JP2017148909A - Control device, robot, and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device which enables a work for arranging a linear object to be easily done.SOLUTION: A control device includes a control part which controls at least one of a first movable part and a second movable part so that a linear object is held by a holding part provided at the first movable part and a contact part provided at the second movable part is placed in contact with the linear object when the linear object is arranged in a first object.SELECTED DRAWING: Figure 8

Description

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

  Research and development of technologies that make cable routing easy is underway.

  In this regard, a robot having a structure capable of easily performing the work of drawing a cable is known (see Patent Document 1).

JP-A-2015-160305

  However, even in such a robot, since the cable is manually routed, it may be difficult to improve work efficiency. Moreover, the state of the cable routed manually may vary depending on the skill of the person who routed the cable. In particular, when the cable is not routed well, there is a possibility that the cable may malfunction.

In order to solve at least one of the above problems, according to one aspect of the present invention, when a linear object is drawn around the first object, the linear object is gripped by a gripping part provided in the first movable part, and A control device comprising a control unit that controls at least one of the first movable unit and the second movable unit so that the contact unit provided in the second movable unit and the linear object are brought into contact with each other. is there.
With this configuration, when the control apparatus draws a linear object around the first object, the control apparatus causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. At least one of the first movable part and the second movable part is controlled so that the linear object is brought into contact with the linear object. Thereby, the control device can easily perform the work of drawing the linear object.

According to another aspect of the present invention, in the control device, the first object has a locking part capable of locking the linear object, and the control part includes the first movable part and the first moving part. A configuration may be used in which at least one of the second movable part is controlled to lock the linear object to the locking part.
With this configuration, the control device controls at least one of the first movable unit and the second movable unit to lock the linear object to the locking unit. Accordingly, the control device can easily perform the operation of drawing the linear object while locking the linear object to the locking portion.

According to another aspect of the present invention, in the control device, a captured image of the locking unit captured by the imaging unit is displayed on the display unit, and the engagement is based on the captured image displayed on the display unit. First information regarding the position of the tip of the stop is received by the receiving unit, and the control unit determines whether the first movable unit and the second movable unit are based on the first information received by the receiving unit. A configuration that controls at least one may be used.
With this configuration, the control device controls at least one of the first movable unit and the second movable unit based on the first information received by the receiving unit. Accordingly, the control device can easily perform the work of drawing the linear object based on the first information received by the receiving unit.

According to another aspect of the present invention, in the control device, the reception unit further receives second information related to a position of a proximal end of the locking portion based on the captured image displayed on the display unit, A configuration may be used in which the control unit controls at least one of the first movable unit and the second movable unit based on the second information received by the receiving unit.
With this configuration, the control device controls at least one of the first movable unit and the second movable unit based on the second information received by the receiving unit. Thereby, the control device can easily perform the work of drawing the linear object based on the first information and the second information received by the receiving unit.

According to another aspect of the present invention, in the control device, the reception unit receives third information regarding a radius centered on the position of the tip, and the control unit receives the third information received by the reception unit. A configuration for controlling at least one of the first movable part and the second movable part based on the information may be used.
With this configuration, the control device controls at least one of the first movable unit and the second movable unit based on the third information received by the receiving unit. Accordingly, the control device can easily perform the work of drawing the linear object based on the first information, the second information, and the third information.

As another aspect of the present invention, in the control device, a configuration in which the contact position of the contact portion is received by a reception unit may be used.
With this configuration, the control device controls at least one of the first movable portion and the second movable portion based on the contact position of the contact portion received by the receiving portion. Thereby, the control device can easily perform the work of drawing the linear object based on the contact position of the contact portion received by the reception unit.

As another aspect of the present invention, in the control device, a configuration in which at least a part of the contact portion has a curved surface may be used.
With this configuration, when the control apparatus draws a linear object around the first object, the control apparatus causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. Then, at least one of the first movable portion and the second movable portion is controlled so that the abutting portion at least a part of which is a curved surface and the linear object are brought into contact with each other. As a result, the control device can easily perform the work of drawing the linear object by bringing the linear object into contact with the abutting portion at least part of which is a curved surface.

As another aspect of the present invention, in the control device, a configuration in which at least a part of the contact portion has elasticity may be used.
With this configuration, when the control apparatus draws a linear object around the first object, the control apparatus causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. In this case, at least one of the first movable portion and the second movable portion is controlled so that the contact portion having at least a part of elasticity and the linear object are brought into contact with each other. Thereby, the control device can easily perform the work of drawing the linear object by bringing the linear object into contact with the abutting part at least partially having elasticity.

Further, according to another aspect of the present invention, in the control device, the length from the proximal end to the distal end of the contact portion is longer than the length from the proximal end to the distal end of the grip portion. Good.
With this configuration, when the control apparatus draws a linear object around the first object, the control apparatus causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. The first movable portion and the second movable portion are arranged so that the contact portion and the linear object are in contact with each other and the length from the proximal end to the distal end is longer than the length from the proximal end to the distal end of the gripping portion. Control at least one of As a result, the control device works to draw the linear object by bringing the linear object into contact with the contact part whose length from the proximal end to the distal end is longer than the length from the proximal end to the distal end of the gripping part. Can be easily performed.

According to another aspect of the present invention, in the control device, the contact portion contacts the first surface of the first object, and the first surface and the contact portion sandwich the linear object. May have an acute angle configuration.
With this configuration, when the control apparatus draws a linear object around the first object, the control apparatus causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. Then, at least one of the first movable portion and the second movable portion is controlled so that the contact portion that contacts the first surface of the first object and the linear object contact each other. Accordingly, the control device can easily perform the operation of drawing the linear object by bringing the linear object into contact with the contact part that is in contact with the first surface of the first object.

In another aspect of the present invention, in the control device, the first movable portion and the second movable portion may be provided in a robot.
With this configuration, when the linear object is routed around the first object, the control device causes the linear object to be gripped by the gripping part provided in the first movable part provided in the robot and the first object provided in the robot. (2) At least one of the first movable portion and the second movable portion is controlled so that the contact portion provided in the movable portion and the linear object are brought into contact with each other. Accordingly, the control device can easily perform the work of drawing the linear object by at least one of the first movable unit provided in the robot and the second movable unit provided in the robot.

Another aspect of the present invention is a robot controlled by the control device described above.
With this configuration, when the robot draws a linear object around the first object, the robot grips the linear object with the gripping part provided on the first movable part, and the contact part provided on the second movable part. At least one of the first movable part and the second movable part is controlled so as to contact the linear object. Thereby, the robot can easily perform the operation of drawing the linear object.

Another aspect of the present invention is a robot system including the control device described above and a robot controlled by the control device.
With this configuration, when the robot system draws a linear object around the first object, the robot system causes the linear object to be gripped by the gripping part provided in the first movable part and the contact part provided in the second movable part. At least one of the first movable part and the second movable part is controlled so that the linear object is brought into contact with the linear object. Thereby, the robot system can easily perform the operation of drawing the linear object.

  As described above, the control device, the robot, and the robot system allow the linear object to be gripped by the gripping part provided in the first movable part and provided in the second movable part when the linear object is drawn around the first object. At least one of the first movable part and the second movable part is controlled so that the abutted part and the linear object are brought into contact with each other. Thereby, the control device, the robot, and the robot system can easily perform the work of drawing the linear object.

It is a figure which shows an example of a structure of the robot system 1 which concerns on this embodiment. It is a figure which shows an example of tool TL1. It is a figure which shows an example of tool TL2. It is a three-view figure which shows an example of contact part LD. 2 is an example of a top view of a first object O. FIG. It is the figure which looked at an example just before the cable C is inserted in the latching | locking part O1 from the side surface of the latching | locking part O1. 2 is a diagram illustrating an example of a hardware configuration of an information processing device 30 and a control device 40. FIG. 2 is a diagram illustrating an example of functional configurations of an information processing device 30 and a control device 40. FIG. It is a flowchart which shows an example of the flow of a process in which the information processing apparatus 30 displays a teaching screen. It is a figure which shows an example of a teaching screen. It is a figure which shows an example of the teaching screen G1 in the state where the additional information input screen G3 was displayed. It is a figure which shows an example of the teaching screen G1 in the state where the relay point is displayed. It is a figure which shows an example of the teaching screen G1 on which the temporary locus | trajectory produced | generated based on each of the start teaching point shown in FIG. 12, an end teaching point, and the 1st relay point-the 4th relay point was displayed. It is a figure which shows an example of the teaching screen G1 of the state by which the via point locus was displayed on the captured image display area VS. 4 is a flowchart illustrating an example of a flow of processing in which the control device 40 causes the first robot 21 to perform the first work and causes the second robot 22 to perform the second work. It is a figure which shows an example of a structure of the robot system 2 which concerns on this embodiment.

<Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Robot system configuration>
First, the configuration of the robot system 1 will be described.
FIG. 1 is a diagram illustrating an example of a configuration of a robot system 1 according to the present embodiment. The robot system 1 includes an imaging unit 10, a first robot 21, a second robot 22, an information processing device 30, and a control device 40.

  The imaging unit 10 is a camera including, for example, a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like, which is an imaging element that converts collected light into an electrical signal. In this example, the imaging unit 10 is installed at a position where a range including an area where each of the first robot 21 and the second robot 22 can perform work can be imaged.

  The imaging unit 10 is connected to the control device 40 via a cable so as to be communicable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB (Universal Serial Bus), for example. The imaging unit 10 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The first robot 21 is a single-arm robot including an arm A1 and a support base BS1 that supports the arm A1. The single-arm robot is a robot having one arm (arm) like the arm A1 in this example. The first robot 21 may be a double-arm robot, a direct-acting robot such as a gantry robot, a scalar robot, or another robot instead of a single-arm robot. There may be. The multi-arm robot is a robot having two or more arms (for example, two or more arms A1). Of the multi-arm robot, a robot having two arms is also referred to as a double-arm robot. That is, the first robot 21 may be a double-arm robot having two arms, or a multi-arm robot having three or more arms (for example, three or more arms A1).

The arm A1 includes an end effector E1, a manipulator M1, and a force detector 211. The arm A1 is an example of a first movable part.
The end effector E1 is an end effector that grips an object. In this example, the end effector E1 includes a finger part, and holds the object by holding the object by the finger part. Instead of this, the end effector E1 may be configured to hold the object by lifting the object by air suction, magnetic force, another jig, or the like. That is, in this example, gripping means that the object can be lifted. As shown in FIG. 1, a tool TL1 is provided on the finger portion of the end effector E1.

  The tool TL1 is a tool that can grip a linear object. The tool TL1 is a tool that can be detachably provided on the finger part of the end effector E1, and can hold and release a linear object in accordance with the operation of the finger part of the end effector E1. It is. In this example, releasing the linear object means releasing the gripping linear object. A linear object is an object that can be bent without breaking. For example, the linear object is a communication cable, a power feeding cable, other wiring, piping, a biological tube such as a blood vessel, or the like. Below, the case where a linear object is the cable C shown in FIG. 1 as an example is demonstrated.

  Here, the tool TL1 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of the tool TL1. As shown in FIG. 2, the tool TL1 in this example is a clip pliers that can be lifted with the cable C interposed therebetween. The tool TL1 has a grip part GL and a clip part CL. The grip part GL is configured by two rod-like objects, and is a part that can be provided on the finger part of the end effector E1 among the parts of the tool TL1. Clip part CL is comprised by two rod-shaped objects, and is a site | part which can hold | grip the cable C among the site | parts of tool TL1. The gripping of the cable C by the clip part CL means that the cable C is sandwiched and held by the two rod-like objects of the clip part CL.

  The tool TL1 opens and closes the clip portion CL according to the opening and closing of the grip portion GL by the finger portion of the end effector E1. In this example, the opening and closing of the grip part GL is to change the distance between the two rod-like objects of the grip part GL. Moreover, opening and closing of the clip part CL is changing the distance between the two rod-shaped objects which the clip part CL has in this example. In the example shown in FIG. 2, when the grip portion GL is opened, that is, when the distance between the two rod-like objects of the grip portion GL is increased, the clip portion CL is opened, that is, the two rod-like shapes of the clip portion CL are provided. The distance between the objects increases. Further, when the grip portion GL is closed, that is, when the distance between the two rod-shaped objects included in the grip portion GL is reduced, the clip portion CL is closed, that is, the distance between the two rod-shaped objects included in the clip portion CL is Get closer. The tool TL1 can grip the cable C by the clip portion CL by such an operation.

  Further, when the tool TL1 is the longest, that is, when the grip portion and the clip portion of the tool TL1 are closed, the end portion of the tool TL1 from the end portion on the grip portion GL side of the end portion of the tool TL1. In this example, the length to the end on the clip portion CL side is the length LT1. The length LT1 is, for example, about 10 centimeters. The length LT1 may be another length instead of this. In addition, when the tool TL1 is holding the cable C, a plurality of unevenness (jagged edges) is formed on at least a part of the surface of the clip portion CL that sandwiches the cable C (surface that is in contact with the cable C). Shaped step). Thereby, the tool TL1 can suppress the cable C from slipping and falling, and can hold and hold the plurality of cables C at the same time. The tool TL1 is an example of a grip part.

  The end effector E1 on which such a tool TL1 is installed is communicably connected to the control device 40 via a cable. Thus, the end effector E1 performs an operation based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The end effector E1 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The manipulator M1 includes six joints. Each of the six joints includes an actuator (not shown). That is, the arm A1 including the manipulator M1 is a 6-axis vertical articulated arm. The arm A1 performs an operation with six degrees of freedom by a coordinated operation by the support base BS1, the end effector E1, the manipulator M1, and the actuators of each of the six joints included in the manipulator M1. The arm A1 may be configured to operate with a degree of freedom of 5 axes or less, or may be configured to operate with a degree of freedom of 7 axes or more.

  Each of the six actuators (provided in the joint) included in the manipulator M1 is connected to the control device 40 via a cable so as to be communicable. Thus, the actuator operates the manipulator M1 based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Further, a part or all of the six actuators included in the manipulator M1 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The force detection unit 211 is provided between the end effector E1 and the manipulator M1. The force detection unit 211 is, for example, a force sensor. The force detection unit 211 detects a force or a moment (torque) applied to the end effector E1 or an object gripped by the end effector E1. The force detection unit 211 outputs first force detection information including a value indicating the magnitude of the detected force or moment as an output value to the control device 40 by communication.

  The first force detection information is used for control based on the first force detection information of the arm A1 by the control device 40. The control based on the first force detection information is, for example, compliant motion control such as impedance control. Note that the force detection unit 211 may be another sensor that detects a value indicating the magnitude of a force or moment applied to the end effector E1 such as a torque sensor or an object gripped by the end effector E1.

  The force detection unit 211 is communicably connected to the control device 40 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The force detection unit 211 and the control device 40 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The second robot 22 is a single-arm robot including an arm A2 and a support base BS2 that supports the arm A2. The single-arm robot is a robot including one arm (arm) like the arm A2 in this example. The second robot 22 may be a double-arm robot instead of a single-arm robot, a linear motion robot such as a gantry robot, a scalar robot, or other robots. There may be. The multi-arm robot is a robot having two or more arms (for example, two or more arms A2). Of the multi-arm robot, a robot having two arms is also referred to as a double-arm robot. That is, the second robot 22 may be a double-arm robot having two arms or a multi-arm robot having three or more arms (for example, three or more arms A2).

The arm A2 includes an end effector E2, a manipulator M2, and a force detection unit 221.
The end effector E2 is an end effector that grips an object. In this example, the end effector E2 includes a finger portion, and holds the object by holding the object by the finger portion. Instead of this, the end effector E2 may be configured to hold the object by lifting the object by air suction, magnetic force, other jigs, or the like. That is, in this example, gripping means that the object can be lifted. As shown in FIG. 1, a tool TL2 is provided on the finger portion of the end effector E2.

  The tool TL2 is a tool that restricts a movable range (movable range) of a part of the cable C that is in contact with the part of the cable C when the cable C held by the tool TL1 moves together with the tool TL1. Here, the tool TL2 will be described with reference to FIG. FIG. 3 is a diagram illustrating an example of the tool TL2. As shown in FIG. 3, the tool TL2 in this example has two rod-like objects. These two rod-shaped objects are connected so that their one ends can rotate with respect to each other, and each of the ends opposite to the one ends is provided on the finger portion of the end effector E2. Further, the tool TL2 is provided with an abutting portion LD at one end from the one end in a predetermined direction. The predetermined direction is a direction orthogonal to a plane including a direction in which each of the two rod-like objects extends. The contact portion LD is a rod-shaped portion that is brought into contact with the cable C in order to limit the movable range of the cable C.

  The joint between the two rod-shaped objects of the tool TL2 and the contact portion LD is provided with a spring. When a force greater than a predetermined threshold is applied to the contact portion LD, the spring The contact portion LD is elastically deformed in the direction in which the force is applied. The tool TL1 includes a force sensor and an actuator that rotates the contact portion LD with respect to the object. When a force equal to or greater than a predetermined threshold is applied to the contact portion LD, the tool TL1 Other configurations in which the contact portion LD is elastically deformed according to the force applied to the contact portion LD, such as a configuration in which the contact portion LD is rotated in a direction in which the force is applied, may be used.

  The tool TL2 has the tool TL2 from the center of gravity of the end effector E2 according to the opening / closing between the two objects when the tool TL2 opens / closes between the two rod-shaped objects included in the tool TL2 according to the operation of the finger portion of the end effector E2. The distance to the joint between the two rod-like objects and the contact portion LD is changed. In this example, opening and closing between the objects is to change the distance between the objects. In the example shown in FIG. 3, when the objects are opened, that is, when the distance between the objects is separated, the distance from the center of gravity to the joint is shortened. Further, when the objects are closed, that is, when the distance between the objects is made closer, the distance from the center of gravity to the joint is increased. Hereinafter, as an example, a case will be described in which the tool TL2 is used while the state where the object is always closed is maintained. When the tool TL2 is the longest, that is, when the two rod-like objects of the tool TL2 are closed, the end portion of the tool TL2 from the end on the end effector E2 side to the joint portion In this example, the length is the length LT2. The length LT2 is longer than the length LT1 in the above-described tool TL1, and is about 15 centimeters, for example. Thereby, in robot system 1, it can control that tool TL1 and tool TL2 interfere. Alternatively, the length LT2 may be another length longer than the length LT1.

  At least a part of the contact portion LD (for example, a portion of the contact portion LD within a range surrounded by the circle WD shown in FIG. 3) has a curved surface as shown in FIG. FIG. 4 is a trihedral view showing an example of the contact portion LD. In FIG. 4, the spring provided in the contact portion LD is omitted. The shape of the contact portion LD in this example is a semi-cylindrical shape having a semicircular cross section when the contact portion LD is cut along a plane orthogonal to the direction in which the contact portion LD extends. In addition, the semi-cylindrical shape is a semi-cylindrical shape that becomes narrower from the joint portion between the two rod-shaped objects of the tool TL2 and the contact portion LD to the tip of the contact portion LD. As a result, the tool TL2 can not only limit the movable range of the cable C, but can also crease the cable C by an angle between a semicircular arc and a straight line. Instead of this, the contact portion LD may have another shape as long as at least a part of the contact portion LD has a curved surface, and has the same thickness from the joint portion to the tip. It may be.

  The end effector E2 provided with such a tool TL2 is communicably connected to the control device 40 via a cable. Thereby, the end effector E2 performs an operation based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Further, the end effector E2 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The manipulator M2 includes six joints. Each of the six joints includes an actuator (not shown). That is, the arm A2 including the manipulator M2 is a 6-axis vertical articulated arm. The arm A2 performs an operation with six degrees of freedom by a coordinated operation by the support base BS2, the end effector E2, the manipulator M2, and the actuators of each of the six joints included in the manipulator M2. The arm A2 may be configured to operate with a degree of freedom of 5 axes or less, or may be configured to operate with a degree of freedom of 7 axes or more.

  Each of the six actuators (provided in the joint) included in the manipulator M2 is connected to the control device 40 via a cable so as to be communicable. Thus, the actuator operates the manipulator M2 based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Further, a part or all of the six actuators included in the manipulator M2 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The force detector 221 is provided between the end effector E2 and the manipulator M2. The force detection unit 221 is, for example, a force sensor. The force detection unit 221 detects the force or moment (torque) applied to the end effector E2 or the object gripped by the end effector E2. The force detection unit 221 outputs second force detection information including a value indicating the magnitude of the detected force or moment as an output value to the control device 40 by communication.

  The second force detection information is used for control based on the second force detection information of the arm A2 by the control device 40. The control based on the second force detection information is, for example, compliant motion control such as impedance control. The force detection unit 221 may be another sensor that detects a value indicating the magnitude of the force or moment applied to the end effector E2 such as a torque sensor or an object gripped by the end effector E2.

  The force detection unit 221 is connected to the control device 40 via a cable so as to be communicable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The force detection unit 221 and the control device 40 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In this example, the control device 40 is a robot controller (robot control device). The control device 40 sets a control point T1, which is a TCP (Tool Center Point) that moves together with the end effector E1, at a position previously associated with the end effector E1. The position associated with the end effector E1 in advance is, for example, the position on the rotation axis of the actuator of the manipulator M1 that rotates the end effector E1, and the clip portion CL in the tool TL1 in a state where the grip portion GL is closed. This is the position of the end on the side. Instead of this, the position associated with the end effector E1 may be another position.

  The control point T1 is associated with first control point position information, which is information indicating the position of the control point T1, and first control point attitude information, which is information indicating the attitude of the control point T1. The control point T1 may be configured to be associated with other information in addition to these. When the control device 40 designates (determines) the first control point position information and the first control point attitude information, the position and attitude of the control point T1 are determined. The control device 40 designates the first control point position information, and operates the arm A1 so that the position of the control point T1 coincides with the position indicated by the designated first control point position information. Further, the control device 40 designates the first control point posture information, and operates the arm A1 so that the posture of the control point T1 matches the posture indicated by the designated first control point posture information.

  In this example, the position of the control point T1 is represented by the position of the origin of the control point coordinate system TC1 in the robot coordinate system RC. Further, the posture of the control point T1 is represented by the direction of each coordinate axis of the control point coordinate system TC1. The control point coordinate system TC1 is a three-dimensional local coordinate system associated with the control point T1 so as to move with the control point T1.

  The control device 40 sets the control point T1 based on the first control point setting information input in advance by the user. The first control point setting information is, for example, information indicating a relative position and posture between the position and posture of the center of gravity of the end effector E1 and the position and posture of the control point T1. Alternatively, the first control point setting information may be information indicating a relative position and posture between a certain position and posture associated with the end effector E1 and the position and posture of the control point T1. It may be information indicating a relative position and posture between any position and posture associated with the manipulator M1 and the position and posture of the control point T1, and may be any position and posture associated with the tool TL1. Information indicating a relative position and posture with respect to the position and posture of the control point T1 may be used.

  The control device 40 acquires waypoint information from the information processing device 30. The waypoint information is information indicating a waypoint. The via points are a plurality of points that pass (pass) through the control point T1 when the control device 40 operates the arm A1. The waypoints are associated with waypoint position information, waypoint posture information, waypoint order information, waypoint speed information, and waypoint gripping force information. The waypoint position information is information indicating the position of the waypoint. Further, the waypoint posture information is information indicating the posture of the waypoint. The waypoint order information is information indicating the order associated with the waypoints. The waypoint speed information is information indicating the speed associated with the waypoint. The speed is a speed at which the control point T1 (or the end effector E1) is moved. The waypoint gripping force information is information indicating the gripping force associated with the waypoint. The gripping force is a force with which the clip portion of the tool TL1 grips an object by the operation of the finger portion of the end effector E1.

  In this example, the position of each via point is represented by the position in the robot coordinate system RC of the origin of the via point coordinate system, which is a three-dimensional local coordinate system associated with each via point. In addition, the posture of the via point is represented by the direction of each coordinate axis of the via point coordinate system.

  The control device 40 designates the first control point position information and the first control point posture information, and operates the arm A1 so that the position and posture of the control point T1 coincides with the position and posture of the via point. The point T1 and the waypoint are matched. In this example, matching the control point T1 and the via point means matching the position and posture of the control point T1 with the position and posture of the via point. Moreover, the control apparatus 40 matches the control point T1 with each via point based on the order of the via points. Further, the control device 40 determines the speed of the control point T1 when moving from each via point to the next via point based on the via point speed. Further, the control device 40 determines the gripping force when the clip portion of the tool TL1 grips an object, which is a gripping force when moving from each viapoint to the next viapoint, based on the viapoint gripping force. To do. Accordingly, the control device 40 operates the arm A1 to change the position and posture of the end effector E1.

  Based on the acquired waypoint information, the control device 40 generates a control signal including a signal for controlling the actuator of the manipulator M1 so that the control point T1 coincides with each waypoint. The control signal includes other signals such as a signal for moving the finger portion of the end effector E1. And the control apparatus 40 transmits the produced | generated control signal to the 1st robot 21, and makes the 1st robot 21 perform predetermined 1st operation | work.

  Moreover, the control apparatus 40 sets the control point T2 which is TCP which moves with the end effector E2 in the position previously matched with the end effector E2. The position associated with the end effector E2 in advance is, for example, the position of the tip of the contact portion LD. Note that the position previously associated with the end effector E2 may be another position instead.

  The control point T2 is associated with second control point position information, which is information indicating the position of the control point T2, and second control point attitude information, which is information indicating the attitude of the control point T2. The control point T2 may be configured to be associated with other information in addition to these. When the control device 40 designates (determines) the second control point position information and the second control point attitude information, the position and attitude of the control point T2 are determined. The control device 40 designates the second control point position information, and operates the arm A2 so that the position of the control point T2 matches the position indicated by the designated second control point position information. Further, the control device 40 designates the second control point posture information, and operates the arm A2 so that the posture of the control point T2 matches the posture indicated by the designated second control point posture information.

  In this example, the position of the control point T2 is represented by the position of the origin of the control point coordinate system TC2 in the robot coordinate system RC. Further, the posture of the control point T2 is represented by the direction of each coordinate axis of the control point coordinate system TC2. The control point coordinate system TC2 is a three-dimensional local coordinate system associated with the control point T2 so as to move with the control point T2.

  The control device 40 sets the control point T2 based on the second control point setting information input in advance from the user. The second control point setting information is, for example, information indicating a relative position and posture between the position and posture of the center of gravity of the end effector E2 and the position and posture of the control point T2. Alternatively, the second control point setting information may be information indicating a relative position and posture between any position and posture associated with the end effector E2 and the position and posture of the control point T2. It may be information indicating a relative position and posture of any position and posture associated with the manipulator M2 and the position and posture of the control point T2, and may be any position and posture associated with the tool TL2. It may be information indicating a relative position and posture with respect to the position and posture of the control point T2.

  In addition, the control device 40 acquires auxiliary waypoint information from the information processing device 30. The auxiliary via point information is information indicating an auxiliary via point. The auxiliary via points are a plurality of points that pass (pass) through the control point T2 when the control device 40 operates the arm A2. Auxiliary via point position information, auxiliary via point posture information, and auxiliary via point order information are associated with the auxiliary via point. The auxiliary via point position information is information indicating the position of the auxiliary via point. Further, the auxiliary via point posture information is information indicating the posture of the auxiliary via point. The auxiliary route point order information is information indicating the order associated with the auxiliary route point.

  In this example, the position of each auxiliary via point is represented by the position in the robot coordinate system RC of the origin of the auxiliary via point coordinate system which is a three-dimensional local coordinate system associated with each auxiliary via point. The posture of the auxiliary via point is represented by the direction of each coordinate axis of the auxiliary via point coordinate system.

  The control device 40 designates the second control point position information and the second control point posture information, and operates the arm A2 so that the position and posture of the control point T2 matches the position and posture of the auxiliary via point, The control point T2 and the auxiliary via point are matched. In this example, matching the control point T2 with the auxiliary via point means matching the position and posture of the control point T2 with the position and posture of the auxiliary via point. Moreover, the control apparatus 40 makes control point T2 correspond to each auxiliary | assistant via point based on the order of an auxiliary | assistant via point in the said order. Accordingly, the control device 40 operates the arm A2 to change the position and posture of the end effector E2.

  Based on the acquired auxiliary via point information, the control device 40 generates a control signal including a signal for controlling the actuator of the manipulator M2 so that the control point T2 coincides with each auxiliary via point. The control signal includes other signals such as a signal for moving the finger portion of the end effector E2. And the control apparatus 40 transmits the produced | generated control signal to the 2nd robot 22, and makes the 2nd robot 22 perform predetermined 2nd operation | work.

  In this example, the control device 40 is installed outside the first robot 21 and the second robot 22. Note that the control device 40 may be built in either the first robot 21 or the second robot 22 instead of being installed outside the first robot 21 and the second robot 22. Good. Further, the control device 40 may be configured to be built in both the first robot 21 and the second robot 22. In this case, the first control device that is the control device 40 built in the first robot 21 acquires the waypoint information from the information processing device 30 and operates the first robot 21 based on the obtained waypoint information. Further, the second control device, which is the control device 40 built in the second robot 22, acquires auxiliary route point information from the information processing device 30, and operates the second robot 22 based on the acquired auxiliary route point information. .

  The information processing apparatus 30 is, for example, a notebook PC (Personal Computer). Instead of this, the information processing apparatus 30 is another information processing apparatus such as a teaching pendant, a desktop PC, a tablet PC, a multi-function mobile phone terminal (smart phone), a mobile phone terminal, or a PDA (Personal Digital Assistant). May be.

  In this example, the information processing apparatus 30 displays a teaching screen for the user to input teaching points. The teaching point is a point used by the information processing apparatus 30 to generate waypoint information and auxiliary waypoint information. The teaching point is associated with teaching point position information, teaching point posture information, teaching point order information, teaching point speed information, teaching point gripping force information, and teaching point type information. The teaching point position information is information indicating the position of the teaching point. The teaching point posture information is information indicating the posture of the teaching point. The teaching point order information is information indicating the order associated with the teaching points. The teaching point speed information is information indicating the speed associated with the teaching point. The teaching point gripping force information is information indicating the gripping force associated with the teaching point.

  The teaching point type information is information indicating the type of teaching point. There are five types of teaching points: a starting teaching point, an ending teaching point, a first teaching point, a second teaching point, and a third teaching point. Each of the starting teaching point, the ending teaching point, the first teaching point, and the second teaching point is a teaching point used for generating waypoint information. The third teaching point is a teaching point used for generating auxiliary via point information. Hereinafter, for convenience of explanation, a teaching point whose type is the first teaching point is referred to as a starting teaching point, a teaching point whose type is the last teaching point is referred to as a final teaching point, and a teaching point whose type is the first teaching point is referred to as a teaching point. A description will be made by referring to the first teaching point, a teaching point whose type is the second teaching point as a second teaching point, and a teaching point whose type is the third teaching point as a third teaching point. Details of these teaching points will be described later.

  The information processing apparatus 30 receives these pieces of information input by the user from the teaching screen. The information processing apparatus 30 generates teaching points based on the received information. The information processing apparatus 30 generates waypoint information and auxiliary waypoint information based on the generated teaching point. The information processing device 30 outputs the generated waypoint information and auxiliary waypoint information to the control device 40.

  The information processing device 30 is communicably connected to the control device 40 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The information processing apparatus 30 and the control apparatus 40 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). Further, the information processing device 30 may be configured integrally with the control device 40. In this case, the control device 40 has each function of the information processing device 30 described below.

<Outline of First Work Performed by First Robot and Second Work Performed by Second Robot>
Hereinafter, an outline of the first work performed by the first robot 21 and the second work performed by the second robot 22 will be described.
First, the first work performed by the first robot 21 will be described. The first robot 21 performs the operation of routing the cable C around the object as a predetermined operation. In this example, the operation of drawing the cable C around the object is an operation of attaching (arranging) the cable C to the object while pulling the linear object along the via point locus corresponding to the object. The waypoint trajectory is a locus obtained by connecting each waypoint indicated by the waypoint information generated by the information processing apparatus 30 with a line in the order of the order of each waypoint. The line is a straight line in this example. In addition, the structure containing a curve may be sufficient as the said line. As an example of the operation of attaching the cable C to the object while pulling the cable C, an operation of wiring (arranging) the cable C on one or more cable clamps provided on a wall surface inside the housing of some apparatus while the cable C is hooked. It is done.

  The object to which the cable C is routed is, for example, an industrial device such as a printer or a projector, a component of the device, a non-industrial daily commodity device, a component of the device, or a living body such as an organ. Below, the case where the said object is the 1st object O shown in FIG. 1 is demonstrated as an example.

  In this example, the first object O is placed on the upper surface of the work table TB as shown in FIG. The first object O is a plate-like object. On the upper surface of the first object O, a locking portion O1 and a locking portion O2, which are two locking portions, are formed. Each of the locking portion O1 and the locking portion O2 is a cable clamp for hooking the cable C when the cable C is routed around the first object O, for example. The first object O may have a configuration in which only one of the locking portion O1 and the locking portion O2 is formed. In addition to the locking portion O1 and the locking portion O2, the first object O may have other configurations. The structure by which the latching | locking part is formed may be sufficient. The upper surface of the first object O is an example of a first surface.

  Each of the locking portion O1 and the locking portion O2 includes a first portion extending vertically upward from the upper surface of the first object O, and an end portion on the opposite side to the upper surface side of the end portions of the first portion. And a second portion extending in a direction horizontal to the upper surface. The distance between the upper surface and the second part is a distance longer than at least the thickness of the cable C. Each of the locking part O1 and the locking part O2 can be locked by inserting a part of the cable C therebetween. Hereinafter, for convenience of explanation, an end portion on the opposite side to the first portion of each of the locking portion O1 and the locking portion O2 is referred to as an inlet, and an end portion on the first portion side in the interval. Will be referred to as the back. In the following, for convenience of explanation, the insertion of the cable C from the entrance of the locking portion O1 is referred to as the insertion of the cable C into the locking portion O1, and the insertion from the entrance of the locking portion O2 to the back. The insertion of the cable C will be described by referring to the insertion of the cable C into the locking portion O2. The inlet is an example of the tip of the locking portion. Moreover, the said back is an example of the base end of a latching | locking part.

  Note that the shape of the first object O may be another shape instead of the shape described above. Further, the shape of either one or both of the locking portion O1 and the locking portion O2 may be another shape having an inlet and a back instead of the shape described above. The work table TB is a table in this example. The work table TB may be another object as long as it is an object on which the first object O such as a floor surface or a shelf can be placed, instead of the table.

  In this example, the first robot 21 holds the end C1 which is one of the two ends of the cable C with the tool TL1 in advance. The first work may include an operation of gripping the cable C placed in a predetermined cable storage place by the tool TL1.

  Based on the control signal acquired from the control device 40, the first robot 21 makes the tool TL1 gripping the end C1 by matching each waypoint with the control point T1 in the order of each waypoint. Move. Thus, the first robot 21 is attached to the first object O while pulling the cable C along the waypoint locus based on the waypoint information acquired by the control device 40 from the information processing device 30. That is, the first robot 21 routes the cable C to the first object O based on the waypoint information acquired from the control device 40.

  Here, the first operation performed by the first robot 21 will be described with reference to FIG. FIG. 5 is an example of a top view of the first object O. FIG. In FIG. 5, only the outer shape of each of the locking portion O1 and the locking portion O2 is shown by an alternate long and two short dashes line in order to make the drawing easy to see. For example, the first robot 21 pulls the cable C whose end C1 is gripped by the tool TL1 along the waypoint locus L0 illustrated in FIG. Then, the first robot 21 attaches the cable C to the first object O while hooking the cable C on each of the locking portion O1 and the locking portion O2. The cable C after being attached to the first object O is routed while being locked (inserted) in the locking portion O1 and the locking portion O2, as shown in FIG. Deviate. As described above, the first robot 21 performs the work of drawing the cable C around the first object O as the first work. Instead of this, the first work may be other work performed while pulling the cable C along some waypoint trajectory.

  When the first robot 21 pulls the cable C in the first work, a part of the cable C may be lifted from the upper surface of the first object O according to the force applied to the cable C. In such a case, the first robot 21 may fail to insert the cable C into one or both of the locking portion O1 and the locking portion O2 in the first work. In order to suppress this, the second robot 22 assists the insertion of the cable C into the locking portion O1 and the locking portion O2 by the first operation of the first robot 21 by performing the second operation.

  Hereinafter, the second work performed by the second robot 22 will be described with reference to FIG. FIG. 6 is a view of an example of a state immediately before the cable C is inserted into the locking portion O1 as seen from the side surface of the locking portion O1. The said side surface is a surface of the latching | locking part O1 seen when the latching | locking part O1 is seen from the direction orthogonal to the direction which goes to the back from the entrance of the latching | locking part O1. In FIG. 6, to simplify the drawing, the cable C is indicated by only a two-dot chain line showing a cross section of the cable C. The cable C moves in the direction AR1 indicated by the arrow shown in FIG. 6 by the first operation. Thereby, the cable C is inserted in the latching | locking part O1. At this time, as described above, the cable C may float from the upper surface OM of the first object O.

  In the example shown in FIG. 6, the second robot 22 matches the control point T2 with the auxiliary via point set between the locking portion O1 and the cable C, and the upper surface of the first object O between the two points. The contact portion LD is brought into contact with the OM. At this time, the orientation of the auxiliary via point is such that the angle θ on the cable C side is an acute angle (less than 90 °) among the angles formed by the contact portion LD and the upper surface OM when the control point T1 coincides with the auxiliary via point. It is a posture to become. When the angle θ is an acute angle, a part of the cable C enters a space sandwiched between the upper surface OM and the contact portion LD due to the movement of the cable C by the first operation. The space is a space (shadow space) where the light is blocked by the contact portion LD when light is applied from directly above the upper surface OM toward the upper surface OM. The part that has entered the space is in contact with the contact part LD to interfere with the contact part LD even if the part is lifted from the upper surface OM by the movement of the cable C by the first operation. Move in the direction of the tip of the LD.

  Further, as described above, the contact portion LD is elastically deformed when a force greater than a predetermined threshold is applied by the movement of the cable C. In the example illustrated in FIG. 6, when the cable C moves in the direction AR <b> 1 and a force greater than a predetermined threshold is applied to the contact portion LD, the contact portion LD is indicated by the arrow illustrated in FIG. 6. Elastically deforms in the direction AR2. Accordingly, the cable C is restricted (suppressed) from being lifted from the upper surface OM of the first object O, and is inserted into the locking portion O1. As described above, the second robot 22 performs, as the second operation, the operation of restricting the cable C from being lifted from the upper surface OM by the contact portion LD.

  Alternatively, the second operation may be configured such that the contact portion LD is disposed at the position so that the cable C bends at a desired position. The position may be a position in the upper surface OM or a position vertically above the upper surface OM.

  Thus, in the robot system 1, the first robot 21 performs the first work, and the second robot 22 performs the second work. Thereby, the first robot 21 and the second robot 22 can perform the work of drawing the cable C around the first object O. Further, since the robot system 1 causes the first robot 21 and the second robot 22 to route the cable C, the first robot 21 can perform the first operation even when a predetermined work is performed on each of the plurality of first objects O. A certain quality can be maintained without varying the state of the cable C routed for each object O. As a result, the robot system 1 can suppress the possibility of problems due to variations in the state.

<Overview of processing in which information processing device generates waypoint information and auxiliary waypoint information>
Hereinafter, an outline of processing in which the information processing apparatus 30 generates the waypoint information and the auxiliary waypoint will be described.
The information processing apparatus 30 allows the user from the displayed teaching screen to teach point position information, teaching point posture information, teaching point order information, teaching point speed information, teaching point gripping force information, and teaching point type information. Is entered. The information processing device 30 generates a teaching point based on the input information. Then, the information processing apparatus 30 generates a waypoint and an auxiliary waypoint based on the generated teaching point.

  Here, the types of teaching points, that is, the starting teaching point, the ending teaching point, the first teaching point, the second teaching point, and the third teaching point will be described. The starting teaching point is a teaching point that specifies the position and orientation of the first (starting) via point generated by the information processing device 30, the speed of the via point, and the gripping force of the via point. It is. The final teaching point is a teaching point that specifies the position and orientation of the last (end point) via point generated by the information processing device 30, the speed of the via point, and the gripping force of the via point. is there.

  A 1st teaching point is a teaching point which shows the position of each inlet_port | entrance of the latching | locking part O1 and the latching | locking part O2. A 2nd teaching point is a teaching point which shows the position of each back of the latching | locking part O1 and the latching | locking part O2. The order, speed, and gripping force of the start teaching point, end teaching point, first teaching point, and second teaching point are calculated as the order of the via points generated by the information processing device 30, the speed, and the gripping force, respectively. Used to do. The third teaching point is a teaching point that designates the position and posture of the auxiliary via point generated by the information processing apparatus 30 and the order of the auxiliary via point.

  The information processing apparatus 30 generates a waypoint and an auxiliary waypoint based on these types of teaching points. The information processing apparatus 30 generates waypoint information indicating the generated waypoints and auxiliary waypoint information indicating the generated waypoints. Then, the information processing device 30 outputs the waypoint information and the auxiliary waypoint information to the control device 40. Accordingly, the user can easily cause the first robot 21 and the second robot 22 to perform the operation of routing the cable C by using the information processing apparatus 30.

<Outline of processing performed by control device>
Hereinafter, an outline of processing performed by the control device 40 will be described.
When the cable C is routed around the first object O, the control device 40 causes the cable C to be gripped by the tool TL1 provided on the arm A1, and the contact portion LD provided on the arm A2 and the cable C are contacted. In this case, at least one of the arm A1 and the arm A2 is controlled. Specifically, the control device 40 acquires the waypoint information and auxiliary waypoint information from the information processing device 30. Then, the control device 40 causes the first robot 21 to perform the first work based on the acquired waypoint information. Further, the control device 40 causes the second robot 22 to perform the second work based on the auxiliary route point information acquired from the information processing device 30. Thus, the control device 40 can easily perform the operation of routing the cable C. Further, since the control device 40 causes the first robot 21 and the second robot 22 to route the cable C, the control device 40 does not perform the first operation even when a predetermined work is performed on each of the plurality of first objects O. A certain quality can be maintained without varying the state of the cable C routed for each object O. As a result, the control device 40 can suppress the possibility that a problem due to the variation of the state occurs.
In the present embodiment, the information processing device 30 generates the waypoint information and the auxiliary waypoint information, and the control device 40 causes the first robot 21 to perform the first work and the second robot 22 to perform the second work. The processing to be performed will be described in detail.

<Hardware configuration of robot controller>
Hereinafter, the hardware configuration of the information processing device 30 and the control device 40 will be described with reference to FIG. FIG. 7 is a diagram illustrating an example of a hardware configuration of the information processing device 30 and the control device 40. FIG. 7 shows the hardware configuration of the information processing apparatus 30 (functional unit assigned with the 30th symbol) and the hardware configuration of the control device 40 (functional unit assigned with the 40th symbol) for convenience. It is the figure shown repeatedly.

  The information processing apparatus 30 includes, for example, a CPU (Central Processing Unit) 31, a storage unit 32, an input reception unit 33, a communication unit 34, and a display unit 35. Further, the information processing device 30 communicates with the control device 40 via the communication unit 34. These components are connected to each other via a bus Bus so that they can communicate with each other.

  The control device 40 includes, for example, a CPU 41, a storage unit 42, an input reception unit 43, a communication unit 44, and a display unit 45. Further, the control device 40 communicates with the robot 20 and the information processing device 30 via the communication unit 44. These components are connected to each other via a bus Bus so that they can communicate with each other.

The CPU 31 executes various programs stored in the storage unit 32.
The storage unit 32 includes, for example, a hard disk drive (HDD), a solid state drive (SSD), an electrically erasable programmable read-only memory (EEPROM), a read-only memory (ROM), and a random access memory (RAM). Note that the storage unit 32 may be an external storage device connected by a digital input / output port such as a USB instead of the one built in the information processing device 30. The storage unit 32 stores various information, images, and programs processed by the information processing apparatus 30.

The input receiving unit 33 is, for example, a touch panel configured integrally with the display unit 35. The input receiving unit 33 may be a keyboard, a mouse, a touch pad, or other input device.
The communication unit 34 includes, for example, a digital input / output port such as USB, an Ethernet (registered trademark) port, and the like.
The display unit 35 is, for example, a liquid crystal display panel or an organic EL (ElectroLuminescence) display panel.

The CPU 41 executes various programs stored in the storage unit 42.
The storage unit 42 includes, for example, an HDD, an SSD, an EEPROM, a ROM, a RAM, and the like. The storage unit 42 may be an external storage device connected via a digital input / output port such as a USB instead of the one built in the control device 40. The storage unit 42 stores various information, images, and programs processed by the control device 40.

The input reception unit 43 is, for example, a touch panel configured integrally with the display unit 45. The input receiving unit 43 may be a keyboard, a mouse, a touch pad, or other input device.
The communication unit 44 includes, for example, a digital input / output port such as USB, an Ethernet (registered trademark) port, and the like.
The display unit 45 is, for example, a liquid crystal display panel or an organic EL display panel.

<Functional configuration of information processing apparatus and control apparatus>
Hereinafter, the functional configuration of the information processing device 30 and the control device 40 will be described with reference to FIG. 8. FIG. 8 is a diagram illustrating an example of functional configurations of the information processing device 30 and the control device 40.

  The information processing apparatus 30 includes a storage unit 32, a communication unit 34, a display unit 35, and a control unit 36.

  The control unit 36 controls the entire information processing apparatus 30. The control unit 36 includes a display control unit 361, an imaging control unit 362, an image acquisition unit 363, a trajectory generation unit 364, a via point generation unit 365, an auxiliary via point generation unit 366, and an information output unit 367. . These functional units included in the control unit 36 are realized, for example, when the CPU 31 executes various programs stored in the storage unit 32. Further, some or all of the functional units may be hardware functional units such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit).

The display control unit 361 generates various screens to be displayed on the display unit 35. The display control unit 361 displays the generated screen on the display unit 35.
The imaging control unit 362 causes the imaging unit 10 to capture a range that can be captured by the imaging unit 10.
The image acquisition unit 363 acquires the captured image captured by the imaging unit 10 from the imaging unit 10.
The trajectory generation unit 364 generates a temporary trajectory based on the teaching point input (received) from the user by the input reception unit 33. The temporary trajectory is a curve used when the waypoint generation unit 365 generates a waypoint.

The waypoint generation unit 365 generates a waypoint based on the temporary locus generated by the locus generation unit 364. Further, the waypoint generation unit 365 generates waypoint information indicating the waypoint based on the generated waypoint.
The auxiliary via point generation unit 366 generates an auxiliary via point based on the teaching point input (received) from the user by the input receiving unit 33. Further, the auxiliary via point generation unit 366 generates auxiliary via point information indicating the auxiliary via point based on the generated auxiliary via point.
The information output unit 367 outputs the waypoint information generated by the waypoint generation unit 365 to the control device 40 via the communication unit 34. Further, the information output unit 367 outputs the auxiliary route point information generated by the auxiliary route point generation unit 366 to the control device 40 through the communication unit 34.

The control device 40 includes a storage unit 42, a communication unit 44, and a control unit 46.
The control unit 46 controls the entire control device 40. The control unit 46 includes a force detection information acquisition unit 461, an information acquisition unit 462, a first robot control unit 463, and a second robot control unit 464. These functional units included in the control unit 46 are realized by the CPU 41 executing various programs stored in the storage unit 42, for example. Also, some or all of the functional units may be hardware functional units such as LSI and ASIC.

The force detection information acquisition unit 461 acquires first force detection information from the force detection unit 211. Further, the force detection information acquisition unit 461 acquires second force detection information from the force detection unit 221.
The information acquisition unit 462 acquires waypoint information from the information processing apparatus 30. Further, the information acquisition unit 462 acquires auxiliary route point information from the information processing apparatus 30.
The first robot control unit 463 operates the first robot 21 based on the waypoint information acquired by the information acquisition unit 462, and causes the first robot 21 to perform the first work.
The second robot control unit 464 operates the second robot 22 based on the auxiliary route point information acquired by the information acquisition unit 462, and causes the second robot 22 to perform the second operation.

<Processing for Information Processing Device to Display Teaching Screen>
Hereinafter, with reference to FIG. 9, a process in which the information processing apparatus 30 displays a teaching screen will be described. FIG. 9 is a flowchart illustrating an example of a process flow in which the information processing apparatus 30 displays a teaching screen.

  The display control unit 361 reads teaching screen information from the storage unit 32. The teaching screen information is information necessary for generating the teaching screen, and is information configured by, for example, HTML (HyperText Markup Language) or CSS (Cascading Style Sheets). The teaching screen information is information stored in the storage unit 32 in advance. The display control unit 361 generates a teaching screen based on the teaching screen information read from the storage unit 32 (step S110). Next, the display control unit 361 displays the teaching screen generated in step S110 on the display unit 35 (step S120), and ends the process.

<Processing performed by information processing device based on operation performed by user on teaching screen>
Hereinafter, the teaching screen and the processing performed by the information processing apparatus 30 based on the operation performed by the user will be described with reference to FIGS. FIG. 10 is a diagram illustrating an example of the teaching screen. The teaching screen G1 illustrated in FIG. 10 includes a captured image display area VS, a button B1, a button B2, and a button B3. The teaching screen G1 may include another GUI (Graphical User Interface) in addition to these.

  The captured image display area VS is an area for displaying a captured image captured by the imaging unit 10. When displaying the teaching screen G1 on the display unit 35, the display control unit 361 causes the imaging unit 10 to capture a range that can be captured by the imaging unit 10 using the imaging control unit 362. The range includes at least the upper surface of the first object O. The image acquisition unit 363 acquires the captured image captured by the imaging unit 10 from the imaging unit 10. The display control unit 361 displays the captured image acquired by the image acquisition unit 363 in the captured image display area VS. Note that the coordinates indicating the position on the captured image are associated with the coordinates indicating the position in the robot coordinate system RC by calibration. The coordinates indicating the position in the robot coordinate system RC are associated with the coordinates indicating the position in the real space (world coordinate system) by calibration.

  Further, the user can add (input and generate) a teaching point at a position on the captured image indicated by the tapped position by tapping on the captured image display area VS. When the user taps on the captured image display area VS, the display control unit 361 generates a teaching point in which the teaching point position information indicating the position is associated with the position on the captured image indicated by the tapped position. To do. The position is a position in the X-axis direction and the Y-axis direction of the robot coordinate system RC associated with the position in the X-axis direction and the Y-axis direction on the captured image. In this example, the teaching point is associated with the position in the Z-axis direction of the robot coordinate system RC later. Note that the teaching points are the X-axis direction, Y-axis direction, and Z-axis direction of the robot coordinate system RC associated with the positions in the X-axis direction, Y-axis direction, and Z-axis direction on the captured image. The teaching point position information indicating the position may be configured to be associated when the teaching point is generated. In this example, the X-axis direction and the Y-axis direction on the captured image are directions along the upper surface of the first object O included in the captured image in this example. Note that the X-axis direction and the Y-axis direction on the captured image may instead be other directions that are not along the upper surface of the first object O included in the captured image.

  Further, the display control unit 361 notifies the user that the teaching point has been generated, based on the position in the X-axis direction and the Y-axis direction of the robot coordinate system RC associated with the generated teaching point. Information representing a teaching point is added (displayed) to the position in the X-axis direction and the Y-axis direction on the associated captured image. In the example illustrated in FIG. 10, information indicating teaching points added (displayed) on the captured image includes circle SP, circle EP, circle TP1, circle TP11, circle TP2, circle TP21, circle HP1, and circle HP2. It is represented by Note that the information may be other information such as a star mark or blinking light.

  Further, the display control unit 361 adds (displays) information indicating a teaching point on the captured image, and then teaches the teaching point posture information indicating the posture of the teaching point indicated by the added (displayed) information, An information input screen for inputting teaching point order information indicating the order of teaching points and teaching point type information indicating the type of the teaching points is displayed superimposed on the captured image displayed in the captured image display area VS. In the example illustrated in FIG. 10, the display control unit 361 displays the circle EP in the captured image display area VS and then displays the information input screen G2 on the captured image displayed in the captured image display area VS. Yes.

  The user can associate a desired posture with the teaching point represented by the circle EP using the information input screen G2. That is, the display control unit 361 associates the teaching point posture information received from the information input screen G2 with the teaching point represented by the circle EP. Further, the user can associate a desired order with the teaching point represented by the circle EP using the information input screen G2. That is, the display control unit 361 associates the teaching point order information received from the information input screen G2 with the teaching point represented by the circle EP. Further, the user can associate a desired type with a teaching point represented by the circle EP using the information input screen G2. That is, the display control unit 361 associates the teaching point type information received from the information input screen G2 with the teaching point represented by the circle EP.

  In the example shown in FIG. 10, the teaching point represented by the circle EP is the final teaching point. Further, the teaching point represented by the circle SP is the starting teaching point. The teaching points represented by the circle TP1 and the circle TP2 are the first teaching points. Further, the teaching points represented by the circle TP11 and the circle TP21 are the second teaching points. The teaching points represented by the circles HP1 and HP2 are the third teaching points.

  The display control unit 361 deletes the information input screen G2 from the captured image display area VS after the teaching point posture information, the teaching point order information, and the teaching point type information are input by the user on the information input screen G2. For example, when the information input screen G2 is tapped twice within a predetermined time, the display control unit 361 has finished inputting the teaching point posture information, the teaching point order information, and the teaching point type information on the information input screen G2. Is determined. The predetermined time is, for example, about 1 second. The predetermined time may be another time.

  The button B1 is a button for finishing the addition of the teaching point (adding information indicating the teaching point in the captured image). When the user taps the button B1, the display control unit 361 determines that the addition of the teaching point by the user has been completed. When the display control unit 361 determines that the addition has been completed, the display control unit 361 displays the additional information input screen G3 illustrated in FIG. 11 so as to overlap the captured image display region VS. FIG. 11 is a diagram illustrating an example of the teaching screen G1 in a state where the additional information input screen G3 is displayed.

  The additional information input screen G3 includes a minimum radius information input field GP1, an additional information input field GP2, and a button B4.

  The minimum radius information input column GP1 is a column for inputting minimum radius information. In this example, the minimum radius information is information that specifies the minimum radius used when the trajectory generation unit 364 generates a trajectory based on the teaching points generated by the display control unit 361. Therefore, the user can input the minimum radius from the minimum radius information input field GP1. The minimum radius information is an example of third information.

  The additional information input column GP2 is a column for inputting additional information. In this example, the additional information includes three pieces of information: teaching point height information associated with the teaching point generated by the display control unit 361, teaching point speed information, and teaching point gripping force information. The teaching point height information is information indicating the position in the Z-axis direction of the robot coordinate system RC in the teaching point position information associated with the teaching point. The additional information may include other information in addition to these. In the additional information input field GP2, a teaching point ID for identifying the teaching point generated by the display control unit 361 is displayed in advance. The user can input teaching point height information, teaching point speed information, and teaching point gripping force information indicated by each teaching point ID from the additional information input field GP12.

  The button B4 is a button for ending the input of information by the user in each of the minimum radius information input field GP1 and the additional information input field GP2. When the user taps the button B4, the display control unit 361 causes the storage unit 32 to store the minimum radius information input to the minimum radius information input field GP1 by the user. The display control unit 361 also teaches the teaching point indicated by the teaching point ID associated with the teaching point height information, the teaching point speed information, and the teaching point gripping force information input in the additional information input field GP2. Associate with. Then, the display control unit 361 deletes the additional information input screen G3.

  Returning to FIG. The button B2 is a button for generating a via point trajectory and an auxiliary via point based on the teaching point generated by the display control unit 361 and displaying the generated via point trajectory and the auxiliary via point in the captured image display area VS. When the button B2 is tapped by the user, the trajectory generation unit 364 stores each of the start teaching point, the end teaching point, the first teaching point, and the second teaching point among the teaching points generated by the display control unit 361. Based on the minimum radius information stored in the unit 32, a temporary trajectory is generated. The temporary trajectory is a curve used by the trajectory generation unit 364 to generate a waypoint. Specifically, the locus generation unit 364 generates a relay point as shown in FIG. 12 based on each of the first teaching point and the second teaching point among the teaching points. FIG. 12 is a diagram illustrating an example of the teaching screen G1 in a state where a relay point is displayed.

  The relay point is a point generated by the trajectory generation unit 364 based on the first teaching point, the second teaching point, and a predetermined rule, and is a point through which the temporary trajectory generated by the trajectory generation unit 364 always passes. Here, the predetermined rule will be described. The trajectory generation unit 364 associates the first teaching point with the second teaching point closest to the first teaching point for each of the first teaching points. Hereinafter, for convenience of explanation, the two teaching points associated in this way will be described as a teaching point set. In the example shown in FIG. 12, the trajectory generation unit 364 associates the first teaching point represented by the circle TP1 and the second teaching point represented by the circle TP11 as a first teaching point set, and the circle TP2 represents the first teaching point set. One teaching point is associated with the second teaching point represented by the circle TP21 as a second teaching point set.

  The trajectory generation unit 364 generates a relay point associated with the teaching point set for each combination of teaching point sets. In addition, the trajectory generation unit 364 associates the generated relay point with teaching point order information indicating the order of the first teaching point included in the teaching point set associated with the relay point. Specifically, the trajectory generation unit 364 is a position on a straight line passing through the first teaching point and the second teaching point included in the teaching point set, and only the radius indicated by the minimum radius information from the first teaching point. A first relay point associated with relay point position information indicating a distant position is generated. The first relay point is a relay point associated with the teaching point set. The minimum radius information is the minimum radius information input to the minimum radius information input field GP1 by the user. The minimum radius is, for example, 5 centimeters. In addition, the trajectory generation unit 364 associates the generated first relay point with relay point order information indicating the order of the first teaching point included in the teaching point set associated with the first relay point. Alternatively, the minimum radius may be a radius less than 5 centimeters or a radius greater than 5 centimeters. Further, the minimum radius may be different for each first relay point generated by the trajectory generation unit 364. In this case, the minimum radius information includes information indicating the minimum radius for each teaching point set. The information is input by the user in the minimum radius information input field GP1.

  In addition, the display control unit 361 displays information representing the first relay point generated by the trajectory generation unit 364 at the position of the first relay point on the captured image. In the example shown in FIG. 12, the information is represented by a circle AP1 and a circle AP2. Note that the information may be other information such as a star mark or blinking light. The position of the first relay point represented by the circle AP1 is a position on a straight line passing through the second teaching point represented by the circle TP11 and the first teaching point represented by the circle TP1, and the minimum radius from the first teaching point represented by the circle TP. It is only a position away. The position of the first relay point represented by the circle AP2 is a position on a straight line passing through the second teaching point represented by the circle TP21 and the first teaching point represented by the circle TP2, and the first teaching point represented by the circle TP2. It is a position away from the minimum radius.

  In addition, the trajectory generation unit 364 sets, for each teaching point set, the first relay point associated with the teaching point set 90 ° in the first direction around the first teaching point included in the teaching point set. A second relay point associated with relay point position information indicating the rotated position is generated. The second relay point is a relay point associated with the teaching point set. The first direction is a direction from the teaching point toward a teaching point having a smaller order than the teaching point. In addition, the locus generation unit 364 associates the generated second relay point with relay point order information indicating the order of the first teaching point included in the teaching point set associated with the second relay point.

  In addition, the display control unit 361 displays information representing the second relay point generated by the trajectory generation unit 364 at the position of the second relay point on the captured image. In the example shown in FIG. 12, the information is represented by each of a circle BP1 and a circle BP2. Note that the information may be other information such as a star mark or blinking light. The position of the second relay point represented by the circle BP1 is a position obtained by rotating the first relay point represented by the circle AP1 by 90 ° in the first direction. In this example, the teaching point in the order smaller than the order of the teaching points represented by the circle TP1 is the starting teaching point represented by the circle SP. The position of the second relay point represented by the circle BP2 is a position obtained by rotating the first relay point represented by the circle AP2 by 90 ° in the first direction. In this example, the teaching point in the order smaller than the order of the teaching points represented by the circle TP2 is the first teaching point represented by the circle TP1.

  In addition, the trajectory generation unit 364 has, for each teaching point set, a relay point position indicating a position obtained by rotating the first relay point by 90 ° in the second direction around the first teaching point included in the teaching point set. A third relay point associated with the information is generated. The third relay point is a relay point associated with the teaching point set. The second direction is a direction from the teaching point toward a teaching point having a higher order than the teaching point. Further, the trajectory generation unit 364 associates the generated third relay point with relay point order information indicating the order of the first teaching point included in the teaching point set associated with the third relay point.

  In addition, the display control unit 361 displays information representing the third relay point generated by the trajectory generation unit 364 at the position of the third relay point on the captured image. In the example shown in FIG. 12, the information is represented by a circle CP1 and a circle CP2. Note that the information may be other information such as a star mark or blinking light. The position of the third relay point represented by the circle CP1 is a position obtained by rotating the first relay point represented by the circle AP1 by 90 ° in the second direction. In this example, the teaching point in the order larger than the order of the teaching points represented by the circle TP1 is the second teaching point represented by the circle TP2. The position of the third relay point represented by the circle CP2 is a position obtained by rotating the first relay point represented by the circle AP2 by 90 ° in the second direction. In this example, the teaching point in the order larger than the order of the teaching points represented by the circle TP2 is the final teaching point represented by the circle EP.

  Further, the trajectory generation unit 364 passes, for each teaching point set, a straight line connecting the first teaching point and the second teaching point included in the teaching point set through the second teaching point included in the teaching point set. A fourth relay point is generated that is associated with relay point position information indicating a position that is a position on a straight line that is orthogonal to the second teaching point by a minimum radius. The fourth relay point is a relay point associated with the teaching point set. In addition, the trajectory generation unit 364 associates the generated fourth relay point with relay point order information indicating the order of the first teaching point included in the teaching point set associated with the fourth relay point.

  In addition, the display control unit 361 displays information representing the fourth relay point generated by the trajectory generation unit 364 at the position of the fourth relay point on the captured image. In the example shown in FIG. 12, the information is represented by a circle DP1 and a circle DP2. Note that the information may be other information such as a star mark or blinking light. The position of the fourth relay point represented by the circle DP1 is a position on a straight line orthogonal to the straight line connecting the first teaching point represented by the circle TP1 and the second teaching point through the second teaching point represented by the circle TP11. Thus, the position is away from the second teaching point by a minimum radius. Further, the position of the fourth relay point represented by the circle DP2 is a position on a straight line orthogonal to the straight line connecting the first teaching point represented by the circle TP2 and the second teaching point through the second teaching point represented by the circle TP21. And it is a position away from the second teaching point by a minimum radius.

  Based on the rules described above, the trajectory generator 364 generates each of the first relay point to the fourth relay point. Then, the trajectory generation unit 364 generates each of the generated first relay point to fourth relay point, the teaching point whose type is the initial teaching point, and the teaching point whose type is the final teaching point, as shown in FIG. A temporary trajectory is generated as shown in FIG.

  Specifically, the trajectory generation unit 364 changes the generated relay points from a certain second relay point to the first relay point, from the first relay point to the third relay point, from the third relay point to the fourth relay point, and from the fourth relay point. A Bezier curve is generated as a temporary trajectory so as to be connected from the relay point to the second relay point in the order next to the second relay point. When generating the Bezier curve, the trajectory generation unit 364 further determines that the Bezier curve is from the start teaching point to the second relay point in the smallest order and from the fourth relay point to the last teaching point in the largest order. Generated as a connected Bezier curve.

  FIG. 13 is a diagram showing an example of a teaching screen G1 on which temporary trajectories generated based on the starting teaching point, the end teaching point, and the first to fourth relay points shown in FIG. 12 are displayed. . In the example illustrated in FIG. 13, the trajectory generation unit 364 includes the starting teaching point represented by the circle SP, the second relay point represented by the circle BP1, the first relay point represented by the circle AP1, the third relay point represented by the circle CP1, The fourth relay point represented by DP1, the second relay point represented by circle BP2, the first relay point represented by circle AP2, the third relay point represented by circle CP2, the fourth relay point represented by circle DP2, and the final teaching represented by circle EP A Bezier curve connecting points in order is generated as a temporary trajectory.

  After the trajectory generation unit 364 generates a temporary trajectory, the via point generation unit 365 determines a predetermined number N of via points on the temporary trajectory so that the via points are located at equal intervals based on a predetermined condition. Is generated. In this example, the predetermined condition is that the predetermined number N of via points to be generated are the via points that coincide with the start teaching point, the final teaching point, and the first to fourth relay points through which the temporary trajectory passes. Is included. The predetermined number N is, for example, 100. The predetermined number N may be another number instead. Further, the waypoint generation unit 365 may be configured to generate a predetermined number N of waypoints so that the waypoints are located at unequal intervals on the temporary trajectory based on a predetermined condition. .

  FIG. 13 is an image diagram when the waypoint generated by the locus generation unit 364 based on the temporary locus is superimposed on the teaching screen G1 based on the position of the waypoint. 13 is a starting teaching point represented by circle SP, a second relay point represented by circle BP1, a first relay point represented by circle AP1, a third relay point represented by circle CP1, and a fourth relay point represented by circle DP1. The relay point, the second relay point represented by the circle BP2, the first relay point represented by the circle AP2, the third relay point represented by the circle CP2, the fourth relay point represented by the circle DP2, and the final teaching point represented by the circle EP are sequentially passed. The points P1 to PN included in the dotted line are information representing each of a predetermined number N of via points. It should be noted that the points P1 to PN shown in FIG. 13 are drawn less than 100, which is the predetermined number N in this example, for the sake of simplicity.

  The waypoint generation unit 365 associates, as route point position information, teaching point position information indicating the position of the starting teaching point to a waypoint that matches the starting teaching point among the generated waypoints. Also, the waypoint generation unit 365 associates, as route point posture information, teaching point posture information indicating the posture of the starting teaching point to a waypoint that matches the starting teaching point among the generated waypoints. The waypoint generation unit 365 associates information indicating the speed of the starting teaching point with the waypoint that matches the starting teaching point among the generated waypoints as waypoint speed information. Further, the waypoint generation unit 365 associates information indicating the gripping force of the starting teaching point with the waypoint that matches the starting teaching point among the generated waypoints as waypoint gripping force information.

  In addition, the waypoint generation unit 365 associates information indicating the position of the end teaching point with the waypoint position information corresponding to the waypoint that matches the end teaching point among the generated waypoints. Further, the waypoint generation unit 365 associates information indicating the posture of the final teaching point with the waypoint posture information corresponding to the waypoint that matches the final teaching point among the generated waypoints. Further, the waypoint generation unit 365 associates information indicating the speed of the last teaching point with the waypoints that coincide with the last teaching point among the generated waypoints as waypoint speed information. In addition, the waypoint generation unit 365 associates information indicating the gripping force of the last teaching point with the waypoint that matches the last teaching point among the generated waypoints as waypoint gripping force information.

  Also, the waypoint generation unit 365 associates information indicating the position of the first relay point with the waypoint that matches the first relay point among the generated waypoints as waypoint position information. In addition, the waypoint generation unit 365 sets the first teaching point included in the teaching point set associated with the first relay point to the waypoint that matches the first relay point among the generated waypoints. The information indicating the posture is associated as the via point posture information. In addition, the waypoint generation unit 365 sets the first teaching point included in the teaching point set associated with the first relay point to the waypoint that matches the first relay point among the generated waypoints. The information indicating the speed is associated as the waypoint posture information. In addition, the waypoint generation unit 365 sets the first teaching point included in the teaching point set associated with the first relay point to the waypoint that matches the first relay point among the generated waypoints. The information indicating the gripping force is associated as the via point gripping force information.

  Here, in the following, for the sake of convenience of explanation, of the waypoints generated by the waypoint generation unit 365, a waypoint that matches any of the start teaching point, the end teaching point, and the first relay point is referred to as a matching point. I will explain. The waypoint generation unit 365 associates, for each matching point, waypoint order information indicating the order in ascending order from the matching point that matches the starting teaching point to the matching point that matches the ending teaching point. In the example shown in FIG. 13, the order of matching points represented by the circle SP is first, the order of matching points represented by the circle AP1 is second, and the order of matching points represented by the circle AP2 is third. The order of matching points represented by the circle EP is the fourth.

  The waypoint generation unit 365 calculates, for each of the waypoints other than the matching points among the generated waypoints, the posture of the waypoint based on the posture of each matching point. Specifically, the waypoint generation unit 365 selects one matching point from each of the matching points as a target matching point, and matches in the order next to the order of the target matching points from the posture of the selected target matching point. The amount of change in posture until reaching the posture of the point and the sum of the amount of change in posture between each via point from the target match point to the match point are between the target match point and the match point. The attitude of each included via point is calculated. For example, in the example illustrated in FIG. 13, when the via point generation unit 365 selects the matching point represented by the circle SP as the target matching point, the route point generation unit 365 is next to the matching point in the order of the matching point represented by the circle SP. The total amount of change in posture until the posture of the coincidence point represented by the circle AP1, which is the coincidence point of the order, and the amount of change in posture between each via point from the coincidence point represented by the circle SP to the coincidence point represented by the circle AP1 Are calculated so as to coincide with each other, and the via points included between the coincidence point represented by the circle SP and the coincidence point represented by the circle AP1 are calculated. Then, the via point generation unit 365 associates, for each via point, via point attitude information indicating the calculated attitude of the via point with the via point.

  In addition, the via point generation unit 365 calculates the speed of each via point based on the speed of each coincidence point for each via point excluding the coincidence point among the generated via points. Specifically, the via point generation unit 365 selects one matching point from each of the matching points as the target matching point, and the next highest order of the target matching points from the speed of the selected target matching points. From the target matching point to the matching point, the amount of change in speed until the speed of the matching point matches the sum of the amount of speed change between each via point from the target matching point to the matching point. To calculate the speed of each waypoint included. For example, in the example illustrated in FIG. 13, when the via point generation unit 365 selects the matching point represented by the circle SP as the target matching point, the order of the matching points is determined from the speed of the matching point represented by the circle SP. The amount of change in speed until reaching the speed of the matching point represented by the circle AP1, which is the matching point in the large order, and the speed between each passing point from the matching point represented by the circle SP to the matching point represented by the circle AP1 The speed of each via point included between the coincidence point represented by the circle SP and the coincidence point represented by the circle AP1 is calculated so that the sum of the change amounts coincides. Then, the via point generation unit 365 associates, with respect to each via point, via point speed information indicating the calculated via point speed.

  In addition, the via point generation unit 365 calculates the gripping force at each via point based on the gripping force at each matching point for each via point excluding the matching point among the generated via points. Specifically, the via point generation unit 365 selects one matching point from each of the matching points as the target matching point, and the next largest order of the target matching points from the gripping force of the selected target matching points. From the target matching point to the matching point, the amount of change in gripping force until the gripping force of the matching point matches the sum of the amount of change in gripping force between each via point from the target matching point to the matching point. The gripping force of each waypoint included in the interval is calculated. For example, in the example illustrated in FIG. 13, when the via point generation unit 365 selects the matching point represented by the circle SP as the target matching point, the order of the matching points is determined from the gripping force of the matching point represented by the circle SP. The amount of change in gripping force until reaching the gripping force of the matching point represented by the circle AP1, which is the matching point in the large order, and the gripping force between each passing point from the matching point represented by the circle SP to the matching point represented by the circle AP1 The gripping force of each via point included between the coincidence point represented by the circle SP and the coincidence point represented by the circle AP1 is calculated so that the total amount of change coincides. Then, the via point generation unit 365 associates, for each via point, via point gripping force information indicating the calculated gripping force of the via point with the via point.

  In addition, the waypoint generation unit 365 calculates the order of each generated waypoint (including matching points) based on the order of each matching point. Specifically, when the predetermined number N is 100, the waypoint generation unit 365 specifies the order of the first matching point as the first, and the order of the last matching point is the 100th. The route point order information indicating the order from the route point adjacent to the first match point to the last match point is sequentially associated.

  In this way, the waypoint generation unit 365 creates a waypoint in which each of the waypoint position information, waypoint posture information, waypoint order information, waypoint speed information, and waypoint gripping force information is associated. Then, the waypoint generation unit 365 generates waypoint information based on the generated waypoint.

  After the transit point generation unit 365 generates the transit point information, the display control unit 361 connects the transit points indicated by the transit point information with lines in the order of the transit points based on the transit point information. A waypoint trajectory is calculated. The display control unit 361 displays the calculated via point trajectory in the captured image display area VS based on the position of each via point. FIG. 14 is a diagram illustrating an example of the teaching screen G1 in a state where the waypoint trajectory is displayed in the captured image display area VS. As illustrated in FIG. 14, the display control unit 361 displays the waypoint locus L1 in the captured image display area VS. As a result, the information processing apparatus 30 visually indicates to the user the trajectory that the first robot 21 routes the cable C when the control apparatus 40 operates the first robot 21 based on each teaching point input by the user. Can be provided.

  In addition, when the button B2 is tapped by the user, the waypoint generation unit 365 performs processing for generating the waypoints described above, and each of the third teaching points among the teaching points generated by the display control unit 361. Based on this, a process for generating an auxiliary via point is executed. Specifically, the via point generation unit 365 generates auxiliary via points that coincide with each of the third teaching points. That is, each of the auxiliary route points generated by the route point generation unit 365 is associated with each piece of information associated with the third teaching point that matches each auxiliary route point. Each piece of information is teaching point position information, teaching point posture information, and teaching point order information. The via point generation unit 365 generates auxiliary via point information indicating the auxiliary via point based on the auxiliary via point thus generated.

  Returning to FIG. The button B3 is a button for causing the control device 40 to output the waypoint information and the auxiliary waypoint information generated by the waypoint generation unit 365. When the button B3 is tapped by the user, the information output unit 367 causes the communication unit 34 to output the current waypoint information and auxiliary waypoint information to the control device 40.

  As described above, the information processing apparatus 30 generates a via point and an auxiliary via point by teaching (inputting) a teaching point having a smaller number than the number of via points, and based on the generated via point. The waypoint information and the auxiliary waypoint information based on the generated auxiliary waypoint can be output to the control device 40. As a result, the information processing apparatus 30 can reduce the time of the work for the user to teach the waypoints and the auxiliary waypoints to the control apparatus 40, and suppress an increase in time cost and human cost related to the work. Can do.

<Process in which the control device causes the robot to perform a predetermined operation>
Hereinafter, a process in which the control device 40 causes the first robot 21 to perform the first work and causes the second robot 22 to perform the second work will be described with reference to FIG. 15. FIG. 15 is a flowchart illustrating an example of a flow of processing in which the control device 40 causes the first robot 21 to perform the first work and causes the second robot 22 to perform the second work. In the flowchart shown in FIG. 15, processing after the waypoint information and auxiliary waypoint information are output from the information processing device 30 to the control device 40 will be described.

  The information acquisition unit 462 acquires the waypoint information and auxiliary waypoint information from the information processing apparatus 30 (step S210). The information acquisition unit 462 stores the acquired waypoint information and auxiliary waypoint information in the storage unit 42. Next, the second robot control unit 464 reads the auxiliary via point information stored in the storage unit 42 by the information acquisition unit 462 from the storage unit 42 in step S210. Then, the second robot control unit 464 operates the second robot 22 based on the read auxiliary via point information, and makes the control point T2 coincide with the smallest auxiliary via point (step S220). Specifically, the second robot control unit 464 matches the position and posture of the control point T2 with the position and posture of the auxiliary via point.

  Next, the first robot control unit 463 operates the first robot 21 based on the waypoint information stored in the storage unit 42 by the information acquisition unit 462 in step S210, and the control point T1 in the order of each waypoint. The operation of routing the cable C, which is the operation of matching the line with the via point, is started (step S230). Then, the first robot control unit 463 continues the routing operation until a predetermined condition is satisfied (step S240).

  In this example, the predetermined condition is that, by the cable C routed by the first robot 21, a force greater than a predetermined threshold is applied to the contact portion LD of the tool TL2, and the contact is made by the spring of the contact portion LD. The cable C is inserted into the locking portion O1 along the contact portion LD after the portion LD is elastically deformed. The predetermined condition may be another condition instead of this.

  For example, if the first robot control unit 463 determines that the tension is less than the predetermined threshold after the tension of the cable C becomes equal to or higher than the predetermined threshold, the first robot control unit 463 determines that the predetermined condition is satisfied. The first robot control unit 463 determines whether the predetermined condition is satisfied by another method, such as a configuration for determining whether the predetermined condition is satisfied based on the captured image captured by the imaging unit 10. It may be configured to determine whether or not. In this case, the control unit 46 includes an imaging control unit that causes the imaging unit 10 to capture a range that the imaging unit 10 can capture, and an image acquisition unit that acquires a captured image captured by the imaging unit 10 from the imaging unit 10.

  When it is determined in step S240 that the predetermined condition is satisfied (step S240-YES), the first robot control unit 463 immediately after determining that the predetermined condition is satisfied, at the via point where the control point T1 matches. Then, the operation of the control point T1, that is, the routing operation of the cable C is stopped (step S250). Next, the second robot control unit 464 operates the second robot 22 based on the auxiliary via point information read from the storage unit 42 in step S220, and the order of the auxiliary via points that currently match the control point T2. Next, the control point T2 is matched with the auxiliary route point in the next largest order (step S260). Specifically, the second robot control unit 464 matches the position and posture of the control point T2 with the position and posture of the auxiliary via point.

  Next, the first robot control unit 463 restarts the operation of the control point T1 stopped in step S250, that is, the cable C routing operation (step S270). Specifically, the first robot control unit 463 causes the control point T1 to coincide with the transit point in order from the transit point in the next order of the transit point with which the current control point T1 coincides. Then, the first robot control unit 463 continues the routing operation until the number of via points that do not coincide with the control point T1 becomes zero (step S280). If the first robot control unit 463 determines that the number of via points that do not match the control point T1 has become zero (step S280—YES), the first robot control unit 463 ends the process.

  As described above, the control device 40 causes the first robot 21 to perform the first operation and causes the second robot 22 to perform the second operation based on the waypoint information and the auxiliary waypoint information acquired from the information processing device 30. . Thereby, the control apparatus 40 can perform the operation | work which draws a linear object easily. In addition, since the control device 40 causes the robot 20 to draw the linear object, the control device 40 can maintain a certain quality without varying the state of the drawn linear object. As a result, the control device 40 can suppress the possibility that a problem due to the variation of the state occurs.

  In the example described above, the case where the first robot 21 grips the cable C with the tool TL1 gripped by the finger portion of the end effector E1 has been described. However, the cable C is gripped by the finger portion of the end effector E1. It may be configured. In this case, for example, the tool TL1 is provided in the manipulator M1 as the end effector E1.

  The first teaching point (or various information associated with the first teaching point) is an example of the first information. The second teaching point (or various information associated with the second teaching point) is an example of second information. Further, the position of the auxiliary via point is an example of a contact position.

<Modification of Embodiment>
Hereinafter, a modification of the embodiment will be described with reference to FIG. FIG. 16 is a diagram illustrating an example of the configuration of the robot system 2 according to the present embodiment. The robot system 2 is a robot system 1 that includes a robot 23 instead of the first robot 21 and the second robot 22 in the robot system 1 and does not include the imaging unit 10. The robot system 2 may be configured to include the imaging unit 10. Moreover, in the modification of this embodiment, the same code | symbol is attached | subjected with respect to the component similar to embodiment described above, and description is abbreviate | omitted.

  The robot 23 is, for example, a double arm robot. The robot 23 includes a first arm and a second arm as two arms. The first arm corresponds to the first robot 21 in the embodiment described above in the modification of the present embodiment. The second arm corresponds to the second robot 22 in the embodiment described above in the modification of the present embodiment. The robot 23 includes a support base BS that supports the first arm and the second arm, and a control device 40.

  The first arm includes an end effector E11, a manipulator M11, a first imaging unit 11, and a force detection unit 211. The first arm is an example of a first movable part.

  The end effector E11 is an end effector that grips an object. In this example, the end effector E11 includes a finger part, and holds the object by holding the object by the finger part. Instead of this, the end effector E11 may be configured to hold the object by lifting the object by air suction, magnetic force, other jigs, or the like. That is, in this example, gripping means that the object can be lifted. As shown in FIG. 16, a tool TL1 is provided on the finger portion of the end effector E11.

  The end effector E11 is communicably connected to the control device 40 by a cable. Thereby, the end effector E11 performs an operation based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The end effector E11 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The manipulator M11 includes seven joints. Each of the seven joints includes an actuator (not shown). That is, the first arm including the manipulator M11 is a 7-axis vertical articulated arm. The first arm performs an operation with seven degrees of freedom by a coordinated operation by the support base BS, the end effector E11, the manipulator M11, and the actuators of the seven joints included in the manipulator M11. The first arm may be configured to operate with a degree of freedom of 6 axes or less, or may be configured to operate with a degree of freedom of 8 axes or more.

  When the first arm operates with a degree of freedom of seven axes, the posture that the first arm can take is increased as compared with a case where the first arm operates with a degree of freedom of six axes or less. Thereby, for example, the first arm can be smoothly operated, and interference with an object existing around the first arm can be easily avoided. In addition, when the first arm operates with a degree of freedom of 7 axes, the control of the first arm is easy and requires a smaller amount of calculation than when the first arm operates with a degree of freedom of 8 axes or more.

  Each of the seven actuators (provided at the joints) included in the manipulator M11 is communicably connected to the control device 40 via a cable. Thus, the actuator operates the manipulator M11 based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Further, a part or all of the seven actuators included in the manipulator M11 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The first imaging unit 11 is, for example, a camera that includes a CCD, a CMOS, or the like that is an imaging element that converts collected light into an electrical signal. In this example, the first imaging unit 11 is provided in a part of the manipulator M11. Therefore, the first imaging unit 11 moves according to the movement of the first arm. In addition, the range in which the first imaging unit 11 can image changes according to the movement of the first arm. The first imaging unit 11 may be configured to capture a still image within the range, or may be configured to capture a moving image within the range.

  The first imaging unit 11 is communicably connected to the control device 40 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The first imaging unit 11 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In this example, the force detection unit 211 is provided between the end effector E11 and the manipulator M11.

  The second arm includes an end effector E22, a manipulator M22, a second imaging unit 12, and a force detection unit 221. The second arm is an example of a second movable part.

  The end effector E22 is an end effector that grips an object. In this example, the end effector E22 includes a finger part, and holds the object by holding the object by the finger part. Instead of this, the end effector E22 may be configured to hold the object by lifting the object by air suction, magnetic force, other jigs, or the like. That is, in this example, gripping means that the object can be lifted. As shown in FIG. 16, a tool TL2 is provided on the finger portion of the end effector E22.

  The end effector E22 is communicably connected to the control device 40 by a cable. Thus, the end effector E22 performs an operation based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Further, the end effector E22 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The manipulator M22 includes seven joints. Each of the seven joints includes an actuator (not shown). That is, the second arm including the manipulator M22 is a 7-axis vertical articulated arm. The second arm performs a motion with seven degrees of freedom by a coordinated operation of the support base BS, the end effector E22, the manipulator M22, and the actuators of the seven joints included in the manipulator M22. The second arm may be configured to operate with a degree of freedom of 6 axes or less, or may be configured to operate with a degree of freedom of 8 axes or more.

  When the second arm operates with a degree of freedom of 7 axes, the posture that the second arm can take is increased as compared with a case where the second arm operates with a degree of freedom of 6 axes or less. Thereby, for example, the operation of the second arm becomes smooth, and interference with an object existing around the second arm can be easily avoided. Further, when the second arm operates with a degree of freedom of 7 axes, the control of the second arm is easy and requires a smaller amount of calculation than when the second arm operates with a degree of freedom of 8 axes or more.

  Each of the seven actuators (provided in the joint) included in the manipulator M22 is connected to the control device 40 via a cable so as to be communicable. Thus, the actuator operates the manipulator M22 based on the control signal acquired from the control device 40. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Further, a part or all of the seven actuators included in the manipulator M11 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The second imaging unit 12 is, for example, a camera that includes a CCD, a CMOS, or the like that is an imaging device that converts collected light into an electrical signal. In this example, the second imaging unit 12 is provided in a part of the manipulator M22. Therefore, the second imaging unit 12 moves according to the movement of the second arm. Further, the range that can be imaged by the second imaging unit 12 changes according to the movement of the second arm. The second imaging unit 12 may be configured to capture a still image within the range, or may be configured to capture a moving image within the range.

  Moreover, the 2nd imaging part 12 is connected with the control apparatus 40 by the cable so that communication is possible. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The second imaging unit 12 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In this example, the force detection unit 221 is provided between the end effector E22 and the manipulator M22.

The robot 23 includes a third imaging unit 13 and a fourth imaging unit 14.
The third imaging unit 13 is, for example, a camera provided with a CCD, a CMOS, or the like that is an imaging element that converts the collected light into an electrical signal. The third imaging unit 13 is provided in a region where stereo imaging can be performed together with the fourth imaging unit 14 in a range that can be imaged by the fourth imaging unit 14. The third imaging unit 13 is communicably connected to the control device 40 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The third imaging unit 13 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The fourth imaging unit 14 is, for example, a camera including a CCD, a CMOS, or the like that is an imaging element that converts the collected light into an electrical signal. The fourth imaging unit 14 is provided in a region where the third imaging unit 13 and the third imaging unit 13 can perform stereo imaging within the range that the third imaging unit 13 can capture. The 4th imaging part 14 is connected with the control apparatus 40 so that communication is possible by the cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The fourth imaging unit 14 may be configured to be connected to the control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In this example, the control device 40 is built in the robot 23. The control device 40 operates the robot 23 by transmitting a control signal to the robot 23. Thereby, the control device 40 causes the first arm of the robot 23 to perform the first work and causes the second arm to perform the second work.

  The control device 40 may be configured to be installed outside the robot 23 instead of the configuration built in the robot 23. In this case, the robot 23 and the control device 40 are connected by a cable through wired communication performed according to a standard such as Ethernet (registered trademark) or USB, or wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). Configure the robot system.

  Further, the robot 23 may have a configuration that does not include some or all of the first imaging unit 11, the second imaging unit 12, the third imaging unit 13, and the fourth imaging unit 14. When the robot 23 does not include all of the first imaging unit 11, the second imaging unit 12, the third imaging unit 13, and the fourth imaging unit 14, the robot system 2 performs imaging that is installed outside the robot 23. The unit 10 is provided.

  In this example, the first robot control unit 463 included in the control device 40 operates the first arm and causes the first arm to perform the first work. In addition, the second robot control unit 464 included in the control device 40 operates the second arm and causes the second arm to perform the second work. Thereby, the robot system 2 (or the control device 40 or the robot 23) according to the modification of the present embodiment can cause the robot 23 to perform the first work and the second work, and performs the work of drawing a linear object. It can be done easily. Further, since the robot system 2 causes the robot 23 to route the cable C, even if the first work O and the second work are performed for each of the plurality of first objects O, the robot system 2 Therefore, it is possible to maintain a certain quality without varying the state of the cable C routed by the cable. As a result, the robot system 2 can suppress the possibility of problems due to variations in the state.

  As described above, the control device 40 according to the present embodiment, when drawing a linear object (in this example, the cable C) around the first object (in this example, the first object O), In one example, a linear object is gripped by a gripping part (in this example, tool TL1) provided in arm A1 or first arm), and a second movable part (in this example, arm A2 or second arm) At least one of the first movable part and the second movable part is controlled so that the contact part (in this example, the contact part LD) provided in the contact part and the linear object are contacted. Thereby, the control apparatus 40 can perform the operation | work which draws a linear object easily.

  Further, the control device 40 controls at least one of the first movable portion and the second movable portion, and locks the linear object to the locking portions (in this example, the locking portions O1 and O2). Let As a result, the control device 40 can easily perform the operation of drawing the linear object while locking the linear object to the locking portion.

  In addition, the control device 40 receives the first information (in this example, various information associated with the first teaching point or the first teaching point) received by the receiving unit (in this example, the input receiving unit 33). Based on this, at least one of the first movable part and the second movable part is controlled. Thereby, the control apparatus 40 can perform the operation | work which draws a linear object easily based on the 1st information received by the reception part.

  Moreover, the control apparatus 40 is based on the 2nd information (in this example, various information matched with the 2nd teaching point or the 2nd teaching point) received by the receiving part, and the 1st movable part and 2nd Control at least one of the movable part. Thereby, the control apparatus 40 can perform the operation | work which draws a linear object easily based on the 1st information and 2nd information received by the reception part.

  Moreover, the control apparatus 40 controls at least one of a 1st movable part and a 2nd movable part based on the 3rd information (in this example, minimum radius information) received by the reception part. Thereby, the control apparatus 40 can perform easily the operation | work which routes a linear object based on 1st information, 2nd information, and 3rd information.

  Further, the control device 40 controls at least one of the first movable portion and the second movable portion based on the contact position of the contact portion received by the reception portion (in this example, the position of the auxiliary via point). To do. Thereby, the control apparatus 40 can perform the operation | work which draws a linear object easily based on the contact position of the contact part received by the reception part.

  In addition, when the control device 40 draws a linear object around the first object, the control device 40 causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. Then, at least one of the first movable portion and the second movable portion is controlled so that the abutting portion at least a part of which is a curved surface is brought into contact with the linear object. Thereby, the control apparatus 40 can perform easily the operation | work which draws a linear object by making the contact part and linear object which at least one part is a curved surface contact.

  In addition, when the control device 40 draws a linear object around the first object, the control device 40 causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. Then, at least one of the first movable portion and the second movable portion is controlled so that the contact portion having at least a part of elasticity and the linear object are brought into contact with each other. Thereby, the control apparatus 40 can perform the operation | work which draws a linear object easily by making the contact part and linear object which at least one part has elasticity contact | abut.

  In addition, when the control device 40 draws a linear object around the first object, the control device 40 causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. Therefore, the length from the base end (the end portion on the end effector E2 side of the end portion of the tool TL2) to the tip end (joint portion between the two rod-like objects of the tool TL2 and the contact portion LD) is grasped. From the base end (in this example, the end portion on the grip portion GL side of the end portion of the tool TL1) to the tip end (in this example, the end portion on the clip portion CL side in the end portion of the tool TL1) At least one of the first movable portion and the second movable portion is controlled so that the contact portion longer than the length contacts the linear object. As a result, the control device 40 draws the linear object by bringing the linear object into contact with the abutting portion whose length from the proximal end to the distal end is longer than the length from the proximal end to the distal end of the grip portion. Work can be done easily.

  In addition, when the control device 40 draws a linear object around the first object, the control device 40 causes the linear object to be gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part. The first movable portion and the second movable portion are arranged so that the contact portion that contacts the first surface of the first object (in this example, the upper surface of the first object O) and the linear object are contacted. Control at least one of Thereby, the control apparatus 40 can perform easily the operation | work which draws a linear object by making the contact part contact | abutted to the 1st surface of a 1st object, and a linear object contact | abut.

  Further, when the control device 40 draws a linear object around the first object, the linear object is detected by a gripping part provided in the first movable part provided in the robot (in this example, the first robot 21 or the robot 23). And the first movable portion so that the contact portion provided in the second movable portion provided in the robot (in this example, the second robot 22 or the robot 23) and the linear object are brought into contact with each other. And at least one of the second movable portion and the second movable portion is controlled. Thereby, the control apparatus 40 can perform easily the operation | work which draws a linear object by at least one of the 1st movable part provided in the robot, and the 2nd movable part provided in the robot.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and changes, substitutions, deletions, and the like are possible without departing from the gist of the present invention. May be.

  In addition, a program for realizing the functions of arbitrary components in the devices described above (for example, the information processing device 30 and the control device 40) is recorded on a computer-readable recording medium, and the program is stored in the computer system. You may make it read and execute. Here, the “computer system” includes hardware such as an OS (Operating System) and peripheral devices. The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD (Compact Disk) -ROM, or a storage device such as a hard disk built in the computer system. . Furthermore, “computer-readable recording medium” means a volatile memory (RAM) inside a computer system that becomes a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

In addition, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1, 2 ... Robot system, 10 ... Imaging part, 11 ... 1st imaging part, 12 ... 2nd imaging part, 13 ... 3rd imaging part, 14 ... 4th imaging part, 21 ... 1st robot, 22 ... 2nd Robot, 23 ... Robot, 30 ... Information processing device, 31, 41 ... CPU, 32, 42 ... Storage unit, 33, 43 ... Input receiving unit, 34, 44 ... Communication unit, 35, 45 ... Display unit, 36, 46 ... Control unit, 40 ... Control device, 211, 221 ... Force detection unit, 361 ... Display control unit, 362 ... Imaging control unit, 363 ... Image acquisition unit, 364 ... Trajectory generation unit, 365 ... Via point generation unit, 366 ... Auxiliary via point generation unit, 367 ... information output unit, 461 ... force detection information acquisition unit, 462 ... information acquisition unit, 463 ... first robot control unit, 464 ... second robot control unit

Claims (13)

When the linear object is drawn around the first object, the linear object is gripped by the gripping part provided in the first movable part, and the contact part provided in the second movable part and the linear object are A control unit that controls at least one of the first movable unit and the second movable unit so as to abut;
Control device. The first object has a locking part capable of locking the linear object,
The control unit controls at least one of the first movable unit and the second movable unit to lock the linear object to the locking unit;
The control device according to claim 1. A captured image of the locking unit captured by the imaging unit is displayed on the display unit, and based on the captured image displayed on the display unit, first information regarding the position of the tip of the locking unit is received by the receiving unit. Accepted,
The control unit controls at least one of the first movable unit and the second movable unit based on the first information received by the receiving unit.
The control device according to claim 2. The reception unit further receives second information related to the position of the proximal end of the locking portion based on the captured image displayed on the display unit,
The control unit controls at least one of the first movable unit and the second movable unit based on the second information received by the receiving unit.
The control device according to claim 3. The receiving unit receives third information related to a radius centered on the position of the tip;
The control unit controls at least one of the first movable unit and the second movable unit based on the third information received by the receiving unit.
The control device according to claim 4. The contact position of the contact portion is received by the reception portion.
The control device according to any one of claims 1 to 5. At least a part of the contact portion has a curved surface,
The control device according to any one of claims 1 to 6. At least a part of the contact portion has elasticity.
The control device according to any one of claims 1 to 7. The length from the proximal end to the distal end of the contact portion is longer than the length from the proximal end to the distal end of the grip portion,
The control device according to any one of claims 1 to 8. The abutting portion abuts on a first surface of the first object;
An angle at which the first surface and the contact portion sandwich the linear object is an acute angle.
The control device according to any one of claims 1 to 9. The first movable part and the second movable part are provided in a robot.
The control device according to any one of claims 1 to 10. Controlled by the control device according to any one of claims 1 to 10,
robot. A control device according to any one of claims 1 to 10,
A robot controlled by the control device;
A robot system comprising:

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