JP2016144861A5 - Robot apparatus, control method, article manufacturing method, program, and recording medium - Google Patents
Robot apparatus, control method, article manufacturing method, program, and recording medium Download PDFInfo
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- JP2016144861A5 JP2016144861A5 JP2015249285A JP2015249285A JP2016144861A5 JP 2016144861 A5 JP2016144861 A5 JP 2016144861A5 JP 2015249285 A JP2015249285 A JP 2015249285A JP 2015249285 A JP2015249285 A JP 2015249285A JP 2016144861 A5 JP2016144861 A5 JP 2016144861A5
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- 238000004519 manufacturing process Methods 0.000 title claims description 8
- 238000001514 detection method Methods 0.000 claims description 28
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000001809 detectable Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims 6
- 210000001503 Joints Anatomy 0.000 claims 1
- 238000004805 robotic Methods 0.000 claims 1
Description
本発明は、ロボットアームを備えたロボット装置、制御方法、物品の製造方法、プログラム及び記録媒体に関する。 The present invention, a robot apparatus provided with a robot arm, the control method, a method of manufacturing an article, a program, and a recording medium.
本発明のロボット装置は、ロボットアームと、前記ロボットアームの動作を制御する制御装置と、を備え、前記ロボットアームは、力の情報を検出する、互いに検出可能な値の範囲が異なる複数のセンサを有し、前記制御装置は、所定の条件により、前記複数のセンサの検出結果のうち、いずれかのセンサの検出結果を選択し、選択したいずれかのセンサの検出結果を用いて、前記ロボットアームを制御することを特徴とする。 Robot apparatus of the present invention comprises a robot arm, and a control device for controlling the operation of the pre-SL robot arm, the robot arm has a plurality of detecting the force information, a range of detectable values different It has a sensor, the control apparatus, the predetermined condition, among the detection results of the plurality of sensors, select one of the detection results of the sensors, detection result of any of the sensors selected Is used to control the robot arm.
Claims (21)
前記ロボットアームの動作を制御する制御装置と、を備え、
前記ロボットアームは、力の情報を検出する、互いに検出可能な値の範囲が異なる複数のセンサを有し、
前記制御装置は、所定の条件により、前記複数のセンサの検出結果のうち、いずれかのセンサの検出結果を選択し、選択したいずれかのセンサの検出結果を用いて、前記ロボットアームを制御することを特徴とするロボット装置。 And the robot arm,
A control device for controlling the operation of the robot arm,
The robot arm includes a plurality of sensors that detect force information and that have different ranges of values that can be detected from each other .
Wherein the control apparatus, the predetermined condition, among the detection results of the plurality of sensors to select a detection result of any of the sensors, using a detection result of any of the sensors selected, the robot A robot apparatus that controls an arm.
前記複数のセンサは、
前記ロボットアームの端部と前記エンドエフェクタとの間に配置され、前記エンドエフェクタに作用する荷重を検出する第１のセンサと、
前記ロボットアームの関節に配置され、前記関節に作用するトルクを検出する第２のセンサと、があり、
前記第１のセンサと前記第２のセンサは、互いに検出可能な値の範囲が異なり、
前記制御装置は、前記所定の条件により、前記第１のセンサの検出結果または前記第２のセンサの検出結果のうち、いずれかのセンサの検出結果を選択し、選択したいずれかのセンサの検出結果を用いて、前記ロボットアームを制御することを特徴とする請求項１に記載のロボット装置。 The robot arm includes a joint and an end effector,
The plurality of sensors are:
Wherein arranged between the end of the robot arm and the end effector, a first sensor for detect the load acting on the end effector,
Wherein disposed joints of the robot arm, a second sensor for detect the torque acting on the joint, there is,
The first sensor and the second sensor have different detectable ranges of values,
The control device, by the predetermined condition, among the detection results of the first sensor or the second sensor, either select detection result of the sensor, either with select with detection result of the sensor, the robot apparatus according to claim 1, wherein the controller controls the robot arm.
前記制御装置は、前記ロボットアームの動作位置の情報として、前記位置検出部の検出結果を用いることを特徴とする請求項５に記載のロボット装置。 A position detection unit for detecting an operation position of the robot arm
The robot apparatus according to claim 5, wherein the control apparatus uses a detection result of the position detection unit as information on an operation position of the robot arm.
前記撮像装置は、作業可能な位置に配置された作業対象物を撮像し、
前記制御装置は、前記撮像装置により撮像された撮像画像の解析結果に基づく前記作業対象物の位置に応じて、前記複数の領域を設定することを特徴とする請求項１０に記載のロボット装置。 Further comprising an imaging device;
The imaging device captures the work object arranged working position capable
The robot apparatus according to claim 10, wherein the control device sets the plurality of regions according to a position of the work target based on an analysis result of a captured image captured by the imaging device.
前記撮像装置は、作業可能な位置に配置された作業対象物を撮像し、
前記制御装置は、前記撮像装置により撮像された撮像画像の解析結果に基づいて、前記第１のセンサまたは前記第２のセンサのいずれかの検出結果を選択することを特徴とする請求項２乃至４のいずれか１項に記載のロボット装置。 Further comprising an imaging device;
The imaging device captures the work object arranged working position capable
The control device according to claim 2 which based on the analysis result of the image captured image by the imaging device, and selects one of the detection results of the first sensor or the second sensor The robot apparatus according to any one of 1 to 4.
前記制御装置が、所定の条件により、前記複数のセンサの検出結果のうち、いずれかのセンサの検出結果を選択し、
前記制御装置が、選択したいずれかのセンサの検出結果を用いて、前記ロボットアームを制御する、ことを特徴とする制御方法。 Robotic arm, to detect the information of the force, a detectable and range of values has a plurality of different sensors, the control unit by the system that controls the operation of the robot arm control method from each other,
Wherein the controller, the predetermined condition, among the detection results of the plurality of sensors, the detection result of one of the sensors is selected,
Wherein the controller, using the detection results of one of sensors selected, the controlling the robot arm, characterized and to that control method that.
前記制御装置は、前記エンドエフェクタが把持するワークに基づいて、前記複数のセンサのいずれかの検出結果を選択することを特徴とする請求項１４に記載の制御方法。 The robot arm includes an end effector,
Prior Symbol controller, based on the work of the end effector to grip, control method according to claim 14, wherein the selecting one of the detection results of the plurality of sensors.
前記制御装置が、所定の条件により、前記複数のセンサの検出結果のうち、いずれかのセンサの検出結果を選択し、 The control device selects a detection result of one of the detection results of the plurality of sensors according to a predetermined condition,
前記制御装置が、選択したいずれかのセンサの検出結果を用いて、前記ロボットアームを制御し、物品の製造を行うことを特徴とする物品の製造方法。 A method for manufacturing an article, wherein the control device controls the robot arm using a detection result of one of selected sensors to manufacture the article.
前記制御装置は、前記エンドエフェクタが把持するワークに基づいて、前記複数のセンサのいずれかの検出結果を選択することを特徴とする請求項１８に記載の物品の製造方法。 The method for manufacturing an article according to claim 18, wherein the control device selects a detection result of the plurality of sensors based on a work gripped by the end effector.
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| US15/002,831 US10201901B2 (en) | 2015-01-29 | 2016-01-21 | Robot apparatus, method for controlling robot, program, and recording medium |
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| JP2016144861A JP2016144861A (en) | 2016-08-12 |
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| JP6772013B2 (en) * | 2016-09-28 | 2020-10-21 | キヤノン株式会社 | Robot arms, robot controls, and robot systems |
| JP6922213B2 (en) * | 2016-12-26 | 2021-08-18 | 株式会社デンソーウェーブ | Manipulator warm-up operation necessity judgment device |
| WO2018131237A1 (en) * | 2017-01-13 | 2018-07-19 | 三菱電機株式会社 | Collaborative robot system and control method therefor |
| JP6824764B2 (en) * | 2017-01-27 | 2021-02-03 | キヤノン株式会社 | Manufacturing methods for sensors, robot devices and articles |
| JP2018132498A (en) * | 2017-02-17 | 2018-08-23 | キヤノン株式会社 | Sensor, robot, and method for manufacturing article |
| JP6496335B2 (en) | 2017-03-03 | 2019-04-03 | ファナック株式会社 | Robot system |
| CN107053218A (en) * | 2017-06-02 | 2017-08-18 | 西安热工研究院有限公司 | A kind of intelligent robot and detection method for detecting the infrared hot spot of photovoltaic module |
| JP6977363B2 (en) * | 2017-07-25 | 2021-12-08 | 株式会社ニコン | Torque detection module, drive device, stage device, robot device, and control device |
| JP2020025992A (en) | 2018-08-09 | 2020-02-20 | 株式会社東芝 | Control device, control method, and program |
| JP6841802B2 (en) | 2018-08-31 | 2021-03-10 | ファナック株式会社 | Robots and robot systems |
| JP7388828B2 (en) * | 2019-05-27 | 2023-11-29 | ファナック株式会社 | robot |
| JPWO2022004372A1 (en) * | 2020-07-03 | 2022-01-06 | ||
| JP7479976B2 (en) * | 2020-07-22 | 2024-05-09 | 住友重機械工業株式会社 | Robot arm operation method, robot system, control device and program |
| JP2022090902A (en) * | 2020-12-08 | 2022-06-20 | オムロン株式会社 | Robot, gripping force control device, gripping force control method, and gripping force control program |
| JP2021051098A (en) * | 2021-01-13 | 2021-04-01 | キヤノン株式会社 | Driving device, robot, and robotic device |
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| JP2691591B2 (en) * | 1988-11-20 | 1997-12-17 | 富士通株式会社 | Control system of force control robot |
| JP2001038664A (en) * | 1999-08-04 | 2001-02-13 | Yaskawa Electric Corp | Robot arm impedance control device |
| JP4628769B2 (en) | 2004-12-16 | 2011-02-09 | 本田技研工業株式会社 | Electronic brake device |
| JP5376859B2 (en) * | 2007-08-28 | 2013-12-25 | キヤノン株式会社 | Magnetic force sensor and robot arm having magnetic force sensor |
| JP5166836B2 (en) | 2007-11-26 | 2013-03-21 | トヨタ自動車株式会社 | Robotic manipulator |
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