JP2015221490A5 - Robot apparatus control method, robot apparatus, and article manufacturing method - Google Patents
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Description
本発明は、複数の関節を有する多関節アームと前記多関節アームに支持されるエンドエフェクタとを有するロボット本体と、前記エンドエフェクタに連結され、第１のワーク及び第２のワークの間に相対的に作用する力の変化量と前記第１のワーク及び前記第２のワークの相対位置姿勢の変位量との少なくとも一方を検出する検出部と、前記ロボット本体を制御する制御部と、を備えるロボット装置の制御方法において、前記制御部が、前記エンドエフェクタにより保持した前記第１のワークを、第１の教示点から、接触点を経て、第２の教示点までの軌道で移動させる移動工程と、前記制御部が、前記移動工程において前記第１のワークが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記第１のワーク及び前記第２のワークの間に相対的に作用する力の変化量と、前記第１のワーク及び前記第２のワークの相対位置姿勢の変位量と、の少なくとも一方を前記検出部により検出する第１の検出工程と、前記制御部が、前記第１の検出工程で検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量を演算する第１の演算工程と、前記制御部が、前記第１の演算工程で演算した前記補正量に基づき、前記第１の教示点と前記第２の教示点との各位置及び姿勢を補正する第１の補正工程と、を備えることを特徴とする。 The present invention relates to a robot main body having a multi-joint arm having a plurality of joints and an end effector supported by the multi-joint arm; A detecting unit that detects at least one of a change amount of a force acting on the first workpiece and a displacement amount of a relative position and posture of the first workpiece and the second workpiece, and a control unit that controls the robot body. a method of controlling a robot apparatus, the control section, the first workpiece held by the end effector, the first taught point, through the contact points, Before moving in orbit up to the second teaching point a moving step, the control section, when said at moving step a first workpiece is positioned on the track from the contact point to the second teaching point, the first workpiece and the second Of the variation of the force relative acting between the workpiece, prior to SL and the amount of displacement of the relative position and orientation of the first workpiece and the second workpiece, the first detecting at least one by the detection unit A detection step; and a first calculation step in which the control unit calculates a correction amount of the trajectory based on the change amount of the force detected in the first detection step or the displacement amount of the relative position and posture, A control unit including a first correction step of correcting each position and orientation of the first teaching point and the second teaching point based on the correction amount calculated in the first calculation step; It is characterized by that.
また、本発明は、複数の関節を有する多関節アームと前記多関節アームに支持されるエンドエフェクタとを有するロボット本体と、前記エンドエフェクタに連結され、第１のワーク及び第２のワークの間に相対的に作用する力の変化量と前記第１のワーク及び前記第２のワークの相対位置姿勢の変位量との少なくとも一方を検出する検出部と、前記ロボット本体を制御する制御部と、を備えるロボット装置において、前記制御部は、前記エンドエフェクタにより保持した前記第１のワークを、第１の教示点から、接触点を経て、第２の教示点まで所定の軌道で移動させ、前記第１のワークが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記第１のワーク及び前記第２のワークの間に相対的に作用する力の変化量と、前記第１のワーク及び前記第２のワークの相対位置姿勢の変位量と、の少なくとも一方を前記検出部により検出し、検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量を演算し、演算した前記補正量に基づき、前記第１の教示点と前記第２の教示点との各位置及び姿勢を補正することを特徴とする。 The present invention also provides a robot main body having a multi-joint arm having a plurality of joints and an end effector supported by the multi-joint arm, and connected to the end effector, between the first work and the second work. A detection unit that detects at least one of a change amount of a force acting relatively to the displacement amount of a relative position and posture of the first workpiece and the second workpiece, a control unit that controls the robot body, a robot apparatus comprising, said control unit, said first workpiece held by the end effector, the first taught point, through the contact point is moved in a predetermined orbit to the second teaching point, When the first workpiece is located on the trajectory from the contact point to the second teaching point, the amount of change in the force acting relatively between the first workpiece and the second workpiece and, Serial and displacement of the first work and the relative position and orientation of the second workpiece, the detected at least one by the detection unit, based on the displacement amount of the detected said force variation or the relative position and orientation, the A trajectory correction amount is calculated, and each position and orientation of the first teaching point and the second teaching point are corrected based on the calculated correction amount.
Claims (18)
前記制御部が、前記エンドエフェクタにより保持した前記第１のワークを、第１の教示点から、接触点を経て、第２の教示点までの軌道で移動させる移動工程と、
前記制御部が、前記移動工程において前記第１のワークが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記第１のワーク及び前記第２のワークの間に相対的に作用する力の変化量と、前記第１のワーク及び前記第２のワークの相対位置姿勢の変位量と、の少なくとも一方を前記検出部により検出する第１の検出工程と、
前記制御部が、前記第１の検出工程で検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量を演算する第１の演算工程と、
前記制御部が、前記第１の演算工程で演算した前記補正量に基づき、前記第１の教示点と前記第２の教示点との各位置及び姿勢を補正する第１の補正工程と、を備える、
ことを特徴とするロボット装置の制御方法。 A robot body having a multi-joint arm having a plurality of joints and an end effector supported by the multi-joint arm, and is connected to the end effector and acts relatively between the first work and the second work. Control of a robot apparatus comprising: a detection unit that detects at least one of a force change amount and a displacement amount of a relative position and orientation of the first workpiece and the second workpiece; and a control unit that controls the robot body. In the method
Wherein the control unit, the first workpiece held by the end effector, the first taught point, through the contact point, the moving step Before moving in orbit up to the second teaching point,
When the control unit is positioned on the trajectory from the contact point to the second teaching point in the moving step, the control unit is located between the first workpiece and the second workpiece. and variation of the force relative effect, a first detection step of the displacement amount before SL relative position and orientation of the first workpiece and the second workpiece, the at least one detected by the detecting unit,
A first calculation step in which the control unit calculates a correction amount of the trajectory based on a change amount of the force detected in the first detection step or a displacement amount of the relative position and posture;
A first correction step in which the control unit corrects each position and posture of the first teaching point and the second teaching point based on the correction amount calculated in the first calculation step; Prepare
A method for controlling a robot apparatus, comprising:
ことを特徴とする請求項１記載のロボット装置の制御方法。 Said track includes a case where the first workpiece and the second workpiece is in a state come in contact, in the case in a non-contact state, a straight line,
The method for controlling a robot apparatus according to claim 1.
前記第１の演算工程では、前記制御部が、前記第１の検出工程で検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量として、前記第１の教示点及び前記第２の教示点の各位置姿勢の補正量を演算し、
前記第１の補正工程では、前記制御部が、前記第１の演算工程で演算した前記第１の教示点及び前記第２の教示点の各位置姿勢の補正量に基づき、前記第１の教示点及び前記第２の教示点の各位置及び姿勢を補正する、
ことを特徴とする請求項１又は２に記載のロボット装置の制御方法。 The trajectory is based on the first teaching point is the position and orientation of the first workpiece in a non-contact state, and the second teaching point is the position and orientation of the first workpiece in contact touch state, Calculated,
In the first calculation step, the controller teaches the first teaching as the correction amount of the trajectory based on the change amount of the force detected in the first detection step or the displacement amount of the relative position and posture. A correction amount for each position and orientation of the point and the second teaching point;
In the first correction step, the control unit controls the first teaching based on the correction amounts of the position and orientation of the first teaching point and the second teaching point calculated in the first calculation step. We correct the points and the position and orientation of the second teaching point,
The robot apparatus control method according to claim 1, wherein the robot apparatus has a control method.
前記第１の演算工程では、前記制御部が、前記第１の検出工程で検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量として、前記第１の教示点及び前記第２の教示点の各位置姿勢の補正量を演算し、
前記第１の補正工程では、前記制御部が、前記第１の演算工程で演算した前記第１の教示点及び前記第２の教示点の各位置姿勢の補正量に基づき、前記第１の教示点及び前記第２の教示点の各位置及び姿勢を補正する、
ことを特徴とする請求項１記載のロボット装置の制御方法。 It said track includes a first teaching point is the position and orientation of the first workpiece in a non-contact state, and the second teaching point is the position and orientation of the first workpiece in contact touch state, the contact the position and orientation of the first workpiece in the state, a third teaching point located between said first taught point and the second teaching point in the orbit, is calculated based on the,
In the first calculation step, the controller teaches the first teaching as the correction amount of the trajectory based on the change amount of the force detected in the first detection step or the displacement amount of the relative position and posture. A correction amount for each position and orientation of the point and the second teaching point;
In the first correction step, the control unit controls the first teaching based on the correction amounts of the position and orientation of the first teaching point and the second teaching point calculated in the first calculation step. We correct the points and the position and orientation of the second teaching point,
The method for controlling a robot apparatus according to claim 1.
ことを特徴とする請求項４記載のロボット装置の制御方法。 The trajectory at the second teaching point and the trajectory at the third teaching point are linear trajectories.
The method of controlling a robot apparatus according to claim 4.
ことを特徴とする請求項４記載のロボット装置の制御方法。 The trajectory at the second teaching point and the trajectory at the third teaching point are linear trajectories in the same direction, and the first workpiece and the second workpiece are between the trajectories. Non-contact,
The method of controlling a robot apparatus according to claim 4.
ことを特徴とする請求項４記載のロボット装置の制御方法。 The trajectory at the second teaching point and the trajectory at the third teaching point are relatively inclined linear trajectories,
The method of controlling a robot apparatus according to claim 4.
ことを特徴とする請求項４記載のロボット装置の制御方法。 The trajectory at the third teaching point is a linear trajectory, and the trajectory at the second teaching point is a trajectory in a rotational direction centered on an axis in the same direction as the straight line.
The method of controlling a robot apparatus according to claim 4.
ことを特徴とする請求項５乃至８のいずれか１項に記載のロボット装置の制御方法。 In the first detection step, the change amount is a change amount of a force acting relatively in the direction of the straight line between the first workpiece and the second workpiece, or the displacement amount is , The displacement amount of the relative position of the first workpiece and the second workpiece in the direction of the straight line,
The robot apparatus control method according to claim 5, wherein the robot apparatus has a control method.
前記第１の演算工程では、前記制御部が、前記第１の検出工程で検出した前記力の変化量あるいは前記相対位置の変位量に基づき、前記軌道の補正量として、前記第１の教示点及び前記第２の教示点の各位置の補正量を演算し、
前記第１の補正工程では、前記制御部が、前記第１の演算工程で演算した前記補正量に基づき、前記第１の教示点及び前記第２の教示点の各位置を補正し、
前記制御部が、前記第１の補正工程での補正後に、前記移動工程において前記第１のワークが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記第１のワーク及び前記第２のワークの間に相対的に作用する力の変化量と、前記第１のワーク及び前記第２のワークの相対姿勢の変位量と、の少なくとも一方を前記検出部により検出する第２の検出工程と、
前記制御部が、前記第２の検出工程で検出した前記力の変化量あるいは前記相対姿勢の変位量に基づき、前記軌道の補正量として、前記第１の教示点及び前記第２の教示点の各姿勢の補正量を演算する第２の演算工程と、
前記制御部が、前記第２の演算工程で演算した前記補正量に基づき、前記第１の教示点及び前記第２の教示点の各姿勢を補正する第２の補正工程と、を備える、
ことを特徴とする請求項３乃至９のいずれか１項に記載のロボット装置の制御方法。 In the first detection step, when the control unit is positioned on the trajectory from the contact point to the second teaching point in the movement step, the control unit and the first workpiece and and variation of the force relative acting between said second workpiece, detects a front Symbol displacement of the relative position of the first workpiece and the second workpiece, the at least one by the detection unit,
In the first operation step, the control section, based on the displacement amount of the first detection amount of change in the force detected by the step or the relative position location, as the correction amount of the track, the first teaching A correction amount for each position of the point and the second teaching point is calculated,
In the first correction process, the control section, based on the correction amount calculated by said first calculating step, correct for each position of the first taught point and the second teaching point,
When the first work is positioned on the trajectory from the contact point to the second teaching point in the moving step after the correction in the first correction step, the control unit performs the first step . of the work and force variation which relatively acts between the second workpiece, the pre-Symbol the detecting unit and the displacement amount of at least one of the relative orientation of the first workpiece and the second workpiece A second detection step to detect;
Wherein the control unit is based on the displacement amount of the second variation of the force detected by the detection process or the phase Taisugata bias, as the correction amount of the track, said first taught point and said second teaching A second calculation step of calculating a correction amount of each posture of the point;
Wherein the control unit, based on the correction amount calculated by the second calculating step, and a second correction step you correct each attitude of the first taught point and the second teaching point,
The robot apparatus control method according to claim 3, wherein the robot apparatus has a control method.
前記第１の演算工程では、前記制御部が、前記第１の検出工程で検出した前記力の変化量あるいは前記相対姿勢の変位量に基づき、前記軌道の補正量として、前記第１の教示点及び前記第２の教示点の各姿勢の補正量を演算し、
前記第１の補正工程では、前記制御部が、前記第１の演算工程で演算した前記補正量に基づき、前記第１の教示点及び前記第２の教示点の各姿勢を補正し、
前記制御部が、前記第１の補正工程での補正後に、前記移動工程において前記第１のワークが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記第１のワーク及び前記第２のワークの間に相対的に作用する力の変化量と、前記第１のワーク及び前記第２のワークの相対位置の変位量と、の少なくとも一方を前記検出部により検出する第２の検出工程と、
前記制御部が、前記第２の検出工程で検出した前記力の変化量あるいは前記相対位置の変位量に基づき、前記軌道の補正量として、前記第１の教示点及び前記第２の教示点の各位置の補正量を演算する第２の演算工程と、
前記制御部が、前記第２の演算工程で演算した前記補正量に基づき、前記第１の教示点及び前記第２の教示点の各位置を補正する第２の補正工程と、を備える、
ことを特徴とする請求項３乃至９のいずれか１項に記載のロボット装置の制御方法。 In the first detection step, when the control unit is positioned on the trajectory from the contact point to the second teaching point in the movement step, the control unit and the first workpiece and and variation of the force relative acting between said second workpiece is detected by the front Symbol the detecting unit and the displacement amount of at least one of the relative orientation of the first workpiece and the second workpiece,
In the first operation step, the control section, based on the displacement amount of the first variation of the force detected by the detection process or the phase Taisugata bias, as the correction amount of the track, the first Calculating a correction amount for each posture of the teaching point and the second teaching point;
In the first correction process, the control section, based on the correction amount calculated by said first calculating step, correct for the orientation of the first taught point and the second teaching point,
When the first work is positioned on the trajectory from the contact point to the second teaching point in the moving step after the correction in the first correction step, the control unit performs the first step . and the work and the variation of the force relative acting between said second workpiece, and before Symbol displacement of the relative position of the first workpiece and the second workpiece, by the detecting unit at least one of A second detection step to detect;
Wherein the control unit is based on the displacement amount of the second detection amount of change in the force detected by the step or the relative position location, as the correction amount of the track, the first teaching point and the second teaching point A second calculation step of calculating a correction amount at each position of
Wherein the control unit, based on the correction amount calculated by the second calculating step, and a second correction step you correct the respective positions of the first taught point and the second teaching point,
The robot apparatus control method according to claim 3, wherein the robot apparatus has a control method.
前記制御部は、前記エンドエフェクタにより保持した前記第１のワークを、第１の教示点から、接触点を経て、第２の教示点まで所定の軌道で移動させ、前記第１のワークが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記第１のワーク及び前記第２のワークの間に相対的に作用する力の変化量と、前記第１のワーク及び前記第２のワークの相対位置姿勢の変位量と、の少なくとも一方を前記検出部により検出し、検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量を演算し、演算した前記補正量に基づき、前記第１の教示点と前記第２の教示点との各位置及び姿勢を補正する、
ことを特徴とするロボット装置。 A robot body having a multi-joint arm having a plurality of joints and an end effector supported by the multi-joint arm, and is connected to the end effector and acts relatively between the first work and the second work. In a robot apparatus comprising: a detection unit that detects at least one of a force change amount and a displacement amount of a relative position and orientation of the first workpiece and the second workpiece; and a control unit that controls the robot body.
Wherein, the first workpiece held by the end effector, the first taught point, via a contact point, to a second teaching point is moved in a predetermined orbit, said first workpiece when located on the track from the contact point to the second teaching point, the change amount of the force relative acting between said first workpiece and said second workpiece, prior Symbol first And at least one of the displacement of the relative position and orientation of the second workpiece and the second workpiece is detected by the detection unit, and the trajectory is corrected based on the detected change amount of the force or the displacement amount of the relative position and orientation An amount is calculated, and each position and orientation of the first teaching point and the second teaching point are corrected based on the calculated correction amount.
A robot apparatus characterized by that.
ことを特徴とする物品の製造方法。 A method for manufacturing an article.
前記制御部が、前記エンドエフェクタを、第１の教示点から、接触点を経て、第２の教示点までの軌道で移動させる移動工程と、 A moving step in which the control unit moves the end effector from a first teaching point through a contact point to a second teaching point;
前記制御部が、前記移動工程において前記エンドエフェクタが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記エンドエフェクタ及び前記ワークの間に相対的に作用する力の変化量と、前記エンドエフェクタ及び前記ワークの相対位置姿勢の変位量と、の少なくとも一方を前記検出部により検出する第１の検出工程と、 When the end effector is positioned on the track from the contact point to the second teaching point in the moving step, the control unit is configured to generate a force acting relatively between the end effector and the workpiece. A first detection step in which at least one of a change amount and a displacement amount of a relative position and orientation of the end effector and the workpiece is detected by the detection unit;
前記制御部が、前記第１の検出工程で検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量を演算する第１の演算工程と、 A first calculation step in which the control unit calculates a correction amount of the trajectory based on a change amount of the force detected in the first detection step or a displacement amount of the relative position and posture;
前記制御部が、前記第１の演算工程で演算した前記補正量に基づき、前記第１の教示点と前記第２の教示点との各位置及び姿勢を補正する第１の補正工程と、を備える、 A first correction step in which the control unit corrects each position and posture of the first teaching point and the second teaching point based on the correction amount calculated in the first calculation step; Prepare
ことを特徴とするロボット装置の制御方法。 A method for controlling a robot apparatus, comprising:
前記制御部は、前記エンドエフェクタを、第１の教示点から、接触点を経て、第２の教示点までの軌道で移動させ、前記エンドエフェクタが前記接触点から前記第２の教示点までの前記軌道上に位置するときに、前記エンドエフェクタ及び前記ワークの間に相対的に作用する力の変化量と、前記エンドエフェクタ及び前記ワークの相対位置姿勢の変位量と、の少なくとも一方を前記検出部により検出し、検出した前記力の変化量あるいは前記相対位置姿勢の変位量に基づき、前記軌道の補正量を演算し、演算した前記補正量に基づき、前記第１の教示点と前記第２の教示点との各位置及び姿勢を補正する、 The control unit moves the end effector from a first teaching point through a contact point to a second teaching point, and the end effector moves from the contact point to the second teaching point. At least one of a change amount of a force acting relatively between the end effector and the workpiece and a displacement amount of a relative position and posture of the end effector and the workpiece when positioned on the track is detected. And calculating the correction amount of the trajectory based on the detected change amount of the force or the displacement amount of the relative position and posture. Based on the calculated correction amount, the first teaching point and the second Correct each position and posture with the teaching point of
ことを特徴とするロボット装置。 A robot apparatus characterized by that.
ことを特徴とする物品の製造方法。 A method for manufacturing an article.
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| JP2015088702A JP6516546B2 (en) | 2014-04-28 | 2015-04-23 | Control method of robot device, robot device, and method of manufacturing article |
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| JPH08187687A (en) * | 1995-01-10 | 1996-07-23 | Toshiba Corp | Control device for robot and hand device for robot |
| JPH09136279A (en) * | 1995-11-15 | 1997-05-27 | Fanuc Ltd | Phase-adjusting fitting method using force control robot |
| JPH09258814A (en) * | 1996-03-22 | 1997-10-03 | Kayaba Ind Co Ltd | Device and method for controlling position of assembling robot |
| JP3818986B2 (en) * | 2003-07-08 | 2006-09-06 | ファナック株式会社 | Mating device |
| JP4598849B2 (en) * | 2008-09-03 | 2010-12-15 | ファナック株式会社 | Fitting device for correcting clogged fitting |
| JP5451219B2 (en) * | 2009-07-06 | 2014-03-26 | キヤノン株式会社 | Parts assembly method |
| JP5545534B2 (en) * | 2010-04-19 | 2014-07-09 | 株式会社安川電機 | Robot teaching reproduction device, teaching reproducing method, and teaching data creation method |
| JP2013127670A (en) * | 2011-12-16 | 2013-06-27 | Canon Inc | Control device and drive unit |
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