not there is a route that reaches the target position and posture using only the joint. If there is no route that reaches the target position and posture, the priority is lowered by one. The same determination is performed, and the process is repeated until a route that reaches the target position and orientation is found.

  For example, when the fourth joint part JO4 and the third joint part JO3 having a priority of 11 in the table of FIG. 8 are moved, the robot end point path is as shown in FIG. In FIG. 9, the relay position / posture is RP1, and when the third joint JO3 is rotated as indicated by the arrow MV1 in this state, the posture of the robot end point is RP2. Further, when the fourth joint portion JO4 is rotated as indicated by an arrow MV2 from this state, the posture of the end point of the robot becomes the target position / posture TP. When two joints are moved, the path OB2 from the relay position / posture RP1 to the target position / posture TP is obtained in this way. This path OB2 is also a circular arc trajectory in a plane perpendicular to the gripping direction (DR1 or DR2) of the workpiece WK at the target position / posture TP.

  Further, the route determination unit 110 obtains the relay position / posture based on the taught target position / posture, and determines the route from the current position / posture to the relay position / posture and the route from the relay position / posture to the target position / posture. You may go. The route determination process from the current position / posture to the relay position / posture may be performed by any method.

  This makes it possible to move the end point of the robot along the same route from the relay position / posture to the target position / posture regardless of the current position / posture of the robot end point.

  The robot according to the present embodiment may include an input receiving unit 150 that receives an input of a target position and orientation.

  This makes it possible to input the target position and orientation as a teaching operation to the robot.

  Below, the flow of the process of this embodiment is demonstrated using the flowchart of FIG.

  First, the target position / posture of the end point of the robot is acquired (S101). Next, the relay position and orientation are specified based on the acquired target position and orientation (S102). When specifying the relay position and orientation, the finger length of the end effector, the size of the work, etc. are taken into consideration as reference values. The relay position / posture is designed so that obstacles and jigs around the work environment do not come into contact with the end effector when the robot's end effector is moved along the path from the relay position / posture to the target position / posture. And decide. Furthermore, the relay position / posture is preferably a position / posture as close as possible to the target position / posture.

  Then, a route from the current position / posture of the end point to the relay position / posture is determined (S103). Next, a route from the relay position / posture to the target position / posture is determined (S104). The route determination process in step S104 is performed by the method described above with reference to FIGS.

  Finally, based on the identified route, the end point of the robot is moved from the current position / posture to the relay position / posture (S105), then moved to the target position / posture (S106), and the process is terminated. .

  Next, the flow of processing when there are a plurality of target position and orientation candidates will be described using the flowchart of FIG. Here, three works of work A to work C are placed, and an explanation will be given by taking as an example the work of gripping these works one by one and transporting them to the stacking place. In this operation, the order of gripping and carrying the workpieces A to C is not limited.

  First, target position and orientation candidates are acquired (S201). In this example, it is assumed that the target position / posture candidates are three positions / postures capable of gripping the workpieces A to C. Specifically, three target position / posture candidates are identified: a target position / posture candidate that can grip the workpiece A, a target position / posture candidate that can grip the workpiece B, and a target position / posture candidate that can grip the workpiece C.

  Next, the relay position / posture corresponding to each target position / posture candidate is specified (S202). In this example, the relay position and orientation corresponding to each of the three target position and orientation candidates are specified.

  Then, the target position / posture candidate among the plurality of target position / posture candidates is selected as the current target position / posture (S203). Specifically, for each target position / posture candidate, a route from the corresponding relay position / posture is calculated, and the priority for each route is calculated as described with reference to FIG. Then, the route having the highest calculated priority is identified, and the target position / posture candidate corresponding to the route is selected as the current target position / posture. For example, when the priority of the route for the work B is the maximum, the target position / posture candidate for the work B is selected as the current target position / posture. When there are a plurality of routes having the highest priority, the route having the relay position and orientation closest to the current end point position and orientation is selected.

  Thereafter, as in the example of the flowchart of FIG. 10, the route from the current end point position and orientation to the relay position and orientation is identified (S204), and the robot end point is determined based on the identified route. The position / posture is moved from the position / posture to the relay position / posture (S205), and further moved to the target position / posture (S206), and the process ends. In this example, the workpiece B is gripped after this, and the workpiece B is moved to the collection location. After that, the above-described processing is repeated to move the workpiece A and the workpiece C. The above is the flow of processing when there are a plurality of target position / posture candidates.

  Note that the robot and route creation device 400 of this embodiment may implement part or most of the processing by a program. In this case, a processor such as a CPU executes the program, thereby realizing the robot and the path creation device 400 according to the present embodiment. Specifically, a program stored in the information storage medium is read, and a processor such as a CPU executes the read program. Here, the information storage medium (computer-readable medium) stores programs, data, and the like, and functions as an optical disk (DVD, CD, etc.), HDD (hard disk drive), or memory (card type). It can be realized by memory, ROM, etc. A processor such as a CPU performs various processes according to the present embodiment based on a program (data) stored in the information storage medium. That is, in the information storage medium, a program for causing a computer (an apparatus including an operation unit, a processing unit, a storage unit, and an output unit) to function as each unit of the present embodiment (a program for causing the computer to execute processing of each unit) Is memorized.

  Although the present embodiment has been described in detail as described above, it will be easily understood by those skilled in the art that many modifications can be made without departing from the novel matters and effects of the present invention. Accordingly, all such modifications are intended to be included in the scope of the present invention. For example, a term described at least once together with a different term having a broader meaning or the same meaning in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. Further, the configurations and operations of the robot, the program, and the route creation device are not limited to those described in this embodiment, and various modifications can be made.

100 robot control system, 110 route determination unit, 130 robot control unit,
150 input reception unit, 200 robot mechanism, 210 arm,
220 end effector, 300 robot, 400 path creation device

Claims (10)

A route determination unit for determining the route of the robot;
A robot controller that controls the robot based on the determined path of the robot;
Including
The route determination unit
The target position / posture of the robot is acquired, and the end point of the robot moves from the relay position / posture to the target position / posture in an arc trajectory in a plane perpendicular to the workpiece gripping direction or the release direction at the target position / posture. A robot characterized by performing the route determination process. In claim 1,
The route determination unit
Changing at least one joint angle of the robot arm from a first joint angle to a k-th joint angle (k is an integer of 1 <k <N, N is an integer of N ≧ 3), and the k-th joint A robot characterized in that the determination processing of the path is performed by fixing a joint angle of a joint provided on the end point side. In claim 2,
The route determination unit
Among the first joint angle to the kth joint angle, the i-th joint angle (i is an integer of 2 ≦ i ≦ k) is changed with a first priority, and the (i−1) -th joint angle is changed. The joint angle is changed at a second priority lower than the first priority, and the route determination process is performed. In any one of Claims 1 thru | or 3,
The route determination unit
Among the first joint angle to the seventh joint angle of the arm of the robot, at least one joint angle of the first joint angle to the fourth joint angle is changed, and the end point is more than the fourth joint angle. A robot characterized in that the determination processing of the path is performed by fixing joint angles of a fifth joint to a seventh joint provided on the side. In any one of Claims 1 thru | or 4,
The route determination unit
The relay position / posture is obtained based on the taught target position / posture, and the determination process of the route from the current position / posture to the relay position / posture and the route from the relay position / posture to the target position / posture is performed. Robot characterized by. In any one of Claims 1 thru | or 5,
A robot including an input receiving unit that receives an input of the target position and orientation. Get the target position and orientation of the robot,
A process for determining a path along which the end point of the robot moves from the relay position / posture to the target position / posture in a circular arc trajectory in a plane orthogonal to the workpiece gripping direction or the release direction at the target position / posture,
A robot control method, comprising: controlling the robot based on the determined path of the robot.   Control for moving the end point of the robot from the relay position / posture to the target position / posture in a circular arc trajectory in a plane perpendicular to the gripping direction of the work at the target position / posture; and control for gripping the work after the end point is moved; A method for controlling a robot, characterized in that A route determination unit for determining the route of the robot;
As a robot controller that controls the robot based on the determined path of the robot,
Make the computer work,
The route determination unit
The target position / posture of the robot is acquired, and the end point of the robot moves from the relay position / posture to the target position / posture in an arc trajectory in a plane perpendicular to the workpiece gripping direction or the release direction at the target position / posture. A program for performing the route determination process. An input receiving unit for receiving an input of the target position and orientation of the robot;
A route determination unit that performs route determination processing of the robot;
Including
The route determination unit
The determination process of the path in which the end point of the robot moves from the relay position / posture to the target position / posture in a circular arc trajectory in a plane orthogonal to the workpiece gripping direction or release direction in the acquired target position / posture is performed. A route creation device characterized by that.

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