JP2016221653A - Robot control device and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control device easily grasping a correspondence between a target position and an actual operation position.SOLUTION: A robot control device controlling a robot comprising: a manipulator; a force detector provided to the manipulator; and an actuator driving the manipulator on the basis of a target position, comprises a display control section displaying an operation position of the manipulator derived on the basis of target force and output of the force detector and the target position on a screen.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a robot control device and a robot system.

  In recent years, in the field of robots, force detectors have been used to control the operation position according to the force applied to the manipulator. Here, the operation position is a position derived based on the target force in the active impedance control and the force actually applied to the manipulator. Patent Document 1 discloses a technique that facilitates teaching by displaying a time change of a force applied to a manipulator or displaying a time change of an operation position of a manipulator.

JP 2014-128857 A

  However, with the technique disclosed in Patent Document 1, it is difficult to understand the correspondence between the target trajectory set for the robot and the actual motion trajectory. For example, the teacher needs to teach while updating the initial position and target position by trial and error based on what the actual movement locus will be with respect to the target locus set for the robot. There is a problem that it takes a long time to determine whether the teaching is optimal when it is difficult to understand the correspondence between the trajectory and the actual motion trajectory.

  The present invention was created to solve these problems, and it is an object of the present invention to provide a technique that makes it easy to grasp the correspondence between a target locus and an actual motion locus.

  A robot control apparatus for achieving the object includes a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position. A display control unit is provided that displays on the screen a movement trajectory of the manipulator derived based on the force and the output of the force detector and the trajectory of the target position.

  By adopting this configuration, the teacher can easily grasp the target position and trajectory and the actual operation position and trajectory.

  Note that the function of each means described in the claims is realized by hardware resources whose function is specified by the configuration itself, hardware resources whose function is specified by a program, or a combination thereof. The functions of these means are not limited to those realized by hardware resources that are physically independent of each other.

It is a schematic diagram of a robot system. It is a block diagram of a robot system. It is a screen block diagram of a monitor screen. It is a screen configuration of an xy monitor.

Hereinafter, embodiments of the present invention will be described in the following order with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the corresponding component in each figure, and the overlapping description is abbreviate | omitted.
(1) First Embodiment As shown in FIG. 1, a robot system as a first embodiment of the present invention includes a robot 1, an end effector 2, a control device 3 (controller), a teaching terminal 4, and a teaching pendant. 5 is provided. The control device 3 and the teaching terminal 4 are configuration examples of the robot control device of the present invention. The control device 3 is communicably connected to the robot 1 via a cable (not shown). The control device 3 includes a power supply unit 31 that supplies driving power to the robot 1 and a control unit 32 for controlling the robot 1. The teaching terminal 4 is a configuration example of the teaching unit of the present invention. The control device 3 and the teaching terminal 4 are connected by a wired cable or capable of wireless communication. The teaching terminal 4 may be a dedicated computer or a general-purpose computer in which a program for the robot 1 is installed. For example, a teaching pendant 5 that is a dedicated device for teaching the robot 1 may be used instead of the teaching device 4. Furthermore, the control device 3 and the teaching terminal 4 may be provided with separate housings as shown in FIG. 1 or may be configured integrally.

  The robot 1 is a single-arm robot that is used with various end effectors 2 attached to the arm A. The arm A includes six joints J1, J2, J3, J4, J5, and J6. Six arm members A1 to A6 are connected by joints J1, J2, J3, J4, J5, and J6. Joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsional joints. Various end effectors 2 for gripping and processing the workpiece are mounted on the joint J6. A predetermined position on the rotation axis of the joint J6 at the tip is represented as a tool center point (TCP). The arm A and the end effector 2 are configuration examples of the manipulator of the present invention. The position of the TCP is a reference for the positions of various end effectors 2. In the present embodiment, description will be made assuming that the end effector 2 that holds the workpiece W is attached to the tip of the joint J6.

  The joint J6 is provided with a force sensor FS. The force sensor FS is a 6-axis force detector. The force sensor FS detects the magnitude of the force parallel to the three detection axes orthogonal to each other in the sensor coordinate system, which is a unique coordinate system, and the magnitude of the torque around the three detection axes. The force sensor FS is a configuration example of the force detector of the present invention, but a force sensor as a force detector may be provided in any one or more of the joints J1 to J5 other than the joint J6.

  When the coordinate system that defines the space in which the robot 1 is installed is referred to as a robot coordinate system, the robot coordinate system is defined by an X axis and a Y axis that are orthogonal to each other on a horizontal plane, and a Z axis that has a vertical upward direction as a positive direction. This is a three-dimensional orthogonal coordinate system. The negative direction on the Z-axis generally coincides with the direction of gravity. A rotation angle around the X axis is represented by RX, a rotation angle around the Y axis is represented by RY, and a rotation angle around the Z axis is represented by RZ. An arbitrary position in the three-dimensional space can be expressed by a position in the X, Y, and Z directions, and an arbitrary posture in the three-dimensional space can be expressed by a rotation angle in the RX, RY, and RZ directions. Hereinafter, when it is described as a position, it can also mean a posture. In addition, when expressed as force, it can also mean torque. The controller 3 controls the position of the TCP in the robot coordinate system by driving the arm A.

  FIG. 2 is a block diagram of the robot system. The control unit 32 is a computer in which a control program for controlling the robot 1 is installed. The control unit 32 includes a processor, a RAM, and a ROM, and these hardware resources cooperate with the control program.

The robot 1 includes motors M1 to M6 as actuators and encoders E1 to E6 as sensors in addition to the configuration illustrated in FIG. Controlling the motors M1 to M6 means controlling the arm A. Motors M1 to M6 and encoders E1 to E6 are provided corresponding to the joints J1 to J6, respectively, and the encoders E1 to E6 detect the rotation angles of the motors M1 to M6. The control device 3 stores a correspondence U1 between a combination of driving positions of the motors M1 to M6 and a TCP position in the robot coordinate system. Further, the control unit 3 stores the target position S _t and the target force f _St as a command for each step of the work robot 1 performs. Command to determine the target position S _t and the target force f _St is set by teaching for each step of the work robot 1 performs. Therefore, the target position can be rephrased as a teaching position, and the target force can be rephrased as a teaching force.

For example, the control device 3 controls the arm A so that the target position and the target force set by teaching by the user are realized by TCP. The target force is a force that should be detected by the force sensor FS in accordance with the operation of the arm A. Here, the letter S represents one of the directions (X, Y, Z, RX, RY, RZ) of the axes that define the robot coordinate system. S represents the position in the S direction. For example, in the case of S = X, X-direction component of the position specified in the robot coordinate system is denoted as S _t = X _t, X-direction component of the desired force is denoted as f _St = f _Xt.

The controller 3 acquires the rotation angle D _a motor M1-M6, based on the correspondence relationship U1, the rotation angle D _a position of TCP in the robot coordinate system S (X, Y, Z, RX, RY, RZ). Based on the position S of the TCP and the detection value of the force sensor FS, the control device 3 specifies the acting force f _S actually acting on the force sensor FS in the robot coordinate system. The control device 3 stores a correspondence U2 that defines the direction of the detection axis in the sensor coordinate system of the force sensor FS for each position S of the TCP in the robot coordinate system. Therefore, the control device 3 can specify the acting force f _S in the robot coordinate system based on the TCP position S and the correspondence U2 in the robot coordinate system. The control device 3 performs gravity compensation for the acting force f _S. Gravity compensation is to remove components of force and torque caused by gravity from the acting force f _S. The acting force f _S subjected to gravity compensation can be regarded as a force other than gravity acting on the end effector 2.

  The impedance control of the present embodiment is active impedance control that realizes a virtual mechanical impedance by the motors M1 to M6. The control device 3 applies such impedance control in a process in which the end effector 2 receives a force from the workpiece, such as a workpiece fitting operation and a polishing operation. The control device 3 controls the motors M <b> 1 to M <b> 6 at a rotation angle derived from the target position by linear calculation without applying impedance control in a non-contact state process where the end effector 2 does not receive force from the workpiece. A mode in which the motors M1 to M6 are controlled with a rotation angle derived from the target position by linear calculation is referred to as a position control mode, and a mode in which the motors M1 to M6 are impedance controlled is referred to as a force control mode. The control device 3 may autonomously switch between the position control mode and the force control mode based on the output of the force sensor FS, or may switch between the position control mode and the force control mode according to a command.

The control device 3 specifies the force-derived correction amount ΔS by substituting the target force f _St and the acting force f _S into the equation of motion for impedance control. The force-derived correction amount ΔS means the size of the position S where the TCP should move in order to eliminate the force deviation Δf _S (t) from the target force f _St when the TCP receives mechanical impedance. To do. The following equation (1) is an equation of motion for impedance control.

The left side of the equation (1) is a first term obtained by multiplying the second-order differential value of the TCP position S by the virtual inertia coefficient m, a second term obtained by multiplying the differential value of the TCP position S by the virtual viscosity coefficient d, And a third term obtained by multiplying the position S of the TCP by the virtual elastic coefficient k. The right side of the equation (1) is constituted by a force deviation Δf _S (t) obtained by subtracting the actual force f from the target force f _St. The differentiation in the equation (1) means differentiation with time. In the step of the robot 1 performs, to some cases a constant value is set as the target force f _St, there is a case where a function of time as the target force f _St is set.

The virtual inertia coefficient m means the mass that the TCP virtually has, the virtual viscosity coefficient d means the viscous resistance that the TCP virtually receives, and the virtual elastic coefficient k is the spring constant of the elastic force that the TCP virtually receives. means. Each coefficient m, d, k may be set to a different value for each direction, or may be set to a common value regardless of the direction. Control device 3, the target position S _t, by adding a force from the correction amount [Delta] S, specifying the operating position in consideration of the impedance control (S _t + ΔS).

Then, based on the correspondence relationship U1, the control device 3 sets the operation position (S _t + ΔS) in the direction of each axis that defines the robot coordinate system to the target angle D _t that is the target rotation angle of each motor M1 to M6. Convert to Then, the control unit 3, by subtracting the output D _a of the encoder E1~E6 from the target angle D _t is a rotation angle of the real motor M1-M6, the drive position deviation _{D e (= D t -D a} ) Is calculated. Then, the control device 3, a value obtained by multiplying the position control gain K _p to the driving position deviation D _e, the driving speed deviation which is a difference between the driving speed is the time differential value of the actual rotational angle D _a, the speed control The control amount D _c is derived by adding the value multiplied by the gain K _v . Note that the position control gain K _p and the speed control gain K _v may include not only a proportional component but also a control gain related to a differential component and an integral component. The control amount D _c is specified for each of the motors M1 to M6. Thus the configuration described, the controller 3 is able to impedance control arm A on the basis of the target position S _t and the target force f _St.

The teaching terminal 4, teaching program for teaching a target position S _t and the target force f _St is installed in the control unit 3. The teaching terminal 4 includes a display 43, a processor, a RAM, and a ROM, and these hardware resources cooperate with the control program. Thereby, as shown in FIG. 2, the teaching terminal 4 functions as a display control unit 41 and a teaching unit 42.

Teaching unit 42 outputs the target force f _st and the target position S controller 3 generates a command that specifies _t in accordance with the operation of the caregiver. The teaching unit 42 displays a teaching screen for receiving a command generation instruction on the display 43. The teaching unit 42 generates a command for each process, and defines a series of operations by the robot 1, that is, a series of operations of the manipulator by a plurality of commands. This command is expressed as, for example, “Move P30 FC1! D50; g_StepID = 9!”. In this notation example, “P30 FC1” is set as the target parameter for the command “Move” instructing TCP movement. "P30" is a function indicating the target position S _t, which is separately defined for TCP. “FC1” is a function indicating a target force f _St determined separately for TCP or force control coordinate origin. In this command, “g_StepID = 9” defines “9” as a process ID at a position where 50% of the time scheduled by the Move command has elapsed since the start of command execution represented by “D50”. The process ID is an identifier of a process delimited by a command, but may be used as an identifier for a specific period in the process. The teacher operates the teaching terminal 4 via the teaching screen displayed by the teaching unit 42 and causes the control device 3 to output such a command, thereby storing the target position St and the target force Fst in the control device 3. Can be made. A command group for specifying the target position St and the target force Fst is described in the order of execution, and is stored in the control device 3 as a teaching file including a series of a plurality of commands. The teaching of the present embodiment is to store the target position St and the target force Fst in the robot 1 in this way.

The display control unit 41 acquires the target position S _t where caregiver to set the target force F _st from the teaching unit 42 acquires the force from the correction amount ΔS and action force f _s from the control device 3. The display control unit 41 derives the operation position based on the target position _St and the force-derived correction amount ΔS, and displays the operation position, the target position, and the like on the monitor screen.

  The teaching terminal 4 can display a monitor screen displayed by the display control unit 41 and a teaching screen in which the teaching unit 42 receives a command input operation on one screen of the display 43. The monitor screen and teaching screen can be switched accordingly. Therefore, the teaching terminal 4 can accept an instruction from the teacher based on the target locus and the operation locus displayed on the monitor screen via the teaching screen.

  Here, a configuration example of a monitor screen on which the display control unit 41 displays an operation position, a target position, and the like will be described. The display control unit 41 displays the XY monitor 101, the XZ monitor 102, the YZ monitor 103, the Fx monitor 111, the Fy monitor 112, the Fz monitor 113, the Tx monitor 114, the Ty monitor 115, the Tz monitor 116, Step monitor 121, display section setting boxes 122a, 122b, 122c, x monitor 131, y monitor 132, z monitor 133, Rz monitor 134, Ry monitor 136, Rx monitor 137, process table 125, and speedometer 141-146 are arranged. . When the teacher specifies the teaching file and requests the teaching terminal 4 to display the monitor screen, the display control unit 41 monitors the monitor screen for a period (section) from the start to the end of a series of commands described in the teaching file. The target position, operation position, acting force, force-derived correction amount ΔS, speed, etc. are displayed as follows.

The display control unit 41 acquires the operating position from the control unit 32 of the target position S _t and the control unit 3 to acquire the teaching unit 42. Then, the display control unit 41 displays on the XY monitor 101, the XZ monitor 102, and the YZ monitor 103 a trajectory obtained by projecting the three-dimensional target position and the three-dimensional operation position onto the same two-dimensional coordinate plane. The vertical and horizontal axes of the XY monitor 101, the XZ monitor 102, and the YZ monitor 103 are positions (mm). Specifically, the XY monitor 101 is an area for displaying a locus obtained by projecting a three-dimensional target position and a three-dimensional operation position onto an XY coordinate plane. The XZ monitor 102 is an area for displaying a locus obtained by projecting a three-dimensional target position and a three-dimensional operation position onto the XZ coordinate plane. The YZ monitor 103 is an area for displaying a locus obtained by projecting a three-dimensional target position and a three-dimensional operation position onto the YZ coordinate plane. It should be noted that the display of the trajectory of the target position and the trajectory of the operation position may be performed as long as two trajectories can be identified, such as changing the display color of the trajectory. The locus is displayed as a dotted line, and the locus of the operating position is displayed as a solid line. In addition, for the portion where the target position and the operation position coincide with each other, the locus of the operation position is displayed with a solid line. By displaying the target position and the operating position on the same coordinate plane in this way, the teacher can easily grasp the target position and the operating position that occur when impedance control is performed, and the difference between them. it can.

Fx monitor 111 is an area for displaying a line graph of the action force f _X, which is the coordinate transformation from the detection value of the force sensor FS as a function of time. Fy monitor 112 is an area for displaying a line graph of the action force f _Y, which is the coordinate transformation from the detection value of the force sensor FS as a function of time. Fz monitor 113 is an area for displaying a line graph of the action force f _Z, which is the coordinate transformation from the detection value of the force sensor FS as a function of time. The horizontal axes of the Fx monitor 111, Fy monitor 112, and Fz monitor 113 are time (seconds), and the vertical axis is force (N). The Tx monitor 114 is an area for displaying the acting force f _RX coordinate-converted from the detection value of the force sensor FS as a function of time in a line graph. The Ty monitor 114 is an area for displaying the acting force _fRY coordinate-converted from the detection value of the force sensor FS as a line graph as a function of time. The Tz monitor 114 is an area for displaying the acting force f _RZ coordinate-transformed from the detection value of the force sensor FS as a line graph as a function of time. The horizontal axes of the Tx monitor 114, Ty monitor 115, and Tz monitor 116 are time (seconds), and the vertical axis is torque (Nm).

  The step monitor 121 is an area for displaying the correspondence between the elapsed time and the process. The horizontal axis of the step monitor 121 is time (seconds), and the vertical axis is the process ID. The work content identified by the process ID is displayed in the process table 125. The display section setting box 122a includes an XY monitor 101, an XZ monitor 102, a YZ monitor 103, an Fx monitor 111, an Fy monitor 112, an Fz monitor 113, a Tx monitor 114, a Ty monitor 115, a Tz monitor 116, an x monitor 131, and a y monitor 132. , Z monitor 133, Rz monitor 134, Ry monitor 136, and Rx monitor 137 are drop-down text boxes for inputting a process ID of a process for displaying a target position, an operation position, and the like. The display section setting box 122b includes an XY monitor 101, an XZ monitor 102, a YZ monitor 103, an Fx monitor 111, an Fy monitor 112, an Fz monitor 113, a Tx monitor 114, a Ty monitor 115, a Tz monitor 116, an x monitor 131, and a y monitor 132. , Z monitor 133, Rz monitor 134, Ry monitor 136, and Rx monitor 137 are drop-down text boxes for inputting a start time for displaying a target position, an operation position, and the like. The display section setting box 122c includes an XY monitor 101, an XZ monitor 102, a YZ monitor 103, an Fx monitor 111, an Fy monitor 112, an Fz monitor 113, a Tx monitor 114, a Ty monitor 115, a Tz monitor 116, an x monitor 131, and a y monitor 132. , Z monitor 133, Rz monitor 134, Ry monitor 136, Rx monitor 137, x monitor 131, y monitor 132, z monitor 133, Rz monitor 134, Ry monitor 136, Rx monitor 137, the target position, the operation position, etc. are displayed. This is a drop-down text box for entering the end time. The instructor inputs a process ID or a start time and an end time in the display interval setting boxes 122a, 122b, and 122c, so that a part of the work executed by a series of commands described in the teaching file is performed. The operation position, acting force, force-derived correction amount ΔS, operation position speed, and the like can be displayed on the monitor screen. Moreover, you may enable it to specify an area combining process ID, start time, and end time. In this case, the start time and the end time are input with respect to the elapsed time from the start of execution of the command of the input process ID.

  The x monitor 131 is an area for displaying the X component of the force-derived correction amount ΔS in a line graph as a function of time. The y monitor 131 is an area for displaying the Y component of the force-derived correction amount ΔS as a line graph as a function of time. The z monitor is an area in which the Z component of the force-derived correction amount ΔS is displayed as a line graph as a function of time. The horizontal axis of the x monitor 131, the y monitor 132, and the z monitor 133 is time (seconds), and the vertical axis is (mm). The Rz monitor 134 is an area for displaying the Rz component of the force-derived correction amount ΔS as a function of time as a line graph. The Ry monitor 134 is an area for displaying the Ry component of the force-derived correction amount ΔS as a line graph as a function of time. The Rz monitor 134 is an area for displaying the Rz component of the force-derived correction amount ΔS as a function of time as a line graph. The horizontal axis of the Rz monitor 134, Ry monitor 136, and Rx monitor 137 is time (seconds), and the vertical axis is (degrees).

  The speedometer 141 is an area in which the X component of the speed at the operating position is displayed with a rotating needle. The speedometer 142 is an area for displaying the Y component of the speed at the operating position with a rotating needle. The speedometer 143 is an area for displaying the Z component of the speed at the operating position with a rotating needle. The unit of the speedometer 141-143 is mm / second. The speedometer 144 is an area in which the RZ component of the speed at the operating position is displayed with a rotating needle. The speedometer 145 is an area for displaying the RY component of the speed at the operating position with a rotating needle. The speedometer 146 is an area in which the RX component of the speed at the operating position is displayed with a rotating needle. The unit of the speedometer 144-146 is degrees / second.

  The display control unit 41 switches the display form of the monitor screen as follows according to the mode. In the real-time mode, the operation position, action force, force-derived correction amount ΔS, operation position speed, etc. as the operation result of the robot 1 by command execution are in real time during the operation of the robot 1, that is, an inevitable delay due to hardware performance. Otherwise, it is displayed on the monitor screen in synchronization with the operation of the robot 1. Therefore, in the real-time mode, the display control unit 41 draws the locus of the operation position by deriving the operation position while acquiring the force-derived correction amount and the acting force from the control device 3. In the reproduction mode, the motion position, the acting force, the force-derived correction amount ΔS, the motion position speed, and the like as the motion result of the robot 1 by the command execution are displayed as moving images on the monitor screen. Such a log is acquired from the control device 3 by the teaching unit 42 or the display control unit 41 during command execution and stored in the RAM.

  Further, the display control unit 41 changes the target area and the display magnification for displaying the locus of the target position and the operation position on the xy monitor 101, the xz monitor 102, and the yz monitor 103 in response to a teacher's request. Specifically, for example, when the display magnification change request is acquired from the teacher in a state where the xy monitor 101 is displayed as shown in FIG. 3, the display control unit 41 displays the target position and the operation position as shown in FIG. 4A. It is only necessary to reduce the target area for displaying the trajectory on the xy monitor 101 and increase the trajectory display magnification. Further, when the display area change request is acquired from the teacher while the xy monitor 101 is displayed as shown in FIG. 4A, the display control unit 41 displays the locus of the target position and the operation position as xy as shown in FIG. 4B. The target area displayed on the monitor 101 may be changed while maintaining the display magnification. The display control unit 41 can acquire a display magnification change request or a display area change request from a teacher using a keyboard, a mouse, or a touch panel.

  Further, the display control unit 41 may display the TCP traveling direction (the change direction of the target position and the operation position) on the locus of the target position and the operation position as shown in FIG. 4A. For example, the direction of travel may be displayed with an arrow on the trajectory for each process, or the direction of travel may be displayed with one arrow for each of a predetermined number of consecutive processes of 2 or more, or the target throughout the entire process The traveling direction may be displayed by one arrow for each of the position locus and the operation position locus. The form indicating the traveling direction may be a figure such as a triangle.

  According to the embodiment described above, the target position and the operation position are displayed on the screen so that the target position and the operation position can be compared. Therefore, the instructor can check the target position and the operation position in the force control mode while verifying the command parameters (target position and target position). Force) can be set. Therefore, the work of optimizing the command parameters is facilitated, and the time required for teaching can be shortened. Since the target position and the operation position are displayed in the same coordinate system, the comparison between the target position and the operation position is further facilitated. You can also display the locus of the target position and motion position, display the video of the target position and motion position, display the change direction of the target position and motion position, and set the display section of the target position and motion position, The comparison between the target position and the operation position is easier.

(2) In another embodiment the above embodiment, the control unit control unit 32 of 3 to derive a force derived correction amount [Delta] S, the force from the correction amount [Delta] S and the display control unit of the target position S _t and the teaching terminal 4 based on the 41 illustrates the example in which the operation position is derived, the teaching terminal 4 may derive the force-derived correction amount ΔS based on the acting force f _s and the target force f _st, and the teaching terminal 4 Instead of deriving the operation position, it may be acquired from the control unit 32 of the control device 3.

  In the above embodiment, the locus display of the operation position including the force-derived correction amount ΔS and the target position is shown, but the target position and the position indicated by the detection value of the encoder may be indicated. The present invention is not limited to a mode in which the target position and the operation position are displayed on the teaching terminal 4 at the stage of teaching the robot 1, but the teaching terminal 4, the teaching pendant 5, and the control when the robot 1 is operating after teaching. The present invention can also be applied to a form in which the target position and the operation position are displayed on the screen of the apparatus 3.

  In the above embodiment, the target position and the motion position are displayed in the two-dimensional coordinate system by two components. However, the target position and the motion position may be displayed by one component as a function of time. For example, the X component of the target position and the operation position described above may be displayed as a function of time as with the x monitor 131. Further, the XYZ component of the target position and the XYZ component of the operation position may be displayed by three-dimensional computer graphics.

  In the above embodiment, an example in which the present invention is applied to a control device for a 6-axis single-arm robot has been described. However, the present invention can be applied to a robot having 5 axes or less, a robot having 7 axes or more, Needless to say, it can be applied to arm robots.

DESCRIPTION OF SYMBOLS 1 ... Robot, 2 ... End effector, 3 ... Control apparatus, 4 ... Teaching terminal, 41 ... Posture setting part, 42 ... Derivation part, 5 ... Teaching pendant, A1-A6 ... Arm member, E1-E6 ... Encoder, FS ... Force sensor, GP ... center of gravity, J1-J6 ... joint, M1-M6 ... motor, W ... work, d ... virtual viscosity coefficient, k ... virtual elastic coefficient, m ... virtual inertia coefficient

Claims (11)

A manipulator,
A force detector provided in the manipulator;
An actuator for driving the manipulator based on a target position;
In a robot control device for controlling a robot comprising:
A display control unit for displaying on the screen the operation position of the manipulator derived based on the target force and the output of the force detector, and the target position;
A robot control device comprising: The display control unit displays the target position and the operation position on the same coordinate plane.
The robot control apparatus according to claim 1. The display control unit displays a trajectory obtained by projecting the three-dimensional target position and the three-dimensional motion position onto a two-dimensional coordinate plane;
The robot control apparatus according to claim 2. The display control unit displays the target position and the operation position as a function of time;
The robot controller according to any one of claims 1 to 3. The display control unit acquires a display section, and displays the target position and the operation position corresponding to the display section.
The robot controller according to any one of claims 1 to 4. The display section is specified by an identifier of a command that controls the manipulator.
The robot control apparatus according to claim 5. The display section is specified by time.
The robot control apparatus according to claim 5 or 6. The display control unit displays a change direction of the target position and the operation position;
The robot control apparatus according to any one of claims 1 to 7. The display control unit displays the target position and the operation position in real time.
The robot control apparatus according to any one of claims 1 to 8. A teaching unit for receiving a teaching of a teacher based on the displayed target position and the operation position;
The robot control device according to any one of claims 1 to 9. The robot according to claim 1 and the robot controller.
Robot system.

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