JP2018187755A5 - Robot control method and robot system - Google Patents
Robot control method and robot system Download PDFInfo
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- JP2018187755A5 JP2018187755A5 JP2017210106A JP2017210106A JP2018187755A5 JP 2018187755 A5 JP2018187755 A5 JP 2018187755A5 JP 2017210106 A JP2017210106 A JP 2017210106A JP 2017210106 A JP2017210106 A JP 2017210106A JP 2018187755 A5 JP2018187755 A5 JP 2018187755A5
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- rotation axis
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- control method
- force
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- 238000001514 detection method Methods 0.000 claims 1
Description
本発明は、ロボット制御方法およびロボットシステムに関する。
The present invention relates to a robot control method and a robot system.
Claims (8)
前記第１対象物を開始位置から前記第１対象物を移動させ、Moving the first object from the starting position of the first object,
前記第１対象物を前記第２対象物に接触させ、かつ、第１回動軸の軸方向における目標力が所定の値となるよう力制御を行い、かつ、前記第１対象物を前記第１回動軸の周りに回動させ、The first object is brought into contact with the second object, and force control is performed so that the target force in the axial direction of the first rotating shaft becomes a predetermined value, and the first object is moved to the first object. Rotate around one rotation axis,
前記第１対象物を前記第１回動軸の周りに回動させている間に、前記第１対象物を前記第１回動軸と交差する第２回動軸の周り、および、前記第１回動軸と交差する第３回動軸の軸の周り、における倣い動作によって、前記第１対象物を前記第２対象物に組み付け、While rotating the first object about the first rotation axis, the first object around a second rotation axis intersecting the first rotation axis; By assembling the first target object to the second target object by a copying operation around the axis of the third rotation axis intersecting with the first rotation axis,
前記第１対象物を前記第２対象物に組み付けた後、前記倣い動作によって、前記第１対象物を前記第３対象物に組み付ける、After the first object is assembled to the second object, the first object is assembled to the third object by the copying operation.
ロボット制御方法。Robot control method.
請求項１に記載のロボット制御方法。 Target force in the copying operation around before Symbol second turning axis, and a target force in the copying operation around the third rotation axis is the force control in the axial direction of the first pivot axis not smaller than the target force,
The robot control method according to claim 1 .
請求項２に記載のロボット制御方法。 Target force in the copying operation around before Symbol second turning axis, and a target force in the copying operation around the third rotation axis is 0,
The robot control method according to claim 2 .
請求項１から請求項３のいずれか１項に記載のロボット制御方法。The robot control method according to any one of claims 1 to 3.
請求項１から請求項４のいずれか１項に記載のロボット制御方法。 The second rotation axis is orthogonal to the first rotation axis,
The robot control method according to any one of claims 1 to 4 .
請求項１から請求項５のいずれか１項に記載のロボット制御方法。 The third rotation axis is orthogonal to the first rotation axis,
The robot control method according to any one of claims 1 to 5 .
請求項１から６のいずれか１項に記載のロボット制御方法。The robot control method according to claim 1.
前記ロボットを制御する制御部を備える制御装置と、を備えるロボットシステムであって、A robot system comprising: a control device including a control unit for controlling the robot,
前記制御部は、The control unit is
前記把持部で第１対象物を把持して、前記第１対象物を開始位置に位置させ、Gripping the first target object with the gripping part and positioning the first target object at the start position,
前記開始位置から前記第１対象物を移動させ、前記第１対象物を前記第２対象物に接触させ、Moving the first object from the starting position to bring the first object into contact with the second object,
第１回動軸の軸方向における目標力が所定の値となるよう力制御を行いながら、前記第１対象物を前記第１回動軸の周りに回動させ、Rotating the first object around the first rotation axis while performing force control so that the target force in the axial direction of the first rotation axis becomes a predetermined value,
前記第１対象物を前記第１回動軸の周りに回動させている間に、前記第１対象物を前記第１回動軸と交差する第２回動軸の周り、および、前記第１回動軸と交差する第３回動軸の軸の周り、における倣い動作によって、前記第１対象物を前記第２対象物に組み付け、While rotating the first object about the first rotation axis, the first object around a second rotation axis intersecting the first rotation axis; By assembling the first target object to the second target object by a copying operation around the axis of the third rotation axis intersecting with the first rotation axis,
前記第１対象物を前記第２対象物に組み付けた後、前記倣い動作によって、前記第１対象物を前記第３対象物に組み付ける、After the first object is assembled to the second object, the first object is assembled to the third object by the copying operation.
ロボットシステム。Robot system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/872,085 US10773391B2 (en) | 2017-01-17 | 2018-01-16 | Control device and robot system |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017005638 | 2017-01-17 | ||
| JP2017005638 | 2017-01-17 | ||
| JP2017098735 | 2017-05-18 | ||
| JP2017098735 | 2017-05-18 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2018187755A JP2018187755A (en) | 2018-11-29 |
| JP2018187755A5 true JP2018187755A5 (en) | 2020-07-09 |
| JP6841210B2 JP6841210B2 (en) | 2021-03-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2017210106A Active JP6841210B2 (en) | 2017-01-17 | 2017-10-31 | Robot control method and robot system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6841210B2 (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09136279A (en) * | 1995-11-15 | 1997-05-27 | Fanuc Ltd | Phase-adjusting fitting method using force control robot |
| JP5791387B2 (en) * | 2011-06-23 | 2015-10-07 | キヤノン株式会社 | Automatic assembly apparatus and component assembly method using automatic assembly apparatus |
| JP2015223649A (en) * | 2014-05-27 | 2015-12-14 | 株式会社安川電機 | Gear incorporation system and gear incorporation method |
| JP6379854B2 (en) * | 2014-08-25 | 2018-08-29 | セイコーエプソン株式会社 | Robot and robot system |
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2017
- 2017-10-31 JP JP2017210106A patent/JP6841210B2/en active Active
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