JP2018015854A - Robot, robot control device, robot system, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot that can perform contact detection having less influence of variation of a detection value of a force detection part, and the like.SOLUTION: A robot comprises a first movable part. In the case where a speed of the first movable part is faster than a speed of a second member, when gripping an object with the first movable part, the robot detects contact between the object and the second member based on a detection result of a second force detection part provided on the second member. A control part for controlling the first movable part receives the detection result. When not gripping the object with the first movable part, the robot detects contact between the first movable part and the second member based on the detection result of the second force detection part, and the control part for controlling the first movable part receives the detection result.SELECTED DRAWING: Figure 1

Description

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

In a robot, contact is detected.
For example, in the technique described in Patent Document 1, a technique of changing the workpiece by providing a pressure sensor on a finger part of a robot hand has been proposed (see Patent Document 1).

JP 2009-34744 A

  However, when the contact between the robot hand and the workpiece is detected using the force sensor, the detection result of the force sensor provided on the arm (for example, manipulator) on the side that holds the workpiece is expected. In addition to changes in values due to contact, changes in values due to vibration and acceleration / deceleration caused by movement of the arm, and changes in values due to changes in posture (gravity direction) are added, resulting in false detection of contact. It tends to occur. In addition, in order to avoid the occurrence of such false detection, when a large threshold is set for the detection result of the force sensor, a delay in timing for detecting contact may occur, and the phenomenon that the workpiece is pressed too much may occur. It sometimes occurred.

In order to solve at least one of the above problems, an aspect of the present invention includes a first movable part, and when the speed of the first movable part is higher than the speed of the second member, the first movable part causes the object to move. When the object is gripped, the contact between the object and the second member is detected based on the detection result of the second force detection unit provided on the second member, and the first movable unit is controlled. The control unit receives the detection result, and when the object is not gripped by the first movable unit, based on the detection result of the second force detection unit, the first movable unit, the second member, The control unit that detects the contact and controls the first movable unit is a robot that receives the detection result.
With this configuration, in the robot, when the speed of the first movable part is higher than the speed of the second member, the first movable part or the object and the first object are detected based on the detection result of the second force detection part provided on the second member. The control unit that detects contact with the two members and controls the first movable unit receives the detection result. Thereby, in the robot, when the speed of the first movable part is faster than the speed of the second member, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In one aspect of the present invention, in the robot, a configuration in which the first movable unit is a first manipulator or a first end effector may be used.
With this configuration, in the robot, the first movable unit is the first manipulator or the first end effector. Thereby, in the robot, when the speed of the first movable part is faster than the speed of the second member, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In one embodiment of the present invention, in the robot, a configuration in which the second member is stopped may be used.
With this configuration, the second member is stopped in the robot. Thereby, in the robot, when the 2nd member has stopped, the contact detection in which the influence of the fluctuation | variation of the detected value of a force detection part is small is possible.

In one embodiment of the present invention, a configuration may be used in which the detection result of the first force detection unit provided in the first movable unit is not used for the determination of the contact in the robot.
With this configuration, the robot does not use the detection result of the first force detection unit provided in the first movable unit for contact determination. As a result, the robot can perform contact detection that is less affected by fluctuations in the detection value of the force detection unit, based on the detection result of the second force detection unit.

Further, according to one aspect of the present invention, in the robot, a configuration in which a detection result of a first force detection unit provided in the first movable unit is used for determination of the contact may be used.
With this configuration, the robot uses the detection result of the first force detection unit provided in the first movable unit for contact determination. Thereby, in the robot, accurate contact detection is possible based on the detection result of the second force detection unit and the detection result of the first force detection unit.

According to another aspect of the present invention, in the robot, a configuration in which the second member is a second movable part or a second object may be used.
With this configuration, in the robot, the second member is the second movable part or the second object. Thereby, in the robot, when the speed of the first movable part is faster than the speed of the second movable part or the second object, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In one embodiment of the present invention, in the robot, a configuration in which the second movable unit is a second manipulator or a second end effector may be used.
With this configuration, in the robot, when the speed of the first movable part is higher than the speed of the second manipulator or the second end effector, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

According to another aspect of the present invention, in the robot, the second object may include a base and the second force detection unit.
With this configuration, in the robot, when the speed of the first movable part is faster than the speed of the second object, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In order to solve at least one of the above problems, an aspect of the present invention includes a first movable part, and when the speed of the first movable part is slower than the speed of the second member, the first movable part causes the object to move. A device that moves the second member by detecting contact between the object and the second member based on a detection result of a first force detector provided in the first movable portion. When the detection result is transmitted to the first movable part and the object is not gripped by the first movable part, the contact between the first movable part and the second member is based on the detection result of the first force detection part. , And transmits the detection result to a device that moves the second member.
With this configuration, in the robot, when the speed of the first movable part is slower than the speed of the second member, the first movable part or the object is detected based on the detection result of the first force detection part provided in the first movable part. The contact with the second member is detected, and the detection result is transmitted to a device that moves the second member. Thereby, in the robot, when the speed of the first movable part is slower than the speed of the second member, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In one aspect of the present invention, in the robot, a configuration in which the first movable unit is a first manipulator or a first end effector may be used.
With this configuration, in the robot, the first movable unit is the first manipulator or the first end effector. Thereby, in the robot, when the speed of the first movable part is slower than the speed of the second member, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In one embodiment of the present invention, in the robot, a configuration in which the first movable portion is stopped may be used.
With this configuration, in the robot, the first movable unit is stopped. Thereby, in the robot, when the 1st movable part has stopped, the contact detection with the influence of the fluctuation | variation of the detection value of a force detection part is small is possible.

In one embodiment of the present invention, a configuration may be used in which the device is a control device that controls a robot different from the robot.
With this configuration, in the robot, the device that moves the second member is a control device that controls a robot different from the robot. As a result, the robot can perform contact detection that is less affected by fluctuations in the detection value of the force detection unit when working with a robot different from the robot.

Further, in one aspect of the present invention, a configuration may be used in which the detection result of the second force detection unit provided in the second member is not used for the contact determination in the robot.
With this configuration, the robot does not use the detection result of the second force detection unit provided on the second member for contact determination. As a result, the robot can perform contact detection that is less affected by fluctuations in the detection value of the force detection unit, based on the detection result of the first force detection unit.

Further, according to one aspect of the present invention, in the robot, a configuration in which a detection result of a second force detection unit provided in the second member is used for the determination of the contact may be used.
With this configuration, the robot uses the detection result of the second force detection unit provided on the second member for contact determination. Thereby, in the robot, accurate contact detection is possible based on the detection result of the first force detection unit and the detection result of the second force detection unit.

According to another aspect of the present invention, in the robot, a configuration in which the second member is a second movable part or a second object may be used.
With this configuration, in the robot, the second member is the second movable part or the second object. Thereby, in the robot, when the speed of the first movable part is slower than the speed of the second movable part or the second object, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In one embodiment of the present invention, in the robot, a configuration in which the second movable unit is a second manipulator or a second end effector may be used.
With this configuration, in the robot, when the speed of the first movable unit is slower than the speed of the second manipulator or the second end effector, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

According to another aspect of the present invention, in the robot, the second member is a second object, and the second object includes a base and the second force detection unit. May be used.
With this configuration, in the robot, when the speed of the first movable part is slower than the speed of the second object, contact detection that is less affected by fluctuations in the detection value of the force detection part is possible.

In order to solve at least one of the above problems, an aspect of the present invention includes a first movable part, and the first movable part is based on a detection result of a second force detector provided in the second movable part. The control unit that detects contact between the object to be gripped and the second movable unit and controls the first movable unit is a robot that receives the detection result.
With this configuration, the robot detects the contact between the object that is gripped by the first movable unit and the second movable unit based on the detection result of the second force detection unit provided in the second movable unit, and the first movable unit The control unit that controls the unit receives the detection result. Thereby, in the robot, when the object is gripped by the first movable unit, it is possible to perform contact detection that is less affected by the variation in the detection value of the force detection unit.

In one embodiment of the present invention, in the robot, the first movable unit is a first manipulator or a first end effector, and the second movable unit is a second manipulator or a second end effector. Certain configurations may be used.
With this configuration, in the robot, each of the first movable unit and the second movable unit is a manipulator or an end effector. Thereby, in the robot, when the object is gripped by the first manipulator or the first end effector, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

In one embodiment of the present invention, a configuration may be used in which the detection result of the first force detection unit provided in the first movable unit is not used for the determination of the contact in the robot.
With this configuration, the robot does not use the detection result of the first force detection unit provided in the first movable unit for contact determination. As a result, the robot can perform contact detection that is less affected by fluctuations in the detection value of the force detection unit, based on the detection result of the second force detection unit.

Further, according to one aspect of the present invention, in the robot, a configuration in which a detection result of a first force detection unit provided in the first movable unit is used for determination of the contact may be used.
With this configuration, the robot uses the detection result of the first force detection unit provided in the first movable unit for contact determination. Thereby, in the robot, accurate contact detection is possible based on the detection result of the second force detection unit and the detection result of the first force detection unit.

In order to solve at least one of the above problems, an aspect of the present invention includes a first movable part, and a second movable part based on a detection result of a first force detector provided in the first movable part. A robot that detects contact between an object to be gripped and the first movable unit and transmits the detection result to a control unit that controls the second movable unit.
With this configuration, the robot detects the contact between the object that is gripped by the second movable unit and the first movable unit based on the detection result of the first force detection unit provided in the first movable unit, and the second movable unit The detection result is transmitted to a control unit that controls the unit. Thereby, in the robot, when the object is gripped by the second movable unit, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

In one embodiment of the present invention, in the robot, the first movable unit is a first manipulator or a first end effector, and the second movable unit is a second manipulator or a second end effector. Certain configurations may be used.
With this configuration, in the robot, each of the first movable unit and the second movable unit is a manipulator or an end effector. Thereby, in the robot, when the object is gripped by the second manipulator or the second end effector, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

In one embodiment of the present invention, a configuration may be used in which the detection result of the second force detection unit provided in the second movable unit is not used for the determination of the contact in the robot.
With this configuration, the robot does not use the detection result of the second force detection unit provided in the second movable unit for contact determination. As a result, the robot can perform contact detection that is less affected by fluctuations in the detection value of the force detection unit, based on the detection result of the first force detection unit.

Further, according to one aspect of the present invention, in the robot, a configuration in which a detection result of a second force detection unit provided in the second movable unit is used for the determination of the contact may be used.
With this configuration, the robot uses the detection result of the second force detection unit provided in the second movable unit for contact determination. Thereby, in the robot, accurate contact detection is possible based on the detection result of the first force detection unit and the detection result of the second force detection unit.

Further, in one embodiment of the present invention, in the above-described robot, a configuration that is a double-arm robot may be used.
With this configuration, the dual-arm robot performs work using one or both of the two arms. As a result, the double-arm robot can perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

In order to solve at least one of the above problems, one embodiment of the present invention is a robot control apparatus that controls a robot as described above.
With this configuration, the robot control apparatus controls the robot. As a result, the robot control apparatus can perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

In order to solve at least one of the above problems, an embodiment of the present invention is a robot system including the above-described robot and a robot control device that controls the robot.
With this configuration, in the robot system, the robot control device controls the robot. Thereby, in the robot system, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

In order to solve at least one of the above problems, according to one aspect of the present invention, when the speed of the first movable unit included in the robot is higher than the speed of the second member, the first movable unit grips an object. The control unit that detects the contact between the object and the second member based on the detection result of the second force detection unit provided on the second member, and controls the first movable unit. When the detection result is received and the object is not gripped by the first movable part, the contact between the first movable part and the second member is detected based on the detection result of the second force detection part. And the control part which controls the said 1st movable part is a control method which receives the said detection result.
With this configuration, in the control method, when the speed of the first movable part is faster than the speed of the second member, the first movable part or the object is detected based on the detection result of the second force detection part provided on the second member. A control unit that detects contact with the second member and controls the first movable unit receives the detection result. Thereby, in the control method, when the speed of the first movable part is faster than the speed of the second member, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In order to solve at least one of the above problems, according to one aspect of the present invention, when the speed of the first movable part included in the robot is slower than the speed of the second member, the object is gripped by the first movable part. When the first member is in contact with the second member based on the detection result of the first force detector provided in the first movable part, the detection result is sent to a device that moves the second member. And when the object is not gripped by the first movable part, the contact between the first movable part and the second member is detected based on the detection result of the first force detection part, It is a control method which transmits the detection result to a device which moves the second member.
With this configuration, in the control device, when the speed of the first movable part is slower than the speed of the second member, the first movable part or the object is based on the detection result of the first force detection part provided in the first movable part. And the second member are detected, and the detection result is transmitted to a device that moves the second member. Thereby, in the control device, when the speed of the first movable part is slower than the speed of the second member, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In order to solve at least one of the above problems, an aspect of the present invention is an object to be gripped by a first movable unit provided in a robot based on a detection result of a second force detection unit provided in the second movable unit. And a control unit that detects contact between the first movable unit and the second movable unit, and receives the detection result.
With this configuration, in the control method, the contact between the second movable unit and the object gripped by the first movable unit is detected based on the detection result of the second force detection unit provided in the second movable unit, and the first The control unit that controls the movable unit receives the detection result. As a result, in the control method, when the object is gripped by the first movable part, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

In order to solve at least one of the above problems, an aspect of the present invention is an object that is gripped by the second movable unit based on the detection result of the first force detection unit provided in the first movable unit provided in the robot. And the first movable part are detected, and the detection result is transmitted to a control part that controls the second movable part.
With this configuration, in the control method, the contact between the first movable part and the object gripped by the second movable part is detected based on the detection result of the first force detection part provided in the first movable part, and the second The detection result is transmitted to a control unit that controls the movable unit. Thereby, in the control method, when the object is gripped by the second movable part, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection part.

  As described above, according to the robot, the robot control device, the robot system, and the control method according to the present invention, the contact is detected based on the detection result of the force detection unit provided at a predetermined location. Thereby, in the robot, the robot control apparatus, the robot system, and the control method according to the present invention, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detector.

1 is a diagram illustrating a schematic configuration example of a robot system according to an embodiment (first embodiment) of the present invention. It is a figure which shows the schematic structural example of the robot control apparatus which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows a schematic example of the hardware constitutions of the robot control apparatus which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows an example of the control performed by the robot control apparatus of one robot in the robot system which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows an example of the control performed by the robot control apparatus of the other robot in the robot system which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows the schematic structural example of the robot system which concerns on one Embodiment (2nd Embodiment) of this invention. It is a figure which shows the schematic structural example of the robot system which concerns on one Embodiment (3rd Embodiment) of this invention.

  Embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
[Robot system]
FIG. 1 is a diagram illustrating a schematic configuration example of a robot system 1 according to an embodiment (first embodiment) of the present invention.
The robot system 1 includes a robot 11, a robot control device 12, a cable 13 that connects the robot 11 and the robot control device 12 in a communicable manner, a robot 21, a robot control device 22, a robot 21, and a robot control device 22. A cable 23 that connects the robot controller 12 and the robot controller 22 to each other, a camera 41 (an example of an imaging device), a camera 41 and the robot controller 12. A cable 42 that is communicably connected and a cable 43 that communicably connects the camera 41 and the robot controller 22 are provided.

  In FIG. 1, details of the wiring for connecting the robot 11 and the robot control device 12 are omitted, and only one cable 13 is shown, but any wiring may be used. Similarly, details of wiring connecting the camera 41 and the robot control device 12, details of wiring connecting the robot 21 and the robot control device 22, details of wiring connecting the camera 41 and the robot control device 22, and robot The details of the wiring for connecting the control device 12 and the robot control device 22 are omitted, and only one cable 42, 23, 43, 31 is shown, but any wiring may be used.

The robot 11 includes a base end (support base) 71, a manipulator M1, a force sensor 72, and an end effector E1.
The robot 21 includes a base end (support base) 81, a manipulator M2, a force sensor 82, and an end effector E2.
Here, in this embodiment, the robot 11 and the robot 21 are each a single-arm robot and have the same configuration.
In the example of FIG. 1, the robot 11 is holding the target object 51 (an example of a workpiece) by the end effector E1. Any object may be used as the object 51. For example, the object 51 may be a living body or may not be a living body.

In the present embodiment, the robot control devices 12 and 22 are provided separately from the robots 11 and 21 for the robots 11 and 21, respectively. As another configuration example, the robot control devices 12 and 22 may be provided integrally with the robots 11 and 21, for example, may be provided inside the base ends 71 and 81 of the robots 11 and 21.
Further, in the present embodiment, a configuration in which communication is performed via the respective wired cables 13, 23, 31, 42, and 43 is shown. In addition, a configuration for communicating via a wireless line may be used.

[camera]
The camera 41 captures an image and transmits information on the captured image to the robot control devices 12 and 22 via the cables 42 and 43, respectively.
In the present embodiment, the camera 41 is provided in common to the two robots 11 and 21, and is capable of imaging the status of the operations (work status) performed by these robots 11 and 21. is set up.

[Force sensor]
The force sensor 72 is provided in the robot 11 and detects one or both of the received force or moment.
The force sensor 82 is provided in the robot 21 and detects one or both of the received force or moment.

[Single-arm robot]
The base end 71 of the robot 11 is installed.
One end of the manipulator M1 of the robot 11 is connected to the base end 71. The other end of the manipulator M1 of the robot 11 and the end effector E1 are connected via a force sensor 72 therebetween.
The manipulator M1 of the robot 11 has a 6-axis vertical articulated structure and includes 6 joints. Each joint includes an actuator (not shown). The robot 11 performs an operation with 6 degrees of freedom by the operation of each actuator of the six joints. As another configuration example, a robot that operates with a degree of freedom of 5 axes or less, or a robot that operates with a degree of freedom of 7 axes or more may be used.
The end effector E1 of the robot 11 is, for example, a hand and includes a finger part that can grip an object. As another configuration example, the end effector E1 of the robot 11 may be arbitrary. For example, the end effector E1 that adsorbs an object by using air suction, or that draws an object by using magnetic force. There may be.

The base end 81 of the robot 21 is installed.
One end of the manipulator M2 of the robot 21 is connected to the base end 81. The other end of the manipulator M2 of the robot 21 and the end effector E2 are connected between them via a force sensor 82.
The manipulator M2 of the robot 21 has a 6-axis vertical articulated structure and includes 6 joints. Each joint includes an actuator (not shown). The robot 21 performs an operation with six degrees of freedom by the operation of each actuator of the six joints. As another configuration example, a robot that operates with a degree of freedom of 5 axes or less, or a robot that operates with a degree of freedom of 7 axes or more may be used.
The end effector E2 of the robot 21 is, for example, a hand and includes a finger part that can grip an object. As another configuration example, the end effector E2 of the robot 21 may be an arbitrary one. For example, the end effector E2 that adsorbs an object using air suction, or that draws an object using magnetic force is used. There may be.

[Robot controller]
The robot control device 12 controls the robot 11. For example, the robot control device 12 controls each actuator, force sensor 72, and end effector E1 of the manipulator M1.
Further, the robot control device 12 can control the camera 41.
The robot control device 12 receives detection result information from the force sensor 72.
Further, the robot control device 12 receives image information from the camera 41.
Further, the robot control device 12 can receive information from other robot control devices 22. The information may be information on a detection result of the force sensor 82, for example.
The robot control device 12 may control the robot 11 based on one or more of the information received from each of the force sensor 72, the camera 41, and the other robot control device 22.

The robot control device 22 controls the robot 21. For example, the robot control device 22 controls each actuator, force sensor 82, and end effector E2 included in the manipulator M2.
Further, the robot control device 22 can control the camera 41.
The robot control device 22 receives detection result information from the force sensor 82.
Further, the robot control device 22 receives image information from the camera 41.
Further, the robot control device 22 can receive information from other robot control devices 12. The information may be information on a detection result of the force sensor 72, for example.
The robot control device 22 may control the robot 21 based on one or more of the information received from each of the force sensor 82, the camera 41, and the other robot control device 12.

  Here, in the present embodiment, a configuration in which the two robot control devices 12 and 22 can control the camera 41 is shown, but as another configuration example, one robot control device (in the example of FIG. 1). A configuration in which one of the two robot control devices 12 and 22) can control the camera 41 may be used.

The robot control devices 12 and 22 will be described in detail.
In the present embodiment, the two robot control devices 12 and 22 have the same function, and the robot control device 12 will be described in detail as an example. The robot controller 22 is the same as the robot controller 12.

FIG. 2 is a diagram illustrating a schematic configuration example of the robot control device 12 according to an embodiment (first embodiment) of the present invention.
The robot control device 12 includes an input unit 111, an output unit 112, a communication unit 113, a storage unit 114, and a control unit 115.
The control unit 115 includes an information acquisition unit 131, a communication control unit 132, a camera control unit 133, a force sensor control unit 134, and a robot control unit 135.

The input unit 111 inputs information from the outside. As an example, an operation unit such as a keyboard or a mouse is provided, and information corresponding to the content of an operation performed by a user (person) is input to the operation unit.
The output unit 112 outputs information to the outside. As an example, the output unit 112 displays and outputs information using the display unit. The display unit is, for example, a display device having a screen, and displays and outputs information on the screen. As another example, the output unit 112 may output information in other modes, for example, may output information by sound (including sound).

The communication unit 113 communicates with the robot 11 via the cable 13, communicates with the camera 41 via the cable 42, and communicates with another robot control device (here, the robot control device 22) via the cable 31.
Here, in this embodiment, the input unit 111 and the output unit 112 are distinguished from the communication unit 113. However, the input unit 111 may have a reception function (input function) of the communication unit 113, and the output unit 112. May have the transmission function (output function) of the communication unit 113.

The storage unit 114 stores information. As an example, the storage unit 114 stores a control program used by the control unit 115 and information on various parameters. As another example, the storage unit 114 may store arbitrary information. For example, the storage unit 114 may store information such as an image used when the robot 11 is controlled.
The control unit 115 performs various controls in the robot control device 12. For example, the control unit 115 performs various controls based on the control program stored in the storage unit 114 and information on various parameters.

The information acquisition unit 131 acquires information. For example, the information acquisition unit 131 acquires one or more of information input by the input unit 111, information stored in the storage unit 114, or information received by the communication unit 113.
The communication control unit 132 controls communication (transmission and reception) performed by the communication unit 113.
The camera control unit 133 controls the camera 41. In the present embodiment, the camera control unit 133 controls the camera 41 by transmitting a control signal to the camera 41 via the cable 42 by the communication unit 113.
The force sensor control unit 134 controls the force sensor 72. In the present embodiment, the force sensor control unit 134 controls the force sensor 72 by transmitting a control signal to the force sensor 72 via the cable 13 by the communication unit 113.

The robot control unit 135 controls the operation of the robot 11. Specifically, the robot control unit 135 controls the operation of the manipulator M1 by communicating with the manipulator M1 via the cable 13. Further, the robot control unit 135 controls the operation of the end effector E1 by communicating with the end effector E1 via the cable 13.
Here, the robot control unit 135 performs not only control for moving the robot 11 but also control for stopping the robot 11. Specifically, the robot control unit 135 stops the operation of the manipulator M1 by transmitting a control signal (stop control signal) for stopping the manipulator M1 to the manipulator M1 via the cable 13. The robot control unit 135 stops the operation of the end effector E1 by transmitting a control signal (stop control signal) for stopping the end effector E1 to the end effector E1 via the cable 13.
The manipulator M1 and the end effector E1 are in a stopped state when receiving a stop control signal, respectively, but may sway due to vibration or the like. As described above, in the present embodiment, the stopped state may include a state in which the moving state is slightly caused by shaking due to vibration or the like.

FIG. 3 is a diagram illustrating a schematic example of the hardware configuration 201 of the robot control apparatus 12 according to an embodiment (first embodiment) of the present invention. Note that the example of FIG. 3 is an example, and any other configuration may be used.
FIG. 3 shows a hardware configuration 201 of the robot control device 12, a manipulator M1, an end effector E1, a force sensor 72, and a camera 41.
The manipulator M1 includes an actuator 251. In the present embodiment, the actuator 251 is a motor for each of a plurality of joints of the robot 11.

  A hardware configuration 201 of the robot control device 12 includes a central control unit 211 having a CPU (Central Processing Unit), a memory 212, a trajectory planning unit 213, an encoder reading unit 221, a manipulator control unit 222, and an end effector control. A unit 223, a force sensor control unit 224, a camera control unit 225, and a bus 231 that connects these components so as to communicate with each other.

Here, in the example of FIG. 3, the memory 212 is included in the storage unit 114 shown in FIG. In the example of FIG. 3, the trajectory planning unit 213, the encoder reading unit 221, the manipulator control unit 222, and the end effector control unit 223 are included in the robot control unit 135 shown in FIG. In the example of FIG. 3, the force sensor control unit 224 and the camera control unit 225 correspond to the force sensor control unit 134 and the camera control unit 133 shown in FIG.
In the example of FIG. 3, the central control unit 211 is included in the control unit 115 shown in FIG. 2 and controls the entire processing in the robot control device 12. In the example of FIG. 3, the input unit 111, the output unit 112, the communication unit 113, the information acquisition unit 131, and the communication control unit 132 shown in FIG.

The trajectory planning unit 213 plans a trajectory at a predetermined location with respect to the robot 11. The predetermined portion may be, for example, TCP (Tool Center Point).
The encoder reading unit 221 reads the value of the encoder (in this embodiment, a value representing the angle of each joint) with respect to the actuator 251 of the manipulator M1.
The manipulator control unit 222 controls, for example, the angles of a plurality of joints included in the manipulator M1 by controlling the actuator 251 of the manipulator M1.
The end effector control unit 223 controls, for example, an operation of gripping an object by the end effector E1 by controlling the end effector E1.
Here, the value of the encoder read by the encoder reading unit 221, the value of the force sensor, the information of the image captured by the camera 41, and the like can be used as feedback information for controlling the robot 11. Further, the trajectory information obtained by the trajectory planning unit 213 can be used as information for controlling the robot 11. Then, the manipulator control unit 222 controls the operation of the manipulator M1, and the end effector control unit 223 controls the operation of the end effector E1.

[Operation in robot system]
Referring to FIGS. 4 and 5, the control in the operation of transferring the object gripped by the end effector E1 of one robot 11 (in this embodiment, the target object 51) to the end effector E2 of the other robot 21. An example of
In the present embodiment, the end effector E1 of one robot 11 holds the object 51 in the initial state, or does not hold the object 51 in the initial state, but operates to hold the object 51. Do.
The end effector E2 of the other robot 21 does not grip an object in the initial state, but receives and grips the object 51 gripped by the end effector E1 of the one robot 11.

FIG. 4 is a diagram illustrating an example of control performed by the robot control device 12 of one robot 11 in the robot system 1 according to one embodiment (first embodiment) of the present invention.
(Step S11)
One robot control device 12 controls the operation of one robot 11 to bring the object 51 gripped by the end effector E1 of one robot 11 closer to the end effector E2 of the other robot 21. Then, one robot control device 12 proceeds to the process of step S12.
(Step S12)
One robot controller 12 determines whether the speed of itself (one robot 11) is faster than the speed of the other (the other robot 21). Here, the self speed is the speed of the movable part of the self, for example, the speed of the manipulator M1 (or the speed of the end effector E1). Similarly, the other speed is the speed of the other movable part, for example, the speed of the manipulator M2 (or the speed of the end effector E2).
As a result, if one robot control device 12 determines that its own speed is faster than the other speed (step S12: YES), the process proceeds to step S13.
On the other hand, if one robot control device 12 determines that its own speed is not higher than the other speed (step S12: NO), it proceeds to the process of step S15.
In addition, when both speed is the same, you may transfer to arbitrary processes (for example, the process of step S13, or the process of step S15), for example.
The determination of the magnitude of both speeds may be performed, for example, by one robot control device 12 and the other robot control device 22 communicating with each other, or predetermined information (for example, operation status). It may be determined on the basis of procedure information or the like.
(Step S13)
One robot control device 12 determines to use the detection value of the force sensor 82 of the other (the other robot 21). In the present embodiment, one robot control device 12 receives information on a value (detection value) detected by the force sensor 82 provided on the other robot 21 via the cable 31 from the other robot control device 22. And use that information. Then, the one robot controller 12 proceeds to the process of step S14.
(Step S14)
One robot control device 12 uses one of the detected values of the force sensor determined to be used (in this example, the detected value of the other force sensor 82 or its own force sensor 72). By controlling the operation of the robot 11, the object 51 held by the end effector E <b> 1 of one robot 11 is transferred to the end effector E <b> 2 of the other robot 21. Then, one robot control device 12 ends this process.
Here, the one robot controller 12 determines the object 51 held by the end effector E1 of the one robot 11 and the other robot 21 based on the information of the detected value of the force sensor that has been determined to be used. The contact with the end effector E2 is determined. Then, one robot control device 12 determines (detects) that the position has reached the position where the object 51 can be delivered based on the information.
(Step S15)
One robot control device 12 determines to use the detection value of the force sensor 72 of its own (one robot 11). In the present embodiment, one robot control device 12 receives information on a value (detected value) detected by a force sensor 72 provided in one robot 11 and uses the information. Then, the one robot controller 12 proceeds to the process of step S14.
In the present embodiment, one robot 11 moves while holding the object 51, and the other robot 21 stops until it contacts the object 51.

FIG. 5 is a diagram illustrating an example of control performed by the robot control device 22 of the other robot 21 in the robot system 1 according to one embodiment (first embodiment) of the present invention.
(Step S21)
The other robot control device 22 determines whether the speed of itself (the other robot 21) is slower than the speed of the other (the one robot 11).
As a result, if the other robot control device 22 determines that its own speed is slower than the other speed (step S21: YES), it proceeds to the process of step S22.
On the other hand, if the other robot control device 22 determines that its own speed is not slower than the other speed (step S21: NO), this process ends.
When the speeds of the two are the same, for example, the process may be shifted to an arbitrary process (for example, the process of step S22 or the process of termination).
The determination of the magnitude of both speeds may be performed, for example, by the other robot control device 22 and one robot control device 12 communicating with each other, or predetermined information (for example, operation It may be determined on the basis of procedure information or the like.
(Step S22)
The other robot control device 22 transmits the information on the detected value of the force sensor 82 received from the force sensor provided in itself (the force sensor 82 provided in the other robot 21) via the cable 31. And transmitted to the robot controller 12 of one robot 11. Here, the other robot control device 22 receives information on the value (detected value) detected by the force sensor 82 from the force sensor 82 provided in the other robot 21. This reception may be performed, for example, when this transmission is necessary, or may be performed at a constant time interval at all times.
Here, the timing at which the information of the detection value of the force sensor 82 is transmitted from the other robot control device 22 to the one robot control device 12 may be arbitrary. For example, a predetermined fixed timing (periodic) Timing).
In the present embodiment, one robot 11 moves while holding the object 51, and the other robot 21 stops until it contacts the object 51.
Further, in this example, for convenience of explanation, in step S12 in the example of FIG. 4, a process of determining whether or not its own speed is faster than the other speed (here, referred to as process A1 for convenience of explanation) is performed. In step S21 in the example of FIG. 5, a process for determining whether or not the own speed is slower than the other speed (here, referred to as process A2 for convenience of description) is performed. As another configuration example, the process A2 may be performed in step S12 to configure a substantially similar overall flow. As another configuration example, processing A1 may be performed in step S21 to configure a substantially similar overall flow.

  In the present embodiment, one robot 11 operates while the other robot 21 is stopped, and the object 51 held by the end effector E1 of the one robot 11 is moved to the end effector E2 of the other robot 21. The object 51 is passed to the end effector E2 of the other robot 21, and the object 51 is received and gripped by the end effector E2 of the other robot 21. Note that such operations of the robots 11 and 21 may be controlled by the respective robot control devices 12 and 22 in cooperation with each other, for example.

<Specific Example of Object Delivery Operation in Predetermined Work>
In the present embodiment, in a predetermined work, based on the information of the image captured by the camera 41, the manipulator M1 and the end effector E1 of one robot 11 are moved, and the target object 51 is gripped by the end effector E1. An operation (for example, an operation of gripping a specific position of the object 51) is performed. At this time, for example, when the posture of the object 51 does not match the posture suitable for performing the work, the object 51 is received from the end effector E1 of one robot 11 to the end effector E2 of the other robot 21. It is possible to perform a passing operation.

Here, as an example of a processing procedure for transferring the object 51 from the end effector E1 of one robot 11 to the end effector E2 of the other robot 21, (processing procedure 1-1) to (processing procedure 1-5) are performed. Show.
(Processing procedure 1-1)
In the state where the two robots 11 and 21 are at the work start position, the other robot control device 22 uses the force sensor 82 of the other robot 21 (the force sensor on the side not holding the object 51). Reset. The reset is performed in order to cancel the gravity component, for example.
Note that the reset of the force sensor 82 may be performed not only in the initial state but also at a predetermined break timing in the work.
Further, the reset of the force sensor 72 of one robot 11 is also performed at a necessary timing by the robot control device 12.
Such a reset may be automatically performed by the robot control devices 12 and 22, for example.

(Processing procedure 1-2)
One robot control device 12 moves the manipulator M1 (manipulator M1 on the side holding the object 51) of one robot 11 until the object 51 comes into contact with the end effector E2 of the other robot 21. One robot control device 12 detects the contact at this time based on the detection value of the force sensor 82 of the other robot 21. As an example, the robot control device 12 sets a predetermined contact force as a threshold value in advance, determines that the contact force (detected value of the force sensor 82) exceeds the threshold value, and determines the contact of the manipulator M1. Stop operation (stop by deceleration).

(Processing procedure 1-3)
The other robot control device 22 causes the object 51 to be gripped by the end effector E2 of the other robot 21 (the end effector on the side receiving the object 51).

(Processing procedure 1-4)
One robot control device 12 releases the object 51 by the end effector E1 of one robot 11 (the end effector on the side that releases the object 51).

(Processing procedure 1-5)
One or both of the two robot control devices 12 and 22 are arranged so that the end effector E1 of one robot 11 and the end effector E2 of the other robot 21 are separated from each other (the one robot 11 and the other robot One or both of 21). That is, the end effector of one robot 11 is controlled by one or both of one robot control device 12 controlling one robot 11 and the other robot control device 22 controlling the other robot 21. E1 and the end effector E2 of the other robot 21 are separated.

<Comparison with contrast technology>
As a comparison technique, (Processing Procedure 2-1) to (Processing Procedure 2-5) are shown as an example of a processing procedure for transferring an object from an end effector of one robot to an end effector of the other robot.
(Processing procedure 2-1)
At the work start position, the force sensor on the side (left side in this example) holding the object is reset.

(Processing procedure 2-2)
The manipulator on the side holding the object is moved until the object comes into contact with the hand on the receiving side of the object (right side in this example). In the detection of contact at this time, the detection value of the force sensor on the side (left side) holding the object is used. As an example, a contact force of about 5 [N] is set in advance as a threshold, and when the contact force (detected value of the force sensor) exceeds the threshold, it is determined as a contact, and the operation of the manipulator is stopped. Let

(Processing procedure 2-3)
The object is gripped by the hand on the receiving side (right side) of the object.
(Processing procedure 2-4)
The object is released by the hand on the release side (left side) of the object.
(Processing procedure 2-5)
Move one robot's manipulator away from the other robot's manipulator.

  Thus, in the contrast technique, the contact is detected by using the value of the force sensor on the side (left side) holding the object. In this case, the force sensor detects an unnecessary force component. Examples of such unnecessary force components include force components due to vibration of the object or end effector or manipulator, force components of reaction force received by accelerating or decelerating the object or end effector, There is a force component due to posture changes (changes in the direction of gravity).

On the other hand, in this embodiment, the influence of such an unnecessary force component can be reduced (ideally eliminated).
Furthermore, in the contrast technique, in order to suppress the influence of unnecessary force components, it is necessary to set a threshold value related to force components for determining contact to a large value, and contact detection delay (and the object caused by it) In this embodiment, such a threshold value can be set to a small value, and a delay in contact detection can be suppressed. As an example, in the present embodiment, the detection value of the force sensor 72 has less error than the comparison technique, and the threshold for determining contact is set to a low value (for example, a value such as 4 [N]). It is possible.

<Examples of other operations>
The example of the other operation | movement which can be performed in the robot system 1 is shown.
In the present embodiment, the case where the other robot 21 is stopped until the one robot 11 operates and the object 51 gripped by the one robot 11 comes into contact with the other robot 21 is shown.
As another configuration example, both robots 11 and 21 may operate until the object 51 held by one robot 11 contacts the other robot 21. In the example of FIG. 1, it is assumed that the speed of one robot 11 is higher than the speed of the other robot 21.
Here, in the example of FIG. 1, the speed of one robot 11 is, for example, the speed of the object 51, and the end effector E <b> 1 that is the part that moves the object 51, or the part to which the end effector E <b> 1 is connected. Is the speed of the tip of the manipulator M1 (for example, it may be the speed of TCP). In the example of FIG. 1, the speed of the other robot 21 is, for example, the speed of the end effector E2 or the tip of the manipulator M2 to which the end effector E2 is connected (for example, the speed of TCP). It may be.)
Normally, the force sensor 82 provided on the other robot 21 that does not hold an object and does not move (or moves slowly) is moving while holding the object 51 (or Compared to the force sensor 72 provided in one robot 11, which has a fast movement, it is possible to detect contact quickly with less error.

  In addition, the force sensor 82 provided in the other robot 21 that does not hold an object without considering the speed of the robots 11 and 21 is provided in the one robot 11 that holds the object 51. It can also be assumed that contact can be detected quickly with fewer errors than the force sensor 72 provided. Such an assumption is effective, for example, when the speeds of the two robots 11 and 21 are approximately the same. Under such an assumption, the robot control device 12 of one robot 11 determines contact using the detection result of the force sensor 82 provided in the other robot 21 that is not gripping an object.

In the present embodiment, the robot control device 12 of one robot 11 performs control based on the detection result of the force sensor 82 provided in the other robot 21. In this case, the robot control device 12 of one robot 11 uses, for example, the detection result of the force sensor 72 provided in the one robot 11 together with the detection result of the force sensor 82 provided in the other robot 21. It may be used to determine contact, or contact determination (contact detection) may be performed without using the detection result of the force sensor 72 provided in the one robot 11. .
Thus, when the detection results of both force sensors 72 and 82 are used for contact determination, the degree of quickness may be reduced, but the accuracy of the determination can be improved. For example, it is effective when confirming whether or not an actual contact has occurred.

As an example, a configuration is used in which the servo of the joint (flexion joint) of the manipulator M2 of the other robot 21 is turned off at the timing when the force sensor 82 provided on the other robot 21 detects a force or moment. May be. The servo may be turned off, for example, before the timing, and the servo may be turned on again after the timing. The servo on / off control is performed by, for example, the robot control device 22 of the other robot 21. As another configuration example, the robot control device 12 of one robot 11 is a robot of the other robot 21. It may be performed by controlling the control device 22. Further, turning off the servo may be performed, for example, for all joints of the manipulator M2 of the other robot 21, or some of the vibrations that may occur when the servo is on. It may be performed on a joint. The some joints may be determined in advance, for example.
In such a configuration in which the servo is turned off and the value of the force sensor 82 is detected, vibration due to the servo is eliminated, so that it is possible to detect contact quickly with little error.
A configuration is used in which the servo of the joint (flexion joint) of the manipulator M1 of the one robot 11 is turned off at the timing when the force sensor 72 provided in the one robot 11 detects the force or moment. Also good.

As an example, the position and posture of the manipulator M2 and the end effector E2 of the other robot 21 are not moved in the direction of gravity at the timing when the force sensor 82 provided on the other robot 21 detects a force or moment. Further, a configuration in which the posture is kept may be used. Such setting of the positions and postures of the manipulator M2 and the end effector E2 may be performed, for example, before the timing, and the positions and postures of the manipulator M2 and the end effector E2 may be set. The release may be performed after the timing. Further, the position and orientation of the manipulator M2 and the end effector E2 are controlled by the robot control device 22 of the other robot 21, for example. As another configuration example, the robot control of the one robot 11 is performed. The apparatus 12 may be performed by controlling the robot control device 22 of the other robot 21. Further, such control of the positions and postures of the manipulator M2 and the end effector E2 may be performed on all joints of the manipulator M2 and the end effector E2, or on some joints. It may be done. The some joints may be determined in advance, for example.
Thus, in the configuration in which the positions and postures of the manipulator M2 and the end effector E2 of the other robot 21 do not move in the direction of gravity, it is possible to detect contact quickly with little error due to shaking or noise.
It should be noted that the position and posture of the manipulator M1 and the end effector E1 of the one robot 11 are not moved in the direction of gravity at the timing at which force or moment is detected by the force sensor 72 provided in the one robot 11. A configuration in which the posture is maintained may be used.

[Summary of First Embodiment]
As described above, in the robot system 1 according to the present embodiment, when the object 51 is transferred from one robot 11 to the other robot 21, the side that receives the object 51 (the side of the other robot 21). The contact (in this embodiment, contact between the object 51 and the other end effector E2) is detected using the value of the force sensor 82. Thereby, in the robot system 1 according to the present embodiment, contact detection is performed in a state in which the fluctuation of the value of the force sensor 82 due to movement or vibration of the object 51, the end effector E2, and the manipulator M2 is reduced. It is possible to perform contact detection with little influence of the fluctuation.
In the robot system 1 according to the present embodiment, for example, a small value (ideally, the minimum necessary value) is used as a threshold for the value of the force sensor 82, and contact detection with little false detection or timing delay is performed. Can be realized. Thereby, the process which delivers the target object 51 using the force sensor 82 is implement | achieved at high speed and correctly.

  Thus, in the robot system 1 according to the present embodiment, contact is detected based on the detection result of the force detection unit provided at a predetermined location (for example, a location where noise applied to the force detection unit is small). Thus, it is possible to perform contact detection that is less affected by fluctuations in the detection value of the force detection unit.

Here, in the present embodiment, the operation of detecting that two objects (in the present embodiment, the target object 51 and the end effector E1) are in contact with each other is shown. However, as another configuration example An operation of detecting that the two objects are separated from the contact state (that is, that they are no longer in contact) may be used.
Further, in the present embodiment, the operation of transferring the object 51 gripped by one end effector E1 to the other end effector E2 has been shown. However, as another configuration example, the object gripped by one end effector E1 An operation of gripping the object 51 by both end effectors E1 and E2 may be used.

As another configuration example, an operation similar to that of the present embodiment may be applied to polishing, fitting (for example, searching), deburring, and the like. For example, when a first work is gripped by one end effector E1 and a second work or tool is gripped by the other end effector E2, and a predetermined work is performed, the stationary side (or By using the value of the force sensor provided on the slower moving side), the same effect as in the present embodiment can be obtained. In the process such as polishing, for example, control for keeping the pressure for pressing the workpiece against the tool may be performed.
The robot system 1 according to the present embodiment may be applied to, for example, assembly work by an industrial robot.

Here, in the present embodiment, the configuration using the detection value of the force sensor 72 provided in one robot 11 is also shown, but as another configuration example, the force sensor provided in one robot 11 is shown. When the detection value 72 is not used, the force sensor 72 may not be provided.
In the present embodiment, the configuration including the force sensors 72 and 82 is shown. However, as another configuration example, a torque sensor may be used instead of the force sensors 72 and 82.

(Second Embodiment)
[Robot system]
FIG. 6 is a diagram showing a schematic configuration example of a robot system 300 according to an embodiment (second embodiment) of the present invention.
The robot system 300 includes a dual-arm robot 301.
Further, the robot system 300 may include an arbitrary one such as a work table (not shown), for example.
In the example of FIG. 6, the robot 301 holds the object 371.

[Double-armed robot]
The robot 301 includes a head at the upper part, a body part at the center, a base part (a part of the base) at the lower part, and an arm part provided on the body part.
The robot 301 is a double robot having two arms as arm portions.

The robot 301 includes a first manipulator M11, a first force sensor 331-1, and a first end effector E11 as a configuration on one arm side. These are integrated, and in the present embodiment, a first force sensor 331-1 is provided between the first manipulator M11 and the first end effector E11.
The robot 301 includes a second manipulator M12, a second force sensor 331-2, and a second end effector E12 as a configuration on the other arm side. These are integrated, and in this embodiment, a second force sensor 331-2 is provided between the second manipulator M12 and the second end effector E12.

In the present embodiment, it is possible to operate with seven axes of freedom by the configuration on one arm side (manipulator M11 to which the end effector E11 is attached), and the configuration on the other arm side (end effector E12 is attached). The manipulator M12) can be operated with a degree of freedom of 7 axes. However, as another configuration example, a structure that operates with a degree of freedom of 6 axes or less or 8 axes or more may be used.
Here, when the manipulators M11 and M12 operate with seven degrees of freedom, the postures that can be taken are increased as compared with the case where the manipulators M11 and M12 operate with degrees of freedom of six axes or less. Interference with objects existing around the manipulators M11 and M12 can be easily avoided. Further, when the manipulators M11 and M12 operate with seven axes of freedom, the control of the manipulators M11 and M12 is easy and requires less calculation than when the manipulators M11 and M12 operate with degrees of freedom of eight axes or more. It is. For this reason, in this embodiment, as a preferable example, manipulators M11 and M12 that operate with seven degrees of freedom are used.
Moreover, in this embodiment, the trunk | drum is a structure which can rotate by the degree of freedom of 1 axis | shaft at the waist | hip | lumbar part.

In addition, the robot 301 is provided at a predetermined part of two cameras (first camera 311-1 and second camera 311-2) provided on the left and right of the head and the first manipulator M11. And a camera (fourth camera 321-2) provided at a predetermined portion of the second manipulator M12.
Each camera (first camera 311-1, second camera 311-2, third camera 321-1, fourth camera 321-2) is, for example, a CCD (Charge Coupled Device) or a CMOS (Complementary). This is a camera using Metal Oxide Semiconductor) or the like.
The first camera 311-1 and the second camera 311-2 are each moved according to the movement of the head.
The third camera 321-1 and the fourth camera 321-2 are moved in accordance with the movements of the first manipulator M11 and the second manipulator M12, respectively.

Further, the robot 301 includes a robot control device 351. In the present embodiment, the robot 301 includes a robot control device 351 inside the platform.
The robot control device 351 controls the operation of the robot 301. For example, the robot control device 351 controls the operations of the first manipulator M11 and the second manipulator M12. Further, in a configuration in which the operation of a part such as the waist of the robot 301 is possible, the robot control device 351 controls the operation of the part such as the waist.
In the present embodiment, each of the first camera 311-1, the second camera 311-2, the third camera 321-1, and the fourth camera 321-2 captures an image, and the captured image Is transmitted (output) to the robot controller 351. In addition, each of the first force sensor 331-1 and the second force sensor 331-2 is one of a force and a moment acting on each of the first end effector E11 and the second end effector E12. Alternatively, both are detected, and information on the detection result is transmitted (output) to the robot controller 351. The robot control device 351 receives (inputs) such information, and can use the received information when controlling the operation of the robot 301.
Here, the first camera 311-1, the second camera 311-2, the third camera 321-1, the fourth camera 321-2, the first force sensor 331-1, and the second force sense. Each of the sensors 331-2 and the robot controller 351 are connected via a wired cable (line), and information can be communicated via the line. Note that a wireless line may be used instead of a wired cable.

  In the present embodiment, the position and posture of the first manipulator M11, the position and posture of the second manipulator M12, and each camera (first camera 311-1, second camera 311-2, third camera 321). -1, the coordinate system is calibrated for the image captured by the fourth camera 321-2).

In the present embodiment, the robot control device 351 controls the operation of the robot 301 in accordance with a preset operation control program. The robot control device 351 teaches various information necessary for realizing the operation of the robot 301 to the robot 301 (main body).
As a specific example, the robot control device 351 controls the operation of each manipulator (the first manipulator M11 and the second manipulator M12), and thereby each end effector (the first end effector E11 and the second end effector E12). The object can be held by Also, the robot control device 351 moves the object gripped by each end effector, places the object gripped by each end effector on a predetermined position and releases (releases gripping), It is also possible to process the gripped object (for example, drill holes).
In this embodiment, each end effector E11, E12 is provided with palms 341-1 and 341-2 and nails (finger) 342-1 and 342-2.

[Robot controller]
In the present embodiment, the robot control device 351 has a function obtained by combining the functions of the two robot control devices 12 and 22 shown in FIG.
Taking FIG. 2 as an example, in this embodiment, the robot control device 351 has the same functions as the input unit 111, the output unit 112, the communication unit 113, the storage unit 114, and the control unit 115, for example, and two manipulators. M11 and M12 are controlled cooperatively. In the present embodiment, the robot control device 351 has the functions of the two robot control devices 12 and 22 shown in FIG. In point, it is different.
In the present embodiment, one or more of a plurality of cameras 311-1 to 311-2 and 321-1 to 321-2 may be used. As another configuration example, a camera ( For example, a camera 41 like that shown in FIG. 1 may be used.

  In the example of FIG. 3, the hardware configuration 201 corresponding to the single-arm robot 11 is shown. However, in the case of the double-arm robot 301, for example, two manipulators M11 and M12 and two end effectors are used. E11, E12, two force sensors 331-1, 331-2, and a plurality of cameras 311-1 to 311-2, 321-1 to 321-2.

[Operation in robot system]
In the present embodiment, roughly, two robots having one robot 301 perform operations similar to those performed by the two robots 11 and 21 (two manipulators M1 and M2) shown in FIG. The manipulators M11 and M12 are used. In the example of FIG. 6, the robot 301 holds the object 371 by the end effector E12 connected to one manipulator M12, and delivers the object 371 to the end effector E11 connected to the other manipulator M11. .

[Summary of Second Embodiment]
As described above, in the robot system 300 according to the present embodiment, for example, the same effects as those of the robot system 1 according to the first embodiment can be obtained.

(Third embodiment)
[Robot system]
FIG. 7 is a diagram illustrating a schematic configuration example of a robot system 401 according to an embodiment (third embodiment) of the present invention.
The robot system 401 communicably connects the robot 411, the robot control device 412, the cable 413 that connects the robot 411 and the robot control device 412 to each other, the camera 441, the camera 441, and the robot control device 412. A cable 442, a work table 421 (an example of a base), a force sensor 422, and a cable 431 that connects the force sensor 422 and the robot controller 412 so as to communicate with each other.
The robot 411 includes a base end (support base) 471, a manipulator M21, a force sensor 472, and an end effector E21.
Here, in this embodiment, the robot 411 is a single-arm robot.
In the example of FIG. 7, the robot 411 holds the object 451 by the end effector E21.

  Here, roughly, in the robot system 401 according to the present embodiment, compared to the robot system 1 shown in FIG. 1, the configuration similar to the configuration related to the one robot 11 and the camera 41 shown in FIG. 411 and a configuration relating to the camera 441), and a configuration relating to the work table 421 and the force sensor 422 instead of the configuration relating to the other robot 21 shown in FIG.

[Workbench]
In the present embodiment, the work table 421 is a table.
The work table 421 is provided with a force sensor 422. In this embodiment, a force sensor 422 is provided on the surface of the work table 421.
As another configuration example, other things may be used instead of the work table 421, for example, a floor, a ceiling, a wall, or the like may be used.
As another configuration example, instead of the work table 421, a force sensor may be provided on an object (target object) itself to be operated by the robot 411.

[camera]
The camera 441 has, for example, the same function as the camera 41 shown in FIG.
The camera 441 is installed in a place where it is possible to take an image of the status of the operation performed by the robot 411 (work status).

[Force sensor]
The force sensor 472 provided in the robot 411 has the same function as the force sensor 72 provided in one of the robots 11 shown in FIG.
The force sensor 422 provided on the work table 421 has a function similar to, for example, the force sensor 82 provided on the other robot 21 shown in FIG. 1. 421 is provided.

[Single-arm robot]
The robot 411 has the same function as the robot 11 shown in FIG.

[Robot controller]
The robot control device 412 has the same function as the robot control device 12 shown in FIG.
In the present embodiment, the robot control device 12 is connected to the force sensor 422 via the cable 431, and receives information on the detection result of the force sensor 422 from the force sensor 422.

[Operation in robot system]
In this embodiment, the robot control device 412 operates the robot 411 to place the object 451 gripped by the robot 411 in contact with the work table 421.
Here, in this embodiment, the force sensor 422 of the work table 421 is provided in a place where such contact can be detected.

[Summary of Third Embodiment]
As described above, in the robot system 401 according to the present embodiment, for example, the same effect as that of the robot system 1 according to the first embodiment can be obtained.

(Modification)
As described above, in the first embodiment, there are two robots 11, 21, each robot 11, 21 includes one manipulator M 1, M 2, and one object 51 is one robot 11 (manipulator M 1 ).

In the second embodiment, there is a case where there is one robot 301, the robot 301 includes two manipulators M11 and M12, and one object 371 is gripped by the end effector E1 of one manipulator M12. Indicated.
As another example, in a configuration similar to that of the second embodiment, the robot may place an object held by the end effector E1 of one manipulator M12 in contact with the work table. Good. The work table is provided with a force sensor for detecting this contact.

Further, in the third embodiment, there is one robot 411, the robot 411 includes one manipulator M21, and one object 451 is held by the robot 411 (manipulator M21).
As another example, in a configuration similar to that of the third embodiment, the object 451 is placed on the work table 421 and the robot 411 does not hold anything by the end effector E21 of the manipulator M21. The end effector E21 may be moved and brought into contact with the object 451 so as to be gripped.

Furthermore, other configurations may be implemented.
As an example, there may be implemented a configuration in which there is one robot, the robot includes one manipulator, and no object is present. In this configuration, for example, the robot moves the end effector of the manipulator to contact the work table. The work table is provided with a force sensor for detecting this contact.

As an example, there may be a configuration in which there is one robot, the robot includes two manipulators, and there is no object. In this configuration, for example, the robot moves the end effector of one manipulator faster than the end effector of the other manipulator to bring these end effectors (one or both may be manipulators) into contact. The other manipulator is provided with a force sensor for detecting this contact.
As another example, in a similar configuration, a robot may contact an end effector (or a manipulator) of one manipulator with a work table. The work table is provided with a force sensor for detecting this contact.

  As an example, there may be implemented a configuration in which there is one robot, the robot includes two manipulators, and each of two objects is gripped by each of the two manipulators. In this configuration, for example, the robot moves the end effector of one manipulator faster than the end effector of the other manipulator to bring these objects into contact with each other. The other manipulator is provided with a force sensor for detecting this contact.

  As an example, there may be implemented a configuration in which there are two robots, each robot having one manipulator, and no object. In this configuration, for example, one end effector of the manipulator of the one robot moves faster than the end effector of the manipulator of the other robot, and these end effectors (one or both may be manipulators). ). The manipulator of the other robot is provided with a force sensor that detects this contact.

  As an example, there may be implemented a configuration in which there are two robots, each robot includes one manipulator, and each of the two objects is gripped by an end effector of the manipulator of each robot. In this configuration, for example, one robot moves the end effector of the manipulator faster than the end effector of the manipulator of the other robot to bring these objects into contact with each other. The manipulator of the other robot is provided with a force sensor that detects this contact.

  As an example, there may be implemented a configuration in which there are two robots, each robot having two manipulators and no object. In this configuration, for example, the end effector of one manipulator of one robot moves faster than the end effector of one manipulator of the other robot, and these end effectors (one or both may be manipulators). Contact. A force sensor for detecting this contact is provided in one manipulator of the other robot.

  As an example, there may be implemented a configuration in which there are two robots, each robot having two manipulators, and one object is gripped by an end effector of one manipulator of one robot. In this configuration, for example, one robot moves the end effector of one manipulator faster than the end effector of one manipulator of the other robot, and the object is moved to the end of one manipulator of the other robot. Contact with an effector (may be a manipulator). A force sensor for detecting this contact is provided in one manipulator of the other robot.

  As an example, there are two robots, each robot has two manipulators, and each of the two objects is gripped by the end effector of one manipulator of each of the two robots. May be. In this configuration, for example, one robot moves the end effector of one manipulator faster than the end effector of one manipulator of the other robot to bring these objects into contact with each other. A force sensor for detecting this contact is provided in one manipulator of the other robot.

<Example of work>
Arbitrary work may be used as work performed by the robot.
As an example, an operation of delivering an object may be performed. The delivery of the object may be performed, for example, from a certain robot to the same or another robot, may be performed from a certain robot to something other than the robot (for example, a work table), and other than the robot (for example, Or from a workbench, etc.) to the robot.
It should be noted that the object may be picked up or replaced by performing the same process as the delivery of the object. That is, by delivering the object one or more times, it is possible to change the posture of the object, or to change the main body (for example, a robot or a work table) that grips or places the object.

As an example, an operation of gripping an object by two end effectors may be performed. For example, an object gripped by an end effector of a certain robot may be gripped by another end effector of the same or another robot.
As an example, an operation for processing an object may be performed. For example, an object gripped by an end effector of a certain robot can be processed using a jig provided on the same or another robot or a jig provided on something other than the robot (for example, a work table). It may be done. For example, there is a case where control is performed so that the force that the object to be processed receives from the jig is made constant based on the detection value of the force sensor. Note that the jig can also be regarded as an example of an object.

  As an example, an operation of assembling two objects by fitting or the like may be performed. For example, one of two objects is gripped by a robot, and the other object is gripped by the same or another robot, or the other object is other than a robot ( For example, it is placed on a work table or the like.

<Example of robot>
The robot may be applied to various robots.
For example, a SCARA robot or a rectangular coordinate robot may be used. The rectangular coordinate robot is, for example, a gantry robot.

(Summary of the above embodiments)
<Configuration group according to first example>
As one configuration example, a first movable part (manipulator M1 or end effector E1 in the example of FIG. 1, manipulator M12 or end effector E12 in the example of FIG. 6, manipulator M21 or end effector E21 in the example of FIG. 7), The speed of one movable part is the speed of the second member (manipulator M2 or end effector E2 in the example of FIG. 1, manipulator M11 or end effector E11 in the example of FIG. 6, work table 421 and force sensor 422 in the example of FIG. 7). When the object is faster, the second member is used when the object (object 51 in the example of FIG. 1, object 371 in the example of FIG. 6, object 451 in the example of FIG. 7) is held by the first movable part. The second force detection unit (force sensor 82 in the example of FIG. 1, force sense in the example of FIG. 6) Sensor 331-1, in the example of FIG. 7, a control unit (a robot in the example of FIG. 1) that detects the contact between the object and the second member based on the detection result of the force sensor 422) and controls the first movable unit. The control unit 115 of the control device 12, the control unit of the robot control device 351 in the example of FIG. 6, and the control unit of the robot control device 412 in the example of FIG. 7 receive the detection result, and the robot (the robot 11 in the example of FIG. 1). 6 is the robot 301, and in the example of FIG. 7 is the robot 411). A control unit that detects contact between the first movable unit and the second member based on the detection result of the second force detection unit and controls the first movable unit when the object is not gripped by the first movable unit. Is a robot that receives the detection result (modified example).

As an example of the configuration, in the robot, the first movable unit is a first manipulator (manipulator M1 in the example of FIG. 1, manipulator M12 in the example of FIG. 6, manipulator M21 in the example of FIG. 7), or first end effector ( The end effector E1 in the example of FIG. 1, the end effector E12 in the example of FIG. 6, and the end effector E21 in the example of FIG.
As one configuration example, in the robot, the second member is stopped (examples of FIGS. 1, 6, and 7).
As one configuration example, in a robot, a first force detection unit (a force sensor 72 in the example of FIG. 1, a force sensor 331-2 in the example of FIG. 6, a force sensor in the example of FIG. 7) provided in the first movable unit. The detection result of the sense sensor 472) is not used for contact determination (an example of FIGS. 1, 6, and 7).
As an example of the configuration, in the robot, the detection result of the first force detection unit provided in the first movable unit is used for contact determination (other examples of FIGS. 1, 6, and 7).
As one configuration example, in the robot, the second member is a second movable part (manipulator M2 or end effector E2 in the example of FIG. 1, manipulator M11 or end effector E11 in the example of FIG. 6), or second object ( In the example of FIG. 7, the work table 421 and the force sensor 422).
As an example of the configuration, in the robot, the second movable part is a second manipulator (manipulator M2 in the example of FIG. 1, manipulator M11 in the example of FIG. 6) or a second end effector (end effector E2 in the example of FIG. 1). In the example of FIG. 6, this is the end effector E11).
As one configuration example, in the robot, the second object includes a base (a work table 421 in the example of FIG. 7) and a second force detection unit.

<Configuration group according to second example>
As one configuration example, a first movable portion (manipulator M2 or end effector E2 in the example of FIG. 1, manipulator M11 or end effector E11 in the example of FIG. 6) is provided, and the speed of the first movable portion is the second member (FIG. 1). In the example of FIG. 6, when the speed of the manipulator M1, the end effector E1 or the object 51 is slower than the speed of the manipulator M12, the end effector E12 or the object 371 in the example of FIG. Based on the detection result of the first force detection unit (force sensor 82 in the example of FIG. 1, force sensor 331-1 in the example of FIG. 6) provided in the first movable unit, To the device that moves the second member (the robot control device 12 in the example of FIG. 1, the robot control device 351 in the example of FIG. 6). Leaving transmits the result is a robot (Modification). When the object is not gripped by the first movable portion, the contact between the first movable portion and the second member is detected based on the detection result of the first force detection portion, and the detection result is sent to a device that moves the second member. Is the robot (the robot 21 in the example of FIG. 1 and the robot 301 in the example of FIG. 6).

As an example of the configuration, in the robot, the first movable unit is a first manipulator (manipulator M2 in the example of FIG. 1, manipulator M11 in the example of FIG. 6) or a first end effector (end effector E2 in the example of FIG. 1). In the example of FIG. 6, this is the end effector E11).
As one configuration example, in the robot, the first movable unit is stopped (examples of FIGS. 1 and 6).
As one configuration example, in the robot, the device (a device that moves the second member) is a control device (a robot control device in the example of FIG. 1) that controls a robot (the robot 11 in the example of FIG. 1) that is different from the robot. 12).
As one configuration example, in the robot, the detection result of the second force detection unit (the force sensor 72 in the example of FIG. 1 and the force sensor 331-2 in the example of FIG. 6) provided on the second member is determined as contact. Not used (an example of FIGS. 1 and 6).
As an example of the configuration, in the robot, the detection result of the second force detection unit provided on the second member is used for contact determination (another example of FIGS. 1 and 6).
As one configuration example, in the robot, the second member is a second movable part (manipulator M1 or end effector E1 in the example of FIG. 1, manipulator M12 or end effector E12 in the example of FIG. 6), or second object ( In the example of FIG. 1, the object 51, and in the example of FIG. 6, the object 371).
As an example of the configuration, in the robot, the second movable part is a second manipulator (manipulator M1 in the example of FIG. 1, manipulator M12 in the example of FIG. 6) or a second end effector (end effector E1 in the example of FIG. 1). In the example of FIG. 6, this is the end effector E12).
As a configuration example, in the robot, the second member is a second object, and the second object includes a base and a second force detection unit (modified example).

<Configuration group according to third example>
As one configuration example, a first movable part (manipulator M1 or end effector E1 in the example of FIG. 1, manipulator M12 or end effector E12 in the example of FIG. 6) is provided, and a second movable part (manipulator M2 or Detection of a second force detector (force sensor 82 in the example of FIG. 1, force sensor 331-1 in the example of FIG. 6) provided in the end effector E2, the manipulator M11 or the end effector E11 in the example of FIG. Based on the result, the contact between the second movable part and the object gripped by the first movable part (the object 51 in the example of FIG. 1 and the object 371 in the example of FIG. 6) and the second movable part is detected, and the first movable part is controlled. The control unit (the control unit 115 of the robot control device 12 in the example of FIG. 1 and the control unit of the robot control device 351 in the example of FIG. 6) Received (in the example of FIG. 1 the robot 11, in the example of FIG. 6 the robot 301) a robot is.
As an example of the configuration, in the robot, the first movable unit may be a first manipulator (manipulator M1 in the example of FIG. 1, manipulator M12 in the example of FIG. 6) or a first end effector (end effector E1 in the example of FIG. 1). 6 is an end effector E12), and the second movable part is a second manipulator (manipulator M2 in the example of FIG. 1, manipulator M11 in the example of FIG. 6), or a second end effector (of FIG. 1). In the example, it is the end effector E2, and in the example of FIG. 6, it is the end effector E11).
As an example of the configuration, in the robot, the detection result of the first force detection unit (the force sensor 72 in the example of FIG. 1 and the force sensor 331-2 in the example of FIG. 6) provided in the first movable unit is detected. It is not used for judgment (an example of FIGS. 1 and 6).
As one configuration example, in the robot, the detection result of the first force detection unit provided in the first movable unit is used for contact determination (another example of FIGS. 1 and 6).

<Configuration group according to fourth example>
As a configuration example, a first force detection unit provided with a first movable part (manipulator M2 or end effector E2 in the example of FIG. 1, manipulator M11 or end effector E11 in the example of FIG. 6) and provided in the first movable part. Based on the detection result of the force sensor 82 in the example of FIG. 1 and the force sensor 331-1 in the example of FIG. 6, the second movable part (manipulator M1 or end effector E1 in the example of FIG. 1, example of FIG. 6) Then, the contact between the first movable part and the object gripped by the manipulator M12 or the end effector E12 (the object 51 in the example of FIG. 1 and the object 371 in the example of FIG. 6) and the second movable part are controlled. Detection results in the control unit (the control unit 115 of the robot control device 12 in the example of FIG. 1, the control unit of the robot control device 351 in the example of FIG. 6). Transmitting, (in the example of FIG. 1 the robot 21, in the example of FIG. 6 the robot 301) a robot is.
As an example of the configuration, in the robot, the first movable unit is a first manipulator (manipulator M2 in the example of FIG. 1, manipulator M11 in the example of FIG. 6) or a first end effector (end effector E2 in the example of FIG. 1). 6 is an end effector E11), and the second movable part is a second manipulator (manipulator M1 in the example of FIG. 1, manipulator M12 in the example of FIG. 6) or a second end effector (of FIG. 1). In the example, it is the end effector E1, and in the example of FIG. 6, it is the end effector E12).
As an example of the configuration, in the robot, the detection result of the second force detection unit (the force sensor 72 in the example of FIG. 1 and the force sensor 331-2 in the example of FIG. 6) provided in the second movable unit is detected as the contact result. It is not used for judgment (an example of FIGS. 1 and 6).
As one configuration example, in the robot, the detection result of the second force detection unit provided in the second movable unit is used for contact determination (another example of FIGS. 1 and 6).

<Configuration Group Common to First Example to Fourth Example>
As one configuration example, the robot is a double-arm robot (example in FIG. 6).
One configuration example is a robot control device (the robot control devices 12 and 22 in the example of FIG. 1, the robot control device 351 in the example of FIG. 6, and the robot control device 412 in the example of FIG. 7) that controls the robot.
As one configuration example, a robot system including a robot and a robot control device that controls the robot (the robot system 1 in the example of FIG. 1, the robot system 300 in the example of FIG. 6, and the robot system 401 in the example of FIG. 7). It is.

<Control method according to first to fourth examples>
As one configuration example (first example), when the speed of the first movable part provided in the robot is faster than the speed of the second member, when the object is gripped by the first movable part, the second A controller that detects contact between the object and the second member based on a detection result of a second force detector provided on the member, and that controls the first movable unit receives the detection result, and When the object is not gripped by the first movable part, the contact between the first movable part and the second member is detected based on the detection result of the second force detection part, and the first movable part is detected. The control unit that controls the control method receives the detection result.
As one configuration example (second example), when the speed of the first movable part provided in the robot is slower than the speed of the second member, the first movable part is grasped by the first movable part. The contact between the object and the second member is detected based on the detection result of the first force detection unit provided in the movable part, the detection result is transmitted to a device that moves the second member, and the first A device for moving the second member by detecting contact between the first movable portion and the second member based on a detection result of the first force detection portion when the object is not gripped by the movable portion. This is a control method for transmitting the detection result.
As a configuration example (third example), an object to be gripped by a first movable unit provided in a robot based on a detection result of a second force detection unit provided in the second movable unit, and the second movable unit This is a control method in which the control unit that detects the contact and controls the first movable unit receives the detection result.
As one configuration example (fourth example), an object to be gripped by the second movable unit based on the detection result of the first force detection unit provided in the first movable unit provided in the robot, and the first movable unit It is a control method which detects the contact of this and transmits the said detection result to the control part which controls the said 2nd movable part.

It should be noted that a program for realizing the functions of arbitrary components in the devices described above (for example, the robot control devices 12, 22, 351, 412) is recorded (stored) in a computer-readable recording medium (storage medium). The program may be loaded into a computer system and executed. The “computer system” here includes an operating system (OS) or hardware such as peripheral devices. The “computer-readable recording medium” means a portable medium such as a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), a CD (Compact Disc) -ROM, or a hard disk built in a computer system. Refers to the device. Further, the “computer-readable recording medium” means a volatile memory (RAM: Random Access) inside a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. Memory that holds a program for a certain period of time, such as Memory).
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.

  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 includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1,300,401 ... Robot system, 11, 21, 301, 411 ... Robot, 12, 22, 351, 412 ... Robot control device, 13, 23, 31, 42-43, 413, 431, 442 ... Cable, 41 311-1, 311-2, 321-1, 321-2, 441 ... camera, 51, 371, 451 ... object, 71, 81, 471 ... proximal end, 72, 82, 331-1, 331-2 422, 472 ... force sensor, 111 ... input unit, 112 ... output unit, 113 ... communication unit, 114 ... storage unit, 115 ... control unit, 131 ... information acquisition unit, 132 ... communication control unit, 133, 225 ... Camera control unit 134, 224 ... force sensor control unit 135 ... robot control unit 201 ... hardware configuration 211 ... central control unit 212 ... memory 213 ... track meter , 221... Encoder reading unit, 222... Manipulator control unit, 223... End effector control unit, 231... Bus, 251 ... Actuator, 341-1, 341-2. ... Workbench, M1, M2, M11, M12, M21 ... Manipulator, E1, E2, E11, E12, E21 ... End effector

Claims (32)

A first movable part;
When the speed of the first movable part is faster than the speed of the second member,
When the object is gripped by the first movable part, the contact between the object and the second member is detected based on the detection result of the second force detector provided in the second member, The control unit that controls the first movable unit receives the detection result,
When the object is not gripped by the first movable part, contact between the first movable part and the second member is detected based on a detection result of the second force detection part, and the first movable part is detected. A control unit for controlling the unit receives the detection result;
robot. The first movable part is a first manipulator or a first end effector.
The robot according to claim 1. The second member is stopped;
The robot according to any one of claims 1 and 2. The detection result of the first force detection unit provided in the first movable part is not used for the determination of the contact.
The robot according to any one of claims 1 to 3. The detection result of the first force detection unit provided in the first movable unit is used for the determination of the contact.
The robot according to any one of claims 1 to 3. The second member is a second movable part or a second object.
The robot according to any one of claims 1 to 5. The second movable part is a second manipulator or a second end effector.
The robot according to claim 6. The second object includes a base and the second force detection unit,
The robot according to any one of claims 6 and 7. A first movable part;
When the speed of the first movable part is slower than the speed of the second member,
When the object is gripped by the first movable part, the contact between the object and the second member is detected based on the detection result of the first force detection part provided in the first movable part. , Transmitting the detection result to a device for moving the second member,
When the object is not gripped by the first movable part, the contact between the first movable part and the second member is detected based on the detection result of the first force detection part, and the second member is detected. Sending the detection result to a device that moves
robot. The first movable part is a first manipulator or a first end effector.
The robot according to claim 9. The first movable part is stopped;
The robot according to claim 9 or claim 10. The device is a control device that controls a robot different from the robot.
The robot according to any one of claims 9 to 11. Do not use the detection result of the second force detection unit provided on the second member for the determination of the contact,
The robot according to any one of claims 9 to 12. The detection result of the second force detection unit provided on the second member is used for the determination of the contact.
The robot according to any one of claims 9 to 12. The second member is a second movable part or a second object.
The robot according to any one of claims 9 to 14. The second movable part is a second manipulator or a second end effector.
The robot according to claim 15. The second member is a second object,
The second object includes a base and the second force detection unit,
The robot according to any one of claims 13 and 14. A first movable part;
Based on the detection result of the second force detection unit provided in the second movable unit, the contact between the second movable unit and the object gripped by the first movable unit is detected, and the first movable unit is controlled. The control unit receives the detection result,
robot. The first movable part is a first manipulator or a first end effector,
The second movable part is a second manipulator or a second end effector.
The robot according to claim 18. The detection result of the first force detection unit provided in the first movable part is not used for the determination of the contact.
The robot according to any one of claims 18 and 19. The detection result of the first force detection unit provided in the first movable unit is used for the determination of the contact.
The robot according to any one of claims 18 and 19. A first movable part;
Based on the detection result of the first force detector provided in the first movable part, the contact between the first movable part and the object gripped by the second movable part is detected, and the second movable part is controlled. Transmitting the detection result to the control unit;
robot. The first movable part is a first manipulator or a first end effector,
The second movable part is a second manipulator or a second end effector.
The robot according to claim 22. The detection result of the second force detector provided in the second movable part is not used for the determination of the contact,
The robot according to any one of claims 22 and 23. The detection result of the second force detector provided in the second movable part is used for the determination of the contact.
The robot according to any one of claims 22 and 23. A double-armed robot,
The robot according to any one of claims 1 to 25. The robot according to any one of claims 1 to 26 is controlled.
Robot control device. A robot according to any one of claims 1 to 26;
A robot controller for controlling the robot;
A robot system comprising: When the speed of the first movable part provided in the robot is faster than the speed of the second member,
When the object is gripped by the first movable part, the contact between the object and the second member is detected based on the detection result of the second force detector provided in the second member, The control unit that controls the first movable unit receives the detection result,
When the object is not gripped by the first movable part, contact between the first movable part and the second member is detected based on a detection result of the second force detection part, and the first movable part is detected. A control unit for controlling the unit receives the detection result;
Control method. When the speed of the first movable part provided in the robot is slower than the speed of the second member,
When the object is gripped by the first movable part, the contact between the object and the second member is detected based on the detection result of the first force detection part provided in the first movable part. , Transmitting the detection result to a device for moving the second member,
When the object is not gripped by the first movable part, the contact between the first movable part and the second member is detected based on the detection result of the first force detection part, and the second member is detected. Sending the detection result to a device that moves
Control method. Based on the detection result of the second force detector provided in the second movable part, the contact between the second movable part and the object gripped by the first movable part provided in the robot is detected, and the first movable part is detected. The control unit for controlling the reception of the detection result,
Control method. Based on the detection result of the first force detector provided in the first movable part provided in the robot, the second movable part is detected by detecting contact between the object held by the second movable part and the first movable part. Transmitting the detection result to a control unit for controlling
Control method.

Images