JP2017030058A - Robot, robot control device and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for allowing a state of a manipulator to be easily recognized.SOLUTION: A robot includes a manipulator driven by drive sections and a force sensor. The drive sections are controlled on the basis of the force sensor, and the manipulator has an indicator displaying parameters related to a motion state of the manipulator.SELECTED DRAWING: Figure 2

Description

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

  A technique for displaying an operation state of a robot on a display or teaching pendant is known (see Patent Documents 1 and 2). In Patent Documents 1 and 2, by visually recognizing a display or a teaching pendant, the operation state of the robot can be recognized.

JP 2007-196298 A JP2013-202731A

However, even if the operation state is displayed on the display or the teaching pendant, there is a problem that it is difficult to intuitively recognize which part of the robot represents the operation state. In addition, there is a problem that the display or teaching pendant must be visually recognized in order to confirm the operation state, and the eye must be taken away from the actually operating robot.
The present invention was created to solve the above-described problems, and an object of the present invention is to provide a technique that can easily recognize the state of a manipulator.

  The robot for achieving the object includes a manipulator driven by a driving unit and a force sensor, and the driving unit is controlled based on the force sensor, and the manipulator is a motion state of the manipulator. Has a display for displaying the parameters.

  In the above-described configuration, the manipulator is provided with a display for displaying a parameter related to the motion state of the manipulator. Thereby, while visually recognizing the manipulator itself, the display device can be visually recognized, and it can be intuitively recognized that the display device represents the motion state of the manipulator. Further, when the manipulator is controlled based on the force sensor, the manipulator's motion state becomes complicated or difficult to predict, but the manipulator's operating state can be easily recognized by viewing the display.

  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 perspective view of a robot. It is a block diagram of a robot system. It is a list of parameters. It is a front view of a display. It is a perspective view of the robot of other embodiments. It is a perspective view of the robot of other embodiments.

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) Robot system configuration:
(2) Other embodiments:

(1) Robot system configuration:
As shown in FIG. 1, the robot system according to the first embodiment of the present invention includes a robot 1 and a control device 3 (robot control device). The control device 3 constitutes the robot control device of the present invention. The control device 3 may be a dedicated computer or a general-purpose computer in which a program for the robot 1 is installed.

  The robot 1 is a single arm robot including one manipulator M, and the manipulator M includes an arm A, an end effector 2 and a display D. The arm A includes six joints J1 to J6. Six arm members A1 to A6 are connected by joints J1 to J6. Joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsional joints. The force sensor FS and the end effector 2 are attached to the most distal arm member A6 of the arm A through the joint J6. Joints J1 to J6 exist at both ends of each of the arm members A2 to A6. The end effector 2 grips the workpiece W with a gripper. A predetermined position of the end effector 2 is represented as a tool center point (TCP). The position of the TCP is a reference for the position of the end effector 2. The force sensor FS is a 6-axis force detector. The force sensor FS detects the magnitudes of the forces in the three detection axis directions orthogonal to each other and the magnitudes of the torques around the three detection axes.

  A coordinate system that defines the space in which the robot 1 is installed is referred to as a robot coordinate system. In the present embodiment, the robot coordinate system is a three-dimensional orthogonal coordinate system 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 vertically upward direction as a positive direction. 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 (rotation direction) in the three-dimensional space can be expressed by a rotation angle in the RX, RY, and RZ directions. Hereinafter, unless otherwise indicated, when it is expressed as a position, it can also mean a posture. Unless otherwise indicated, when expressed as force, it can also mean torque acting in the RX, RY, and RZ directions. The controller 3 controls the position of the TCP in the robot coordinate system by driving the arm A.

  The end effector 2 is fixed so as not to move relative to the force sensor FS, and it can be considered that the end effector 2 and the force sensor FS form a single rigid body. Therefore, the TCP and the force sensor FS move integrally. That is, the movement distance (including the rotation angle), the movement direction (including the rotation direction), the speed (angular velocity), and the acceleration (angular acceleration) of the TCP and the force sensor FS coincide with each other. Further, the magnitude and direction of the force detected by the force sensor FS can be considered to coincide with the magnitude and direction of the force acting on the TCP. Hereinafter, the end effector 2 and the force sensor FS are collectively referred to as a hand portion H.

  FIG. 2 is a perspective view of the manipulator M. FIG. A display D is attached to the force sensor FS of the manipulator M. The display D may be a liquid crystal display, an organic EL (Electroluminescenc) display, or a display in which light emitting elements such as LEDs (Light Emitting Diodes) are arranged in a dot matrix. Good. The display device D may be configured to display a two-dimensional image and display a monochrome image, may be configured to display a grayscale image, or configured to display a color image. May be. The display device D may be formed in a flat plate shape, or may be formed in a curved surface shape that follows the outer shape of the force sensor FS. In the present embodiment, the display D has a rectangular planar shape constituted by sides in the α-axis direction and the β-axis direction.

  FIG. 3 is a block diagram of the robot system. A control program for controlling the robot 1 is installed in the control device 3. The control device 3 includes a computer including a processor, RAM, and ROM. When the computer executes a control program recorded on a recording medium such as a ROM, the control device 3 includes a drive control unit 31 and a display control unit 32 as functional configurations. The drive control unit 31 and the display control unit 32 are functional configurations realized by cooperation of hardware resources and software resources of the control device 3. Note that the drive control unit 31 and the display control unit 32 do not necessarily have to be realized by software resources, but may be realized by an ASIC (Application Specific Integrated Circuit).

The drive control unit 31 controls the motors M1 to M6 as drive units based on the force sensor FS. Specifically, the drive control unit 31 controls the manipulator M (arm A) based on the output signal of the force sensor FS so that the motion state of the hand portion H approaches the target motion state. The movement state of the hand portion H includes not only the movement state of each part of the manipulator M but also the state of the acting force acting on the manipulator M. Specifically, the drive control unit 31 controls the arm A so that the target position and the target force are realized by TCP. The target force is a force to be detected by the force sensor FS and is a force to be applied to the TCP. The letter S represents one of the axis directions (X, Y, Z, RX, RY, RZ) that define the robot coordinate system. 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. S represents the position in the S direction (rotation angle).

  The robot 1 includes motors M1 to M6 as drive units and encoders E1 to E6 in addition to the configuration illustrated in FIG. 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 driving positions of the motors M1 to M6. Controlling the arm A means controlling the motors M1 to M6 as drive units. The drive control unit 31 can communicate with the robot 1. The drive control unit 31 stores a correspondence U between a combination of drive positions of the motors M1 to M6 and a TCP position in the robot coordinate system.

Drive control unit 31 obtains the drive position D _a of the motor M1-M6, based on the correspondence relationship U, the position S (X of TCP the driving position D _a in the robot coordinate system, Y, Z, RX, RY , RZ). Based on the TCP position S and the detected value of the force sensor FS, the drive control unit 31 specifies the acting force f _S actually acting on the force sensor FS in the robot coordinate system. The force sensor FS detects a detection value in a unique coordinate system. However, since the relative position and direction of the force sensor FS and TCP are stored as known data, the drive control unit 31 is a robot. The acting force f _S in the coordinate system can be specified. The drive control unit 31 performs gravity compensation for the acting force f _S. Gravity compensation is to remove the gravity component 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 TCP. The gravity component of the acting force f _S acting on the TCP is investigated in advance for each TCP posture, and the drive control unit 31 performs gravity compensation by subtracting the gravity component corresponding to the TCP posture from the acting force f _S. Realize.

（１）式の左辺は、ＴＣＰの位置Ｓの２階微分値に仮想慣性係数ｍを乗算した第１項と、ＴＣＰの位置Ｓの微分値に仮想粘性係数ｄを乗算した第２項と、ＴＣＰの位置Ｓに仮想弾性係数ｋを乗算した第３項とによって構成される。（１）式の右辺は、目標力ｆ_Stから現実の作用力ｆ_Sを減算した力偏差Δｆ_S（ｔ）によって構成される。（１）式における微分とは、時間による微分を意味する。ロボット１が行う工程において、目標力ｆ_Stとして一定値が設定される場合もあるし、目標力ｆ_Stとして時間に依存する関数によって導出される値が設定される場合もある。 The drive control unit 31 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. 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 acting force f _S 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 sometimes fixed value as the target force f _St is set, there is a case where the value derived by a function that depends on time as the target force f _St is set.

The impedance control is control for realizing a virtual mechanical impedance by the motors M1 to M6. 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 parameter 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. 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. Drive control unit 31, the target position S _t, by adding a force from the correction amount [Delta] S, identifies the correction target position in consideration of the impedance control (S _t + ΔS).

Then, based on the correspondence relationship U, the drive control unit 31 sets the corrected target position (S _t + ΔS) in the direction of each axis that defines the robot coordinate system as the target drive position that is the target drive position of each motor M1 to M6. into a position D _t. Then, the drive control unit 31, by the target drive position D _t subtracting the actual drive position D _a of the motor M1-M6, calculates the driving position deviation _{D e (= D t -D a} ). Drive control unit 31, 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 drive position D _a, the speed control gain The control amount D _c is specified by adding the value multiplied by 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. With the configuration described above, the drive control unit 31 may control the arm A on the basis of the target position S _t and the target force f _St.

A real action force f _S control force control for the target force f _St to a control position control for the position S of the TCP reality and the target position S _t. In the present embodiment, the drive control unit 31 can perform both position control and force control and only position control according to the content of the operation. For example, regardless of the actual applied force f _S , it is possible to substantially perform only the position control by assuming that the force-derived correction amount ΔS in FIG. 3 is always 0.

  The display control unit 32 controls the display device D. The display control unit 32 and the display unit D are connected by a wiring (not shown), and the display unit D displays an image indicated by the display image data output from the display control unit 32. That is, the display control unit 32 controls the display of the display D by generating display image data and outputting the display image data to the display D.

The display control unit 32 causes the display D to display parameters related to the motion state of the hand portion H. The display control unit 32 acquires from the drive control unit 31 and the target position S _t and the target force f _St in order to obtain a parameter related to the target of the state of motion of the hand portion H. In addition, the display control unit 32 acquires the TCP position S and the acting force f _S from the drive control unit 31 in order to obtain parameters related to the actual motion state of the TCP. In the present embodiment, it is assumed that the movement state of the hand portion H can be equated with the movement state of the force sensor FS and TCP.

Drive control unit 31, for each minute control period (e.g., 4m seconds), and updates the target position S _t and the target force f _St and the position S and the action force f _S, the target position S _t and the target for each control cycle The force f _St , the position S, and the acting force f _S are acquired. By the drive control unit 31 updates the target position S _t and the target force f _St and the position S and the action force f _S for each control cycle, it becomes possible to perform the operation of the time series manipulator M, It becomes possible to cause the manipulator M to perform an operation reflecting the previous exercise state. Drive control unit 31, by going to set the target position S _t in each control cycle, it is possible to move the TCP to the position of the final target.

The drive control unit 31 sets a TCP trajectory to the final target position, and each position obtained by dividing the trajectory for each control cycle under the constraints of the upper limit value of speed and acceleration is the target position _St. Are set sequentially. The display control unit 32, based on action force f _S between the target position S _t and the target force f _St and the position S of each control cycle, calculates the parameters relating to the motion state of the hand unit H.

FIG. 4 is a list of parameters related to the movement state (movement state and force state) of the hand portion H. Parameters relating to the motion state can be classified into parameters for translational motion and parameters for rotational motion. Also, the parameters relating to the motion state can be classified into target parameters and actual parameters. Further, the parameters relating to the exercise state include parameters that can be expressed by numerical values (scalar) and parameters that can be expressed by arrows. The display control unit 32, in the robot coordinate system, it calculates a vector from the target position S _t immediately before the time to the current target position S _t as the movement vector of the target. The immediately preceding time means a time that is n times (n is a natural number) before the current control cycle. You may comprise so that n can be set arbitrarily. In this embodiment, n = 1. The movement vector is represented by a movement amount in each axis direction in the robot coordinate system. Of the movement vectors, a vector composed of movement amounts in the X, Y, and Z directions is referred to as a translation vector, and a vector composed of movement amounts in the RX, RY, and RZ directions is referred to as a rotation vector.

  The display control unit 32 calculates the square sum of squares of the movement amounts in the X, Y, and Z directions constituting the target translation vector as the target translation distance. Further, the display control unit 32 calculates the target translation speed by dividing the target translation distance by the length of one control cycle. The display control unit 32 calculates the translational acceleration by dividing the value obtained by subtracting the target translational speed at the previous time from the current target translational speed by the period from the past time to the current time. The display control unit 32 calculates the target cumulative translation distance by accumulating the target translation distance from a predetermined cumulative start time to the present.

  Further, the display control unit 32 calculates the square root sum of squares of the movement amounts in the RX, RY, and RZ directions constituting the target rotation vector as the target rotation angle. Further, the display control unit 32 calculates the target angular velocity by dividing the target rotation angle by the length of one control cycle. The display control unit 32 calculates the angular acceleration by dividing the value obtained by subtracting the target angular velocity at the previous time from the current target angular velocity by the period from the past time to the current time. Further, the display control unit 32 calculates the target accumulated rotation angle by accumulating the target rotation angle from the accumulation start time to the present. The display control unit 32 performs the same calculation for the actual position S to obtain the actual translation distance, the cumulative translation distance, the translation speed, the acceleration, the rotation angle, the cumulative rotation angle, the rotation speed, the angular velocity, and the angular acceleration. calculate.

Although the target force f _St is represented by a vector in the robot coordinate system, the display control unit 32 extracts X, Y, and Z direction components from the vector of the target force f _St as translation force vectors, and the translation force vector. Is calculated as the target translational force. The display control unit 32 extracts the components in the RX, RY, and RZ directions from the vector of the target force f _St as a torque vector, and calculates the square sum of squares of each component of the torque vector as the target torque magnitude. The display control unit 32 generates display image data of an image representing the numerical value (character) of the parameter relating to the exercise state calculated as described above, and outputs the display image data to the display D.

  The display control unit 32 causes the display D to display the parameter of the direction related to the motion state by displaying the parameter with an arrow indicating the direction. Here, since the display D and the TCP move together, α indicates the direction of the side constituting the outer periphery of the display D according to the posture (RX, RY, RZ) of the TCP in the robot coordinate system. , Β-axis direction also changes. The correspondence V between the orientation of the TCP and the directions of the α and β axes of the display D in the robot coordinate system is recorded on the recording medium, and the display control unit 32 can refer to the correspondence V. The display control unit 32 specifies the current α and β axis directions of the display D in the robot coordinate system based on the current TCP posture and the correspondence V. That is, the display control unit 32 can extract the component in the α-axis direction and the component in the β-axis direction of the current display D from a vector in an arbitrary direction in the robot coordinate system. Note that an axis orthogonal to the αβ plane is taken as a γ-axis.

  The display control unit 32 extracts the component in the α-axis direction and the component in the β-axis direction of the current display D from the translation vector and the translation force vector in the robot coordinate system. Then, the display control unit 32 displays display image data indicating arrows in the αβ plane composed of the extracted components in the α-axis direction and the components in the β-axis direction, respectively, indicating the translation direction and the translational force direction. Generate as data. Further, the display control unit 32 extracts the component in the α-axis direction and the component in the β-axis direction of the current display D from the rotation vector and the torque vector in the robot coordinate system. Then, the display control unit 32 displays display image data indicating arrows around the rotation axis in the αβ plane constituted by the extracted α-axis direction component and β-axis direction component, respectively, as the rotation direction and the rotational force direction. Is generated as display image data.

  With the above configuration, it is possible to display the parameter relating to the motion state of the force sensor FS on the display D. Note that the display control unit 32 only needs to calculate parameters related to the exercise state to be displayed, and does not necessarily need to calculate all parameters.

  5A to 5R show examples of images displayed on the display device D. FIG. 5A to 5L show images representing numerical values of parameters related to the exercise state. As shown in FIGS. 5A to 5H, the display control unit 32 may cause the display D to display numerical values of parameters related to a single plurality of exercise states. As shown in FIGS. 5I and 5J, the display control unit 32 may write the target and the actual parameter together so that they can be compared. Further, as shown in FIG. 5J, the display control unit 32 may represent the numerical values of the parameters relating to the exercise state in a graph, and may also indicate the graphs of the target and the actual parameters so that they can be compared. Further, the display control unit 32 may display the difference between the target and actual parameters and the value of the ratio. Of course, as shown in FIG. 5K, the display control unit 32 may write parameters of different types together. In addition, as illustrated in FIGS. 5I to 5K, the display control unit 32 may cause the display D to display parameter names related to the exercise state.

  Further, as shown in FIG. 5L, the display control unit 32 may generate display image data so that the upward direction of the character is always directed upward in the Z-axis direction regardless of the orientation of the display D. That is, the display control unit 32 specifies the current α and β axis directions of the display D in the robot coordinate system based on the current TCP attitude and the correspondence V, and sets the α and β axis directions in the directions of the α and β axes. The image may be rotated based on it. Note that the display control unit 32 may display a parameter unit related to the exercise state, or may omit the unit display. Moreover, the unit shown in the drawing is merely an example, and the parameter relating to the exercise state may be represented by another unit, or the unit may be switchable. The display control unit 32 may switch the size, font, color, background, and blinking state of the character representing the parameter according to the type of parameter related to the exercise state. Needless to say, the display control unit 32 may display parameters related to a plurality of exercise states in order in a time division manner.

  5M-5Q show images representing the direction of the parameters related to the motion state. As illustrated in FIGS. 5M to 5Q, the display control unit 32 may cause the display D to display an image of an arrow indicating the direction of the parameter related to the exercise state. As shown in FIGS. 5O and 5P, the display control unit 32 rotates around the rotation axis composed of the α and β axis components extracted from the rotation vector and the torque vector as an arrow indicating the direction of the rotation vector and the torque vector. Display image data representing an arrow may be generated. The display control unit 32 may display an image of an arrow indicating the direction of a parameter regarding a plurality of exercise states on the display D, and as shown in FIG. 5Q, the arrow indicating the direction of the target and the actual parameter can be compared It may be written together. Further, as shown in FIG. 5R, the display control unit 32 may display a character indicating the size of the parameter together with an arrow indicating the direction of the parameter.

In the present embodiment, the manipulator M is provided with a display D that displays parameters related to the motion state of the manipulator M (hand portion H). Thereby, while visually recognizing the manipulator M itself, the display D can be visually recognized, and it can be recognized intuitively that the display D represents the motion state of the manipulator M. Further, if the acting force f _S acting on the manipulator M is controlled so as to approach the target force f _St , the motion state of the manipulator M becomes complicated or difficult to predict. The operating state of the manipulator M can be easily recognized.

When force control is performed, force is applied positively to the manipulator M or the workpiece W, so there is a great need to watch the state of the manipulator M so that the manipulator M or the workpiece W is not damaged. . In addition, since the acting force f _S changes according to the minute movement of the manipulator M, the motion state of the manipulator M can change little by little when force control is performed. In particular, when impedance control is performed as force control, the motion state of the manipulator M becomes a vibration state and easily changes in small increments. In this embodiment, since the parameter regarding the motion state of the manipulator M can be recognized while gazing at the state of the manipulator M, the parameter regarding the motion state of the manipulator M can be easily recognized.

  In particular, when a programmer, a mechanical designer, or a teaching worker sets the operation of the manipulator M in the control device 3, the manipulator M performs an unknown operation. The merit that can be visually recognized is great. Further, when the operation of the manipulator M is set, the operator or facility maintenance engineer also determines whether or not the manipulator M is operating normally. The advantage of recognizing parameters is great. In particular, when an abnormality occurs, the state of the manipulator M can be watched.

  The display control unit 32 may switch the parameter relating to the exercise state to be displayed between when both force control and position control are performed and when only position control is performed. For example, only when both the force control and the position control are performed, the display control unit 32 displays the force state parameters such as the translational force direction, the magnitude of the translational force, the torque direction, and the magnitude of the torque. May be. Of course, when both the force control and the position control are performed, the display control unit 32 moves the translation speed, translation acceleration, rotation direction, accumulated rotation angle, rotation speed, angular velocity, angular acceleration, translation force direction, and the like. The parameters may be displayed. When both force control and position control are performed, the movement state of the manipulator M is likely to change in small increments. Therefore, even if the display update cycle of the movement state parameter is made smaller than when only the position control is performed. It is also possible to increase the number of digits displayed. Further, when both the force control and the position control are performed, the display control unit 32 may accumulate the cumulative translation distance and the cumulative rotation angle, and the start time of the force control is determined based on the cumulative translation distance and the cumulative rotation angle. The cumulative start time may be used. Thereby, it is possible to easily grasp how much the trajectory of the manipulator M is extended by force control.

(2) Other embodiments:
The robot 1 is not necessarily a 6-axis single-arm robot, and the number of joints of the manipulator M is not particularly limited. The robot 1 may be a double arm robot or a scalar robot. The force sensor FS is not necessarily a multi-axis force sensor, and may be a torque sensor that detects torque acting on the joints J1 to J6 for each joint J1 to J6. Further, torque may be detected based on loads of the motors M1 to M6 instead of the torque sensor. The control device 3 may not be a device independent of the robot 1 but may be built in the robot 1. In this case, the display control unit 32 is provided in the robot 1. The display control unit 32 may be provided in another device other than the robot 1 and the control device 3.

The display D may be provided with the manipulator M, and may be attached to the movable arm members A2 to A6 or may be attached to the end effector 2. When the display D is attached to the arm members A2 to A6, the display control unit 32 may cause the display D to display parameters related to the motion states of the arm members A2 to A6 to which the display D is attached. The display control unit 32 includes arm members A2 to A6 to which the display unit D is attached based on the driving positions of the motors M2 to M6 of the joints J2 to J6 closer to the base side (arm member A1 side) than the arm members A2 to A6. What is necessary is just to acquire the parameter regarding the actual motion state of the. Further, since the driving position to the motor M2~M6 take every target position S _t of the TCP is determined, the display control unit 32, based on the target position S _t of the TCP, the display D is mounted arms What is necessary is just to acquire the parameter regarding the target movement state of member A2-A6.

  Specifically, the display control unit 32 directly connects the arm members A2 to A6 to which the indicator D is attached as a parameter relating to the motion state of the arm members A2 to A6 to which the indicator D is attached. The rotation direction and torque of J6 may be displayed on the display device D.

FIG. 6 is a perspective view of a robot 1 according to another embodiment. As shown in the figure, the display D is attached to the arm member A3. The display control unit 32 causes the display D to display the target or actual rotation direction of the base joint J2 that directly connects the arm member A3 to which the display D is attached. Rotational direction of the actual joint J2 can identify on the basis of the output signal of the encoder E2, the rotational direction of the target of the joint J2 can be derived from the target position S _t of the target TCP. The display control unit 32 may cause the display D to display the magnitude and direction of the torque derived from the load of the motor M2. In order to make it easy to express the state of the joint J2, it is desirable that the display D be mounted on a plane orthogonal to the rotation axis of the joint J2.

  Even if a programmer, a mechanical designer, or a teaching worker can predict the motion state of the hand portion H, it may not be able to predict the motion state of the arm members A2 to A6. This is because the positions of the arm members A2 to A6 are not unique with respect to the position of the TCP, and the motion state of each of the arm members A2 to A6 becomes difficult as the number of drive shafts of the arm A increases. Even in such a case, by attaching the display device D to the arm members A2 to A6, it is possible to easily recognize parameters relating to the motion states of the arm members A2 to A6.

  Furthermore, the number of the display devices D is not limited to one, and the display devices D may be attached to each of the two or more arm members A2 to A6. Further, a plurality of displays D may be attached to any one of the force sensor FS and the arm members A2 to A6. In addition, the exercise state used for control by the drive control unit 31 and the exercise state displayed by the display D do not necessarily need to match. For example, in a state where the drive control unit 31 performs only the position control, the display D may display the actual translation force and the magnitude of torque.

  FIG. 7 is a perspective view of a robot 1 according to another embodiment. As shown in the figure, two displays D1, D2 are attached to the force sensor FS. The two displays D1 and D2 form a plane orthogonal to each other. The display D1 is the same as the display D of the above embodiment, and displays an arrow indicating the direction of the parameter relating to the motion state of the hand portion H in the direction on the αβ plane. On the other hand, the display D2 displays an arrow indicating the direction of the parameter relating to the movement state of the hand portion H in the βγ plane. The γ axis is an axis orthogonal to the αβ plane. The display control unit 32 extracts the component in the β-axis direction and the component in the γ-axis direction of the current display D2 from the translation vector and the translation force vector in the robot coordinate system. The display control unit 32 then displays display image data indicating an arrow in the βγ plane composed of the extracted β-axis direction component and γ-axis direction component, respectively, indicating the translation direction and the translation force direction. It is generated as display image data of D2. By providing the two displays D1 and D2 as described above, the three-dimensional direction of the parameter relating to the motion state of the hand portion H can be expressed.

1 ... robot, 2 ... end effector, 3 ... control unit, 31 ... drive control unit, the display control unit 32, A ... arm, A1 to A6 ... arm member, d ... virtual viscosity coefficient, D _a ... drive position, D _c ... control amount, D _e ... drive position deviation, D _t ... target drive position, E1 to E6 ... encoder, f ... force, f _S ... acting force, f _S ... target force, FS ... force sensor, f _St ... target force, J1 to J6 ... joint, K ... recess, k ... virtual modulus, K _p ... position control gain, K _v ... speed control gain, m ... virtual inertia coefficient, M1-M6 ... motor, W ... workpiece, Delta] f _S ... Force deviation, ΔS ... Force-derived correction amount

Claims (9)

A robot including a manipulator driven by a driving unit and a force sensor,
The driving unit is controlled based on the force sensor,
The manipulator has a display for displaying parameters relating to the motion state of the manipulator.
robot. The manipulator can be attached with the indicator.
The robot according to claim 1. The parameter includes at least one of the position, velocity, acceleration, and acting force acting on the force sensor of the manipulator.
The robot according to claim 1 or 2. The parameter includes at least one of a moving direction of the manipulator and a direction of the acting force.
The robot according to any one of claims 1 to 3. The indicator displays the parameter with an arrow indicating a direction.
The robot according to any one of claims 1 to 4. The parameters are
At least one of the actual motion state of the manipulator detected by the sensor and the target motion state of the manipulator
The robot according to any one of claims 1 to 5. The manipulator includes a plurality of arm members connected to each other by joints at both ends,
The indicator is attached to the arm member and displays the parameter relating to the motion state of the arm member.
The robot according to any one of claims 1 to 6. A drive control unit that controls the drive unit of the robot according to any one of claims 1 to 7,
A display control unit for displaying the parameter relating to the motion state of the manipulator on the display of the manipulator;
A robot control device comprising: The robot according to any one of claims 1 to 7,
A robot control device comprising: a drive control unit that controls the drive unit of the robot; and a display control unit that displays the parameter relating to the motion state of the manipulator on the display unit of the manipulator.
Including robot system.

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