JP2019042836A - Robot control device, robot, robot system and robot control method - Google Patents

Abstract

To provide a robot control device and the like that can improve accuracy of a determination result relating to a movable range of a movable part included in an end effector of a robot.SOLUTION: A robot control device includes: a robot control part for controlling a movable part included in an end effector provided to a robot; and a determination part for determining whether a difference between a value in one end of a movable range of the movable part and a value in the other end is within a predetermined range based on a value detected by an encoder for detecting a position of the movable part.SELECTED DRAWING: Figure 1

Description

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

  In a robot, a hand having a movable palm may be used. In this case, in the robot, for example, the palm is aligned at a predetermined angle to perform palm origin alignment (see Patent Document 1). As the degree, for example, the finger of the hand is used.

Here, in the present specification, “per degree” refers to an object or a part that determines the movable limit of the movable object by abutting on the movable object.
Also, in the present specification, “dipping” refers to an operation of causing the movable object to abut on such a frequency.
Also, in the present specification, "degree assignment" refers to performing assignment.

However, in the case of the robot, when the degree of hit was determined, there was a case where it was not actually the degree of hit for the predetermined degree. For example, in a robot, there was a case where it was not possible to distinguish between when the movement of the palm is stopped and when the movement of the palm is stopped due to other reasons because the palm is placed at a predetermined degree. . As the other reason, for example, there is a reason that the palm comes in contact with the foreign matter before the predetermined degree, or a reason that the movement of the palm is stopped due to the processing error. In such a case, an error could occur at the position of the origin in aligning the palm's origin.
The processing error may be, for example, an error due to the degree of application of grease, or an error due to the degree of combination with respect to objects combined with each other such as a bolt and a nut.

JP, 2013-166215, A

  In the conventional robot, an error may occur in the determination result regarding the movable range of the movable portion of the end effector due to a foreign matter or a processing error.

In order to solve at least one of the above problems, according to one aspect of the present invention, a robot control unit that controls a movable unit of an end effector provided in a robot and an encoder that detects the position of the movable unit are detected. And a determination unit that determines whether a difference between a value at one end of the movable range of the movable portion and a value at the other end of the movable range is within a predetermined range based on the value.
With this configuration, in the robot control device, the value at one end and the value at the other end of the movable range of the movable part are determined based on the value detected by the encoder that detects the position of the movable part of the end effector provided in the robot. It is determined whether the difference of is within a predetermined range. Thus, in the robot control device, it is possible to improve the accuracy of the determination result regarding the movable range of the movable portion of the end effector of the robot.

Further, according to one aspect of the present invention, in the robot control device, the one end and the other end are respectively determined based on a decrease in speed of the movable portion and an increase in current of a drive portion that drives the movable portion. It may be configured.
With this configuration, in the robot control device, one end and the other end of the movable range of the movable portion are determined based on the decrease in the velocity of the movable portion and the increase in the current of the drive portion that drives the movable portion. Thus, the robot control apparatus can determine one end and the other end of the movable range of the movable part based on the velocity of the movable part and the current of the drive unit that drives the movable part.

Further, according to one aspect of the present invention, the robot control apparatus may further include an origin registration unit that registers the value of the encoder when the movable unit is at the one end as a reference of subsequent processing.
With this configuration, in the robot control device, the value of the encoder when the movable portion is at one end of the movable range is registered as a reference for the subsequent processing. As a result, in the robot control device, the value of the encoder when the movable part is at one end of the movable range can be used as a reference for the subsequent processing.

Further, according to one aspect of the present invention, in the robot control device, the movable portion includes a palm and a finger, and the finger is movable in a direction perpendicular to a direction in which the palm moves. It may be configured.
According to this configuration, in the robot control device, the movable portion includes a palm and a finger, and the finger can move in a direction perpendicular to the direction in which the palm moves. Thereby, in the robot control device, it is possible to improve the accuracy of the determination result regarding the movable range of the palm and the finger possessed by the end effector of the robot.

Further, according to one aspect of the present invention, in the robot control device, the robot control unit may be configured to perform control to avoid interference between the palm and the finger.
With this configuration, in the robot control device, the robot control unit performs control to avoid interference between the palm and the finger. As a result, in the robot control device, when making a determination regarding the movable range of the palm and the finger possessed by the end effector of the robot, interference between the palm and the finger can be avoided.

Moreover, one aspect of the present invention is the robot controlled by the robot control device as described above.
With this configuration, in the robot, based on the value detected by the encoder that detects the position of the movable portion of the end effector provided in the robot, the value between the value at the other end of the movable range of the movable portion and the value at the other end It is determined whether the difference is within a predetermined range. As a result, in the robot, it is possible to improve the accuracy of the determination result regarding the movable range of the movable portion of the end effector of the robot.

Moreover, one aspect of the present invention is a robot system including the above-described robot control device and the robot controlled by the robot control device.
With this configuration, in the robot system, based on the value detected by the encoder that detects the position of the movable portion of the end effector provided in the robot, the value at one end and the value at the other end of the movable range of the movable portion It is determined whether the difference is within a predetermined range. Thus, in the robot system, it is possible to improve the accuracy of the determination result regarding the movable range of the movable portion of the end effector of the robot.

In one aspect of the present invention, the movable range of the movable portion is controlled based on a step of controlling a movable portion of an end effector provided in a robot and a value detected by an encoder that detects the position of the movable portion. Determining whether the difference between the value at one end and the value at the other end is within a predetermined range.
With this configuration, in the robot control method, the value at one end and the value at the other end of the movable range of the movable part are determined based on the value detected by the encoder that detects the position of the movable part of the end effector provided in the robot. It is determined whether the difference of is within a predetermined range. Thereby, in the robot control method, it is possible to improve the accuracy of the determination result regarding the movable range of the movable portion of the end effector of the robot.

Further, according to one aspect of the present invention, the robot control method further includes a step of enabling execution of a program for operating the robot when it is determined that the difference is in the predetermined range. Good.
With this configuration, in the robot control method, when it is determined that the difference between the value at one end of the movable range of the movable portion and the value at the other end is a predetermined range, the program for operating the robot can be executed. Thereby, in the robot control method, when it is considered that the determination result regarding the movable range of the movable portion of the end effector of the robot is considered to be normal, it is possible to execute the program for operating the robot.

Further, according to one aspect of the present invention, the robot control method further includes a step of disabling execution of a program for operating the robot when it is determined that the difference is not within the predetermined range. Good.
With this configuration, in the robot control method, if it is determined that the difference between the value at one end of the movable range of the movable portion and the value at the other end is not within the predetermined range, execution of the program for operating the robot is disabled. Thus, in the robot control method, when the determination result regarding the movable range of the movable portion of the end effector of the robot is considered to be abnormal, it is possible to disable the execution of the program for operating the robot.

Further, according to one aspect of the present invention, the robot control method may further include the step of outputting a message regarding an error when it is determined that the difference is not within the predetermined range.
With this configuration, in the robot control method, when it is determined that the difference between the value at one end of the movable range of the movable portion and the value at the other end is not within the predetermined range, a message regarding an error is output. Thus, in the robot control method, when it is determined that the determination result regarding the movable range of the movable portion of the end effector of the robot is considered to be abnormal, a message relating to an error can be output.

One aspect of the present invention is a robot control device for controlling a robot, comprising a processor, wherein the processor controls a movable part of an end effector provided on the robot, and the position of the movable part It is configured to execute a command to determine whether or not the difference between the value at one end of the movable range of the movable portion and the value at the other end is within a predetermined range, based on the value detected by the detecting encoder. Is a robot controller.
With this configuration, in the robot control device, the value at one end and the value at the other end of the movable range of the movable part are determined based on the value detected by the encoder that detects the position of the movable part of the end effector provided in the robot. It is determined whether the difference of is within a predetermined range. Thus, in the robot control device, it is possible to improve the accuracy of the determination result regarding the movable range of the movable portion of the end effector of the robot.

  As described above, according to the robot control device, the robot, the robot system, and the robot control method according to the present invention, based on the value detected by the encoder that detects the position of the movable portion of the end effector provided in the robot. It is determined whether the difference between the value at one end of the movable range of the movable portion and the value at the other end is within a predetermined range. Thus, in the robot control device, the robot, the robot system, and the robot control method according to the present invention, the robot control device can improve the accuracy of the determination result regarding the movable range of the movable portion of the end effector of the robot.

It is a figure which shows the example of a rough structure of the robot of the double arm which concerns on one Embodiment of this invention. It is a figure which shows the example of a schematic structure of the robot of the dual arm which concerns on one Embodiment of this invention, and the peripheral hardware. It is a figure which shows the example of the functional block of the robot control apparatus which concerns on one Embodiment of this invention. It is a figure which shows the example of the state in which the finger and the palm were opened in the end effector which concerns on one Embodiment of this invention. It is a figure which shows the example of the state in which the finger and palm were closed in the end effector which concerns on one Embodiment of this invention. It is a flow chart which shows an example of a procedure of processing of degree reliance performed by a robot control device concerning one embodiment of the present invention. It is a flowchart which shows another example of the procedure of the process of the degree reliance performed by the robot control apparatus which concerns on one Embodiment of this invention. It is a figure showing an example of rough composition of a robot system containing a robot of a single arm concerning one embodiment of the present invention. It is a figure which shows the example of a rough structure of the robot of the single arm which concerns on one Embodiment of this invention, and peripheral hardware.

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

First Embodiment
[Double-armed robot]
FIG. 1 is a view showing a schematic configuration example of a dual-arm robot 1 according to an embodiment of the present invention.
The robot 1 generally includes a head at the top, a body at the center, a platform (part of the platform) at the bottom, and an arm provided on the body.
The robot 1 is a dual robot having two arms as arms.

The robot 1 includes, as a configuration on one arm side, a first manipulator MNP1, a first force sensor 31-1, and a first end effector END1. These are integrated, and in the present embodiment, a first force sensor 31-1 is provided between the first manipulator MNP1 and the first end effector END1.
The robot 1 is provided with a second manipulator MNP2, a second force sensor 31-2, and a second end effector END2 as a configuration on the other arm side. These are integrated, and in this embodiment, a second force sensor 31-2 is provided between the second manipulator MNP2 and the second end effector END2.

In the present embodiment, it is possible to perform seven axes of freedom by the configuration on one arm side (the manipulator MNP1 attached with the end effector END1), and the configuration on the other arm side (the end effector END2 is attached) It is possible to carry out an operation of seven degrees of freedom by means of the described manipulator MNP2). As another configuration example, a robot having an arm that performs six or less or eight or more axes of freedom may be implemented.
Here, when the manipulators MNP1 and MNP2 operate with seven degrees of freedom, the movement can be smoothed, for example, by increasing possible postures as compared with the case of operating with six or less degrees of freedom. Interference with an object present around the manipulators MNP1 and MNP2 can be easily avoided. When the manipulators MNP1 and MNP2 operate with seven degrees of freedom, the control of the manipulators MNP1 and MNP2 requires less computation compared to the case where the manipulators MNP1 and MNP2 operate with eight or more axes of freedom. It is easy. For this reason, in the present embodiment, manipulators MNP1 and MNP2 operating with seven degrees of freedom are used as a preferable example.

Further, in the present embodiment, the torso portion is configured to be able to turn (rotate) with one degree of freedom at the waist portion.
In addition, the robot 1 includes two imaging units (first imaging unit 11-1 and second imaging unit 11-2) provided on the left and right of the head, and a predetermined portion of the first manipulator MNP1. And an imaging unit (fourth imaging unit 21-2) provided at a predetermined site of the second manipulator MNP2.
Each imaging unit (first imaging unit 11-1, second imaging unit 11-2, third imaging unit 21-1, fourth imaging unit 21-2) is, for example, a CCD (Charge Coupled Device). Or a camera using a complementary metal oxide semiconductor (CMOS) or the like.
Each of the first imaging unit 11-1 and the second imaging unit 11-2 is moved according to the movement of the head.
The third imaging unit 21-1 and the fourth imaging unit 21-2 are moved according to the movement of the first manipulator MNP1 and the second manipulator MNP2, respectively.

The robot 1 also includes a robot control device 51. In the present embodiment, the robot 1 includes a robot control device 51 inside the pedestal.
The robot control device 51 controls the operation of the robot 1. The robot control device 51 controls, for example, the operations of the first manipulator MNP1 and the second manipulator MNP2. Furthermore, in a configuration in which movement of a part such as the waist of the robot 1 is possible, the robot control device 51 controls the movement of the part such as the waist.
In the present embodiment, each of the first imaging unit 11-1, the second imaging unit 11-2, the third imaging unit 21-1, and the fourth imaging unit 21-2 captures an image, The information of the captured image is transmitted (outputted) to the robot control device 51. Also, each of the first force sensor 31-1 and the second force sensor 31-2 is one or both of a force and a moment acting on each of the first end effector END1 and the second end effector END2. Is detected, and information on the detection result is transmitted (outputted) to the robot control device 51. The robot control device 51 can receive (input) these pieces of information, and can use the received information when controlling the operation of the robot 1.

  Here, the first imaging unit 11-1, the second imaging unit 11-2, the third imaging unit 21-1, the fourth imaging unit 21-2, the first force sensor 31-1, and the second Each of the force sensors 31-2 and the robot control device 51 are connected via a wired cable (wired circuit), and information can be communicated via the cable. Note that a wireless line may be used instead of the wired line.

  In the present embodiment, the position and orientation of the first manipulator MNP1, the position and orientation of the second manipulator MNP2, and the respective imaging units (first imaging unit 11-1, second imaging unit 11-2, third) The calibration of the coordinate system is performed on the images captured by the imaging unit 21-1 and the fourth imaging unit 21-2).

In the present embodiment, the robot control device 51 controls the operation of the robot 1 in accordance with a preset program (operation control program). The robot control device 51 teaches the robot 1 (main body) various types of information necessary to realize the operation of the robot 1.
As a specific example, the robot control device 51 controls the operation of each manipulator (the first manipulator MNP1 and the second manipulator MNP2) to obtain each end effector (the first end effector END1 and the second end effector END2). Can hold the object. In addition, the robot control device 51 moves the object held by each end effector END1, END2, places the object held by each end effector END1, END2 at a predetermined position and releases (releases holding) It is also possible to process (for example, make holes etc.) an object held by each end effector END1, END2.

In the present embodiment, each end effector END1, END2 includes palms 41-1, 41-2 and fingers (which may be called nails or the like) 42-1, 42-2.
As another configuration example, the end effectors END1 and END2 of the robot 1 may be arbitrary ones, for example, one that adsorbs an object using suction of air and has a movable part, or The magnetic force may be used to bring the object closer and have a movable portion, or the like. The mode of holding may include, for example, holding, holding, suction and the like.

  Here, in the present embodiment, the imaging units 11-1 to 11-2 and 21-1 to 21-2 included in the robot 1 are used to capture an image, but as another configuration example, Another imaging unit may be provided outside and used.

[Double-armed robot and surrounding hardware]
FIG. 2 is a view showing a schematic configuration example of a dual arm robot 1 and peripheral hardware according to an embodiment of the present invention.
In FIG. 2, as components of the robot system 101, a robot 1, an information processing apparatus 111, an information processing apparatus 112 in a cloud, a LAN (Local Area Network) 121, and a cable (line) 131 are shown. .
Each of the information processing apparatuses 111 and 112 is, for example, a personal computer.
Also, the information processing apparatus 112 exists on a so-called cloud.
Although one information processing apparatus 111 is shown in the example of FIG. 2, the same function may be realized by the functions of a plurality of information processing apparatuses as another example.
Similarly, although one information processing apparatus 112 in the cloud is shown in the example of FIG. 2, as another example, the same function may be realized by the functions of a plurality of information processing apparatuses.

The robot control device 51 of the robot 1 and the information processing device 111 are communicably connected to each other via the cable 131.
The robot control device 51 is connected to the LAN 121.
In addition, the information processing apparatus 111 is connected to the LAN 121.
The information processing apparatus 112 in the cloud is connected to the LAN 121.
A plurality of devices (in the present example, the information processing devices 111 and 112 and the robot control device 51) connected to the LAN 121 can communicate with each other via the LAN 121.
Here, instead of the wired cable 131, a wireless circuit may be used.
Further, as the LAN 121, for example, a wired LAN may be used, or a wireless LAN may be used.

The robot control device 51 built in the robot 1 includes a processor 151, a memory 152, and a communication unit 153.
The processor 151 is, for example, a CPU (Central Processing Unit).
The memory 152 includes a command 161. The command 161 represents, for example, a command described in a program. Here, the command 161 may, for example, collectively represent a plurality of commands described in one program, or represents one or a part of a plurality of commands described in one program. May be The instructions 161 may be, for example, various instructions (for example, a program, a code, etc.) executable by a computer.
The processor 151 executes a command 161 (for example, an operation control program) stored in the memory 152, and executes processing in accordance with the command 161.
The communication unit 153 communicates with the information processing apparatus 111 via the cable 131.
Also, the communication unit 153 communicates with the information processing apparatus 112 and the like in the cloud via the LAN 121.

The information processing apparatus 111 includes a processor 171, a memory 172, and a communication unit 173.
The processor 171 is, for example, a CPU.
Memory 172 contains instructions (not shown). The command represents, for example, a command described in a program, like the command 161 in the robot control device 51.
The processor 171 executes a command (for example, an operation control program) stored in the memory 172 to execute processing in accordance with the command.
The communication unit 173 communicates with the robot control device 51 via the cable 131.
The communication unit 173 also communicates with the information processing apparatus 112 in the cloud via the LAN 121.

The information processing apparatus 112 in the cloud includes a processor 181, a memory 182, and a communication unit 183.
The processor 181 is, for example, a CPU.
Memory 182 includes instructions (not shown). The command represents, for example, a command described in a program, like the command 161 in the robot control device 51.
The processor 181 executes a command (for example, an operation control program) stored in the memory 182 to execute processing in accordance with the command.
The communication unit 183 communicates with the robot control device 51 or the information processing device 111 via the LAN 121.

Here, the robot control device 51 may control the robot 1 alone, or may control the robot 1 using the function of another device.
As an example, the robot control device 51 may control the robot 1 by the information processing device 111 controlling the robot control device 51. That is, the robot 1 may be controlled by combining the function of the information processing apparatus 111 and the function of the robot control apparatus 51.
As another example, the robot control device 51 may control the robot 1 by the information processing device 112 in the cloud controlling the information processing device 111 and the information processing device 111 controlling the robot control device 51. That is, the robot 1 may be controlled by combining the function of the information processing apparatus 112 in the cloud, the function of the information processing apparatus 111, and the function of the robot control apparatus 51.
As another example, the robot control apparatus 51 may control the robot 1 by controlling the robot control apparatus 51 by the information processing apparatus 112 in the cloud. That is, the robot 1 may be controlled by combining the function of the information processing apparatus 112 in the cloud and the function of the robot control apparatus 51.

  In the example of FIG. 2, the robot control apparatus 51 is connected to the information processing apparatus 111 via the cable 131 and connected to the LAN 121. However, as another example of the configuration, only one of them is used. A configuration connected with the terminal may be used.

[Function block of robot controller]
FIG. 3 is a diagram showing an example of functional blocks of the robot control device 51 according to an embodiment of the present invention.
The robot control device 51 includes an input unit 211, an output unit 212, a storage unit 213, a communication unit 214, and a control unit 215.
The control unit 215 includes an information acquisition unit 231, an origin registration unit 232, a determination unit 233, and a robot control unit 234.

Here, the input unit 211 and the output unit 212 are configured using, for example, an interface (not shown in the example of FIG. 2) that inputs and outputs information to and from the outside.
In addition, the storage unit 213 is configured using, for example, the memory 152 in the example of FIG.
Further, the communication unit 214 corresponds to, for example, the communication unit 153 in the example of FIG.
Also, the control unit 215 is configured using, for example, the processor 151 in the example of FIG.
Note that, as another configuration example, the storage unit 213 may be configured using, for example, one or more of the plurality of memories 152, 172, and 182 in the example of FIG. The communication unit 214 may be configured, for example, using one or more of the plurality of communication units 153, 173, and 183 in the example of FIG. The control unit 215 may be configured using, for example, one or more of the plurality of processors 151, 171, and 181 in the example of FIG.

The input unit 211 inputs information from the outside. As an example, the input unit 211 includes an operation unit such as a keyboard or a mouse, and inputs information according to the content of an operation performed by a user (person) to the operation unit. As another example, the input unit 211 inputs information output from the end effectors END1 to END2, the manipulators MNP1 to MNP2, or the imaging units 11-1 to 11-2, 21-1 to 21-2, and the like. In the present embodiment, the information output from the end effectors END1 to END2 includes information on the value of the encoder of the drive unit of the end effectors END1 to END2.
The output unit 212 outputs information to the outside. As an example, the output unit 212 causes the display unit to display and output information. 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 212 may output information in another manner, for example, may output information by sound (including sound). As another example, the output unit 212 outputs information to the end effectors END1 to END2, the manipulators MNP1 to MNP2, or the imaging units 11-1 to 11-2, 21-1 to 21-2, and the like.

  Here, all or part of the functions of the input unit 211 and all or part of the functions of the output unit 212 may be configured using a common device. As an example, a touch panel may be used which has a screen for displaying information and receives an instruction such as pressing of a button displayed on the screen from the user.

The storage unit 213 stores information. As an example, the storage unit 213 stores the operation control program used by the control unit 215 and information of various parameters. As another example, the storage unit 213 may store arbitrary information, for example, may store information such as an image used when controlling the robot 1.
The communication unit 214 communicates with an external device via a line.

  The control unit 215 controls the robot control device 51 in various ways. The control unit 215 is configured using, for example, a CPU, and performs various controls based on the operation control program stored in the storage unit 213 and information of various parameters.

The information acquisition unit 231 acquires information. The information acquisition unit 231 acquires, for example, one or more of the information input by the input unit 211 or the information stored in the storage unit 213.
The origin registration unit 232 performs processing for registering the origin of palms 41-1 to 41-2 or fingers 42-1 to 42-2 which are movable parts of the end effectors END1 to END2.
The determination unit 233 performs predetermined determination processing based on the information acquired by the information acquisition unit 231 or the like.
The robot control unit 234 controls the operation of the robot 1. Specifically, the robot control unit 234 controls the operation of each of the manipulators MNP1 to MNP2 by communicating with each of the manipulators MNP1 to MNP2. Further, the robot control unit 234 controls the operation of the movable portion of each of the end effectors END1 to END2 by communicating with each of the end effectors END1 to END2.
Here, the origin registration unit 232, the determination unit 233, or the robot control unit 234 may execute each process based on the information acquired by the information acquisition unit 231.

[Example of end effector]
With reference to FIG. 4 and FIG. 5, the example of a structure of end effector END1 is shown. In the present embodiment, the configuration of the end effector END2 is also similar to the configuration of the end effector END1. In the present embodiment, each end effector END1, END2 is electrically controlled.

FIG. 4 is a view showing an example of a state in which the fingers 331 to 334 and the palm 41-1 are opened in the end effector END1 according to the embodiment of the present invention.
FIG. 5 is a diagram showing an example of a state in which the fingers 331 to 334 and the palm 41-1 are closed in the end effector END1 according to the embodiment of the present invention.
In the example of FIG. 4 and FIG. 5, the four fingers 331 to 334 are the fingers 42-1 in the example of FIG. 1 (in the example of FIG. Equivalent to four fingers).

  The end effector END1 includes a base 311, a palm 41-1, and four fingers 331 to 334. In the present embodiment, the base 311 has a rectangular parallelepiped shape, and the rectangular parallelepiped has two square faces 391 and 392 facing each other. One surface 391 of the base 311 is connected to the side of the manipulator MNP1 of the robot 1. The other surface 392 of the base 311 is provided with a palm 41-1 in the central part, and each of the four corners is provided with four fingers 331 to 334.

  The end effector END1 has a mechanism capable of moving the palm 41-1 perpendicularly to the surface 392. In the present embodiment, the direction in which the palm 41-1 is pushed outward with respect to the surface 392 (the side opposite to the surface 391) is the opening direction, and the palm 41-1 is inward of the surface 392 (the side of the surface 391). The direction of withdrawal) is taken as the closing direction. The palm 41-1 is accommodated in the inside (the side of the surface 391) with respect to the surface 392 in the closing direction. The palm 41-1 is moved outward (opposite to the surface 391) with respect to the surface 392 in the opening direction.

Further, the end effector END1 has a mechanism capable of changing the separation distance of the tips of the four fingers 331 to 334. In the present embodiment, the direction in which the tips of the four fingers 331 to 334 are away from the line perpendicular to the surface 392 and passing through the center of the surface 392 is the open direction, and the four fingers 331 to The direction in which the tip of 334 is brought close is taken as the closing direction.
In this embodiment, the root portions of the four fingers 331 to 334 slide in a direction parallel to the XY plane and in a direction away from the center point of the surface 392 and in a direction closer to the center point of the surface 392 And can be moved. In addition, arbitrary mechanisms may be used as a mechanism which opens and closes the fingers 331-334.

In the present embodiment, in the end effector END1, the palm 41-1 and the fingers 331 to 334 collide with each other over the entire movable range of the palm 41-1 and the entire movable range of the four fingers 331 to 334 (below , Also referred to as "interference." For this reason, in the robot 1, it is preferable to avoid the interference between the palm 41-1 and the fingers 331 to 334.
In addition, in the case where an end effector that can cause interference between some fingers and other fingers is used as another configuration example, it is preferable to avoid such interference.
As another configuration example, an end effector having a palm and a finger that does not generate interference may be used.

  Here, FIGS. 4 and 5 show the encoder unit 371 provided in the end effector END1. The encoder unit 371 is provided, for example, inside the end effector END1. The encoder unit 371 may be provided elsewhere. Further, in the present embodiment, the encoder unit 371 common to the palm 41-1 and the fingers 331 to 334 is provided, but as another configuration example, separate encoder units are provided to the palm 41-1 and the fingers 331 to 334. May be

  Further, the encoder unit 371 has an encoder function of detecting a value indicating the degree (position) of opening and closing (pressing or pulling) operation of the palm 41-1. As the degree of opening and closing, for example, it is possible to use the degree of change in the opening (pushing) direction of the palm 41-1 or the degree of changing in the closing (drawing) direction of the palm 41-1. The encoder is a value representing the degree of change of the drive unit that performs the opening and closing operation of the palm 41-1 (for example, the rotational position of the motor that drives the operation, a position considering the positive and negative rotational directions) To detect. The degree of change of the drive unit has a correlation with the degree of opening and closing of the palm 41-1, such as in proportion.

  Further, the encoder unit 371 has a function of an encoder that detects a value representing the degree (position) of opening and closing of the fingers 331 to 334. As the degree of opening and closing, for example, the degree of change in the direction in which the fingers 331 to 334 open or the degree of change in the direction in which the fingers 331 to 334 close can be used. The encoder is a value representing the degree of change of the drive unit that performs the opening and closing operation of the fingers 331 to 334 (for example, the rotational position of the motor that drives the operation, a position taking into account the positive and negative rotational directions) To detect. The degree of change of the drive unit is correlated with the degree of opening and closing of the fingers 331 to 334 in a proportional relation or the like. In the present embodiment, the opening and closing operations of the four fingers 331 to 334 are synchronized (the same opening and closing operation is performed together), but as another configuration example, each finger 331 to 343 is used. The opening and closing operation may be performed independently.

4 and 5 show an XYZ orthogonal coordinate system which is a three-dimensional orthogonal coordinate system.
In the example of FIG. 4 and FIG. 5, the surface 391 of the base 311 is arrange | positioned at XY plane. The direction of the X axis corresponds to the direction of one side of the square of the surface 391. The direction of the Y axis corresponds to the direction perpendicular to the X axis. The direction of the Z-axis corresponds to the direction perpendicular to the two surfaces 391, 392.
The two fingers 331 and 332 are aligned in a direction parallel to the X axis, and the two fingers 333 and 334 are aligned in a direction parallel to the X axis. The two fingers 331 and 334 are aligned in the direction parallel to the Y axis, and the two fingers 332 and 333 are aligned in the direction parallel to the Y axis.
The palm 41-1 can translate in a direction parallel to the Z axis.
In the present embodiment, the fingers 331 to 334 can move in a direction (component of the direction) perpendicular to the direction in which the palm 41-1 moves.

[Description of degree]
In the present embodiment, the determination unit 233 determines one end and the other end of the movable range of the movable portion. In the present embodiment, the movable portion is the palm 41-1 or the fingers 331 to 334 of the end effector END1, or the palm or the finger of the end effector END2.
The position of one end of the movable range of the palm 41-1 corresponds to the position when the palm 41-1 is retracted the most. At this time, the palm 41-1 contacts a part (per degree) of the base 311, and the palm 41-1 can not move to the side of the base 311 (for example, inside the base 311) more than that. In this embodiment, this position is a position when the palm 41-1 and the surface 392 of the base 311 are located on the same plane.
Regarding the palm 41-1, the position of the other end of the movable range corresponds to the position when the palm 41-1 is pushed out the most. At this time, the mechanism for moving the palm 41-1 abuts on another object (per degree), and the palm 41-1 can not move further to the side (outside) opposite to the base 311. The mechanism portion is, as one example, a gear, and the other thing (per degree) is, for example, an end portion where the gear teeth disappear. As a specific example, when a rack and pinion gear is used, the end portion where the engagement between the rack and the pinion is eliminated may be used as the angle. The mechanical part is, as another example, a bolt and a nut, and the other part (per degree) is, for example, an end portion where the rotary groove for combining the bolt and the nut disappears.

Regarding the fingers 331 to 334, the position of one end of the movable range corresponds to the position when the fingers 331 to 334 are most closed. At this time, the tips of the four fingers 331 to 334 (each finger is a measure for the other fingers) abut, and the fingers 331 to 334 can not move further in the closing direction.
The position of the other end of the movable range of the fingers 331 to 334 corresponds to the position when the fingers 331 to 334 are most opened. At this time, the mechanism that moves the fingers 331 to 334 abuts on another object (per degree), and the fingers 331 to 334 can not open any more. As the said mechanism part, the thing similar to what was demonstrated about palm 41-1 may be used, for example.

An arbitrary method may be used as a method of detecting the degree of contact between the movable portion and the degree in the control unit 215.
As an example, in the control unit 215, when the velocity of the movable part is detected by a velocity sensor or the like, and the value of the detected velocity becomes less than or equal to a predetermined threshold (or when it becomes smaller than the predetermined threshold) A method of determining that the application has been completed may be used. Further, for example, in the control unit 215, it is determined that the frequency assignment is completed when the value of the velocity of the movable part becomes a value smaller than the predetermined threshold from a value exceeding the predetermined threshold (when the velocity decreases). May be used.
As another example, when the current flowing through the motor of the drive unit that moves the movable unit is detected by the current sensor or the like in the control unit 215 and the value of the detected current becomes equal to or greater than a predetermined threshold (or a predetermined threshold) ) May be used to determine that the degree assignment has been completed. Furthermore, for example, in the control unit 215, when the value flowing through the motor of the drive unit for moving the movable unit becomes a value exceeding the predetermined threshold from a value smaller than the predetermined threshold (when the current increases), A method may be used to determine that the has been completed.

As another example, in the control unit 215, based on both the velocity of the movable part (for example, the decrease of the velocity) and the current flowing through the motor of the drive unit that moves the movable part (for example, the increase of the current) A method of determining completion may be used.
In addition, as a method of detecting the degree of contact, for example, a detection result by one or more of a contact sensor, a force sensor (force sensor 31-1, 31-2, or another force sensor), a pressure sensor, or the like is used A technique may be used, or a technique which does not use the detection result of these sensors may be used.

[Example of processing performed by robot controller]
FIG. 6 is a flow chart showing an example of the procedure of the processing performed by the robot control apparatus 51 according to an embodiment of the present invention.
In the description of FIG. 6, the process performed on one of palm 41-1 and fingers 331 to 334 of the end effector END1 will be described. In the description of FIG. 6, “target part” indicates one of palm 41-1 or fingers 331 to 334.
Further, in the description of FIG. 6, the description of avoiding interference between the palm 41-1 and the fingers 331 to 334 is omitted, but the control unit 215 is not limited to the target part (the palm 41-1 or the fingers 331 to 334). In the processing for one of them, it is assumed that the state in which the interference with something other than the target part (the other of the palm 41-1 or the fingers 331 to 334) is avoided is maintained. In this case, for example, the control unit 215 grasps the position, posture, and the like of the target unit and the objects other than the target unit.
In the present embodiment, the process performed on the end effector END2 is also similar to the process performed on the end effector END1.

  The series of processes shown in FIG. 6 may be performed by, for example, the robot control device 51 according to a predetermined instruction input by the user, or a predetermined condition for starting the process is satisfied. It may be performed (automatically) by the robot control device 51 in response to the determination.

(Step S1)
The control unit 215 causes the robot control unit 234 to move the target portion of the end effector END1 and applies the movement at one end (one end) of the movable range. And it transfers to the process of step S2.

(Step S2)
The control unit 215 causes the origin registration unit 232 to perform origin registration processing. Then, the process proceeds to step S3.
Here, as the process of origin registration, for example, a process of registering the origin in a state in which the one end (one end) of the movable range is used is used. In the present embodiment, the origin registration unit 232 registers the value of the encoder as the reference of the subsequent processing for one end of the movable range of the movable portion of each of the end effectors END1 to END2. Thereby, in the control unit 215, the value of the encoder can be used as a reference of the subsequent processing for one end of the movable range of the movable portion.
As an example, as processing of origin registration, processing of resetting the value of the encoder related to the operation of the target part to a predetermined value (for example, 0) is used. As another example, as the origin registration process, a process may be used in which the value of the encoder related to the operation of the target part is stored, and the stored value is used as the offset value.

(Step S3)
The control unit 215 causes the robot control unit 234 to move the target portion of the end effector END1 and applies the same at the other (other end) of the movable range. Then, the process proceeds to step S4.

(Step S4)
The control unit 215 determines whether or not the determination unit 233 determines a predetermined condition that determines whether the information based on the origin registration is appropriate. In the present embodiment, the process of step S4 is performed at the current position, where the position of the target part (the position at which the process is performed) at step S3 is completed.
As a result of the determination, when the control unit 215 determines that the predetermined condition is satisfied by the determination unit 233 (step S4: YES), the process proceeds to step S5.
On the other hand, as a result of this determination, when the control unit 215 determines that the predetermined condition is not satisfied by the determination unit 233 (step S4: NO), the process proceeds to step S6.

Here, as the information based on the origin registration, for example, information regarding the value of the encoder is used.
As an example, when processing of resetting the value of the encoder related to the operation of the target part to a predetermined value (for example, 0) is used as processing of origin registration, information representing the value of the encoder as information based on origin registration, for example Is used. The said information turns into information showing the relative position of the one end of the movable range of the said object part, and the other end.
As another example, as processing of origin registration, when processing of storing the value of the encoder related to the operation of the target part and using the stored value as the offset value is used, for example, the value of the encoder as information based on origin registration The information representing the value obtained by subtracting the offset value from. The said information turns into information showing the relative position (in this embodiment, the difference of the value of an encoder) of the one end of the movable range of the said object part, and the other end.

Further, as a predetermined condition for determining whether or not the information based on the origin registration is appropriate, for example, a range regarding the value of the encoder is used.
As an example, when the information on the value of the encoder (information based on the origin registration) is in a predetermined range as the predetermined condition, the information based on the origin registration is assumed to be appropriate (normal) and the condition is satisfied If the information regarding the encoder value (information based on origin registration) is not within the predetermined range, it is determined that the information based on origin registration is inappropriate (abnormal), and the condition is not satisfied (origin search) Condition may be used.
As the range, for example, an upper limit value and a lower limit value may be used. As an example, the condition of being in the range may be used when it is less than or equal to the upper limit value and less than or equal to the lower limit value or greater than the lower limit value.

Moreover, as a range, the range which is more than predetermined value (lower limit), or the range exceeding predetermined value (lower limit) may be used, for example.
Further, as the range, for example, a range which is equal to or less than a predetermined value (upper limit) or a range smaller than the predetermined value (upper limit) may be used.
In the present embodiment, the boundary of the range (each of the upper limit value and the lower limit value) may be considered to be included in the range, or may be considered not to be included in the range, for example. Good.

Here, as a predetermined range (for example, threshold values such as upper limit value and lower limit value), a plurality of directions (for example, a direction parallel to the X axis, a direction parallel to the Y axis, a direction parallel to the Z axis, etc.) It may be set for each of Also, the predetermined range may be set based on, for example, the value of the stroke on the specifications of the palm 41-1 or the fingers 331 to 334.
In addition, the predetermined range may be set to include, for example, the amount of deflection of the target portion (in the present embodiment, the palm 41-1 or the fingers 331 to 334) or the amount of deflection per degree. For example, in the case of the palm 41-1, one or both of the deflection amount of the palm 41-1 and the deflection amount of the base 311 may be considered. Also, for example, in the case of the fingers 331 to 334, the amount of bending of the fingers 331 to 334 may be considered.
In this way, if the object or degree is not a perfect rigid body, the deflection can cause it to be pushed a little (inwardly flexed) than in contact with other objects.

(Step S5)
When it is determined that the origin registration of the target part is appropriate, the control unit 215 controls so that the operation of the robot 1 using the target part can be performed thereafter. Then, the processing of this flow ends.
Here, as an aspect of controlling to make the operation of the robot 1 executable, for example, an aspect of controlling to enable the execution of the corresponding operation control program may be used.

(Step S6)
If it is determined that the origin registration of the target part is not appropriate, the control unit 215 controls so as to suppress the operation of the robot 1 using the target part thereafter. In the process of step S6, the control unit 215 may output, for example, display information such as an error message or sound information such as a warning sound through the output unit 212. Further, in the process of step S6, for example, the control unit 215 may stop all or a predetermined part of the operation of the robot 1. Then, the processing of this flow ends.

Here, as an aspect of controlling to suppress the operation of the robot 1, for example, an aspect of controlling to suppress the execution of the corresponding operation control program may be used. The operation control program is, for example, a program that controls the operation of the manipulators MNP1 and MNP2 and the end effectors END1 and END2.
In addition, as an aspect which suppresses operation | movement, the aspect which prohibits operation | movement may be used, for example, or the aspect which prohibits operation | movement when other predetermined conditions are not satisfy | filled may be used.

  As another configuration example, before shifting from the process of step S4 to the process of step S6, a retry (retry of the process of step S1 to step S4) may be performed a predetermined number of times. In this configuration, when it is determined that the predetermined condition is not satisfied in the process of step S4 continuously for the predetermined number of times, the process proceeds to step S6.

<Example of processing of degree assignment for palm and finger>
FIG. 7 is a flow chart showing another example of the processing procedure of the frequency assignment performed by the robot control device 51 according to an embodiment of the present invention.
In the description of FIG. 7, the processing performed for both the palm 41-1 and the fingers 331 to 334 of the end effector END1 will be described.
In the present embodiment, the process performed on the end effector END2 is also similar to the process performed on the end effector END1.

  The series of processes shown in FIG. 7 may be performed by, for example, the robot control device 51 according to a predetermined instruction input by the user, or a predetermined condition for starting the process is satisfied. It may be performed (automatically) by the robot control device 51 in response to the determination.

(Step S21)
The control unit 215 causes the robot control unit 234 to move the fingers 331 to 334 of the end effector END1 to open (open) the fingers 331 to 334. Then, the process proceeds to step S22.
Here, as a degree to which the fingers 331 to 334 are opened, for example, a degree to which the palm 41-1 and the fingers 331 to 334 do not interfere when the palm 41-1 moves in the movable range is used. As a result, it is possible to perform the origin setting of the palm 41-1 in a state in which the fingers 331 to 334 are retracted.

(Step S22)
The control unit 215 causes the robot control unit 234 to move the palm 41-1 of the end effector END1, and applies the palm 41-1 in one direction (one end) of the movable range with respect to the direction in which the palm 41-1 is retracted. Then, the process proceeds to step S23.

(Step S23)
The control unit 215 causes the robot control unit 234 to move the fingers 331 to 334 of the end effector END1, and applies the fingers 331 to 334 in one direction (one end) of the movable range in the closing direction. Then, the process proceeds to step S24.

(Step S24)
The control unit 215 causes the origin registration unit 232 to perform origin registration processing for each of the palm 41-1 and the fingers 331 to 334. Then, the process proceeds to step S25.
Here, as the origin registration process, for example, the process of registering the origin in a state in which the palm 41-1 and the fingers 331 to 334 are each applied at one end (one end) of the movable range is used.
The process of origin registration is, for example, the same as the process of step S2 shown in FIG.

(Step S25)
The control unit 215 causes the robot control unit 234 to move the fingers 331 to 334 of the end effector END1, and places the fingers 331 to 334 in the other direction (the other end) of the movable range in the opening direction. Then, the process proceeds to step S26.

(Step S26)
The control unit 215 causes the robot control unit 234 to move the palm 41-1 of the end effector END1, and applies the palm 41-1 with the other end (the other end) of the movable range in the direction in which the palm 41-1 is pushed out. Then, the process proceeds to step S27.

(Step S27)
The control unit 215 determines whether or not the determination unit 233 determines a predetermined condition that determines whether the information based on the origin registration is appropriate. In the present embodiment, the positions of the palm 41-1 and the fingers 331 to 334 (positions where both meet each other) at the time of completion of the processing (step) of step S26 are the current positions. Processing is performed.
As a result of the determination, when the control unit 215 determines that the predetermined condition is satisfied by the determination unit 233 (step S27: YES), the process proceeds to step S28.
On the other hand, as a result of the determination, when the control unit 215 determines that the predetermined condition is not satisfied by the determination unit 233 (step S27: NO), the process proceeds to step S31.

  The process of determining whether or not the predetermined condition is satisfied is, for example, the same as the process of step S4 shown in FIG. In the present embodiment, it is assumed that the predetermined condition is satisfied as a whole when the predetermined condition of the palm 41-1 is satisfied for the palm 41-1 and the predetermined conditions of the fingers 331 to 334 are satisfied for the fingers 331 to 334. . In the present embodiment, when a predetermined condition is not satisfied for one or both of the palm 41-1 and the fingers 331 to 334, the predetermined condition is not satisfied as a whole.

(Step S28)
The control unit 215 causes the robot control unit 234 to move the palm 41-1 of the end effector END1 to retract the palm 41-1 to a predetermined standby position. Then, the process proceeds to step S29.
Here, the predetermined standby position may be any position, for example, a position where the palm 41-1 is pushed out a little (for example, several millimeters) with respect to the most retracted position may be used. Good. Such a standby position is, for example, easy for the user (person) to visually grasp (visualize) or confirm. On the other hand, when the palm 41-1 is in a wide open standby position, it may be considered that the manipulators MNP1 and MNP2 easily collide with another object when moved.

(Step S29)
The control unit 215 causes the robot control unit 234 to move the fingers 331 to 334 of the end effector END1 to close the fingers 331 to 334 to a predetermined standby position. Then, the process proceeds to step S30.
Here, the predetermined standby position may be any position, for example, a position in which the fingers 331 to 334 are slightly opened (for example, several millimeters) from the most closed position may be used. . Such a standby position is, for example, easy for the user (person) to visually grasp (visualize) or confirm. On the other hand, when the fingers 331 to 334 are in the widely opened standby position, the manipulators MNP1 and MNP2 may easily collide with other objects when moved.

  As described above, after success in finding the origin of the palm 41-1 and the fingers 331 to 334 is detected (judged), the palm 41-1 and the fingers 331 to 334 are moved to the standby position without staying in place. Is preferred.

(Step S30)
The control unit 215 controls the operation of the robot 1 using the palm 41-1 and the fingers 331 to 334 so as to be executable. Then, the processing of this flow ends.

(Step S31)
The control unit 215 determines whether to retry the process of this flow.
As a result of the determination, when the control unit 215 determines to retry the process of the present flow (step S31: YES), the control unit 215 proceeds to the process of step S21 and executes the subsequent processes again.
On the other hand, when the control unit 215 determines that the process of this flow is not to be retried (step S31: NO), the control unit 215 proceeds to the process of step S32.
Here, any condition may be used as a condition for determining whether or not the process of this flow is to be retried. For example, a condition that it retries a predetermined number of times and does not retry after that is used. May be As the predetermined number of times, any number of times may be used, and for example, three times or the like may be used.

(Step S32)
The control unit 215 controls the operation of the robot 1 using the palm 41-1 and the fingers 331 to 334 to be suppressed. In the process of step S32, the control unit 215 may output, for example, display information such as an error message or sound information such as a warning sound from the output unit 212. Further, in the process of step S32, for example, the control unit 215 may stop all or a predetermined part of the operation of the robot 1. Then, the processing of this flow ends.
Here, an aspect of controlling to suppress the motion of the robot 1 is, for example, the same as the process of step S6 shown in FIG.

  In the example of FIG. 6 or the example of FIG. 7, with respect to target portions such as the fingers 331 to 334, the target portions are divided into a plurality of different directions (for example, a direction parallel to the X axis, a direction parallel to the Y axis, a Z axis If the control unit 215 can move the target unit independently in each of a plurality of different directions so as to avoid or avoid interference, etc. Good. In this case, the control unit 215 performs, for example, avoidance or approximation of interference in the plural directions in order.

Further, in the example of FIG. 6 or the example of FIG. 7, processing of each degree (processing of step S 1, processing of step S 3, processing of step S 22, processing of step S 23, processing of step S 25, processing of step S 26) Then, the control unit 215 may perform the predetermined number of times twice or more. In this case, the control unit 215 applies a degree to the target part, and then places the target part slightly away from the degree, and then applies the degree again. As the predetermined number of times, any number of times may be used, and for example, three times or the like may be used.
In such a case, the control unit 215 repeatedly performs the process of opening and closing the target part or the process of closing and opening the target part, and adopts the result of the final placement. Thereby, for example, even in a situation where movement of the target portion is likely to be stopped before the target portion due to a foreign object or a processing error, the target object is more reliably hit at a time. It becomes possible to find out the origin.

  Further, in the example of FIG. 6 and the example of FIG. 7, the origination is performed in a state where the target portion is closed, but conversely, the origination may be performed in a state where the target portion is opened. In addition, for example, when the home position setting is performed in a state where the target portion (in particular, the finger) is closed, the control unit 215 needs the necessary portion from the home position (if it is a finger, a little bit more than an object to be held). The accuracy of the work may be improved by opening the work by a large amount).

Summary of First Embodiment
As described above, in the robot 1 according to the present embodiment, the movable portion of the movable portions (the palm 41-1 or the fingers 331 to 334 in the present embodiment) of the end effectors END1 and END2 is controlled by the robot control device 51. The origination is performed by repeatedly applying the angle in the closing direction, and then applying the angle in the opening direction of the movable part, and based on the difference between these positions, success or failure of the origination (success or failure) ) Is determined.
Therefore, in the robot 1 according to the present embodiment, the robot control device 51 can improve the accuracy of the determination result on the movable range of the movable portion of the end effector END1, END2.
For example, in the robot 1 according to the present embodiment, the robot control device 51 can confirm (determine) whether or not the origin determination has been correctly performed for the movable portions of the end effectors END1 and END2. Accuracy can be improved.

Further, in the robot 1 according to the present embodiment, one end and the other end of the movable range of the movable portion are based on the decrease of the velocity of the movable portion and the increase of the current of the drive portion that drives the movable portion. Can be determined.
Further, in the robot 1 according to the present embodiment, the value of the encoder can be used as a reference of the subsequent processing with respect to one end of the movable range of the movable portion by the robot control device 51.

Further, in the robot 1 according to the present embodiment, the robot control device 51 can improve the accuracy of the determination result regarding the movable range of the palm 41-1 and the fingers 331 to 334 of the end effectors END1 and END2 of the robot 1. .
Further, in the robot 1 according to the present embodiment, when the robot control device 51 determines the movable range of the palm 41-1 and the fingers 331 to 334 included in the end effector END1, END2, the palm 41-1 and the finger 331 to Interference with 334 can be avoided.

Further, in the robot 1 according to the present embodiment, when the robot control device 51 determines that the difference between the value at one end of the movable range of the movable portion and the value at the other end is the predetermined range (normal If it is considered, it is possible to enable the execution of a program that causes the robot 1 to operate.
Further, in the robot 1 according to the present embodiment, when the robot control device 51 determines that the difference between the value at one end of the movable range of the movable portion and the value at the other end is not the predetermined range (if it is abnormal In the case where it is considered, the execution of the program for operating the robot 1 can be disabled, which makes it possible to ensure safety and the like.
Further, in the robot 1 according to the present embodiment, when the robot control device 51 determines that the difference between the value at one end of the movable range of the movable portion and the value at the other end is not the predetermined range (if it is abnormal If it is considered, a message regarding an error can be output, whereby it is possible to notify the user etc. of the occurrence of an error.

Here, in the present embodiment, the palm 41-1 and the fingers 331 to 334 do not interfere with each other. However, as another configuration example, the palm 41-1 and the fingers 331 to 334 are brought into contact with each other. A configuration to perform may be used.
Further, in the present embodiment, the end effector END1 and END2 having the palm 41-1 and the fingers 331 to 334 are used, but as another configuration example, the end effector having only any one of the palm and the finger May be used.

Further, in the present embodiment, as the fingers of the end effector, a configuration in which four fingers 331 to 334 simultaneously move symmetrically with respect to the center of the surface 392 of the base 311 is used. It may be done.
Further, in the present embodiment, a so-called hand is used as the end effector, but another end effector may be used, for example, an end effector such as a linear slider may be used.

<Configuration example>
As one configuration example, a movable part (in the present embodiment, the palm 41-1 and the finger 331) included in an end effector (in the present embodiment, the end effectors END1 and END2) provided in a robot (in the present embodiment, the robot 1). The movable range of the movable unit based on values detected by a robot control unit (in the present embodiment, the robot control unit 234) that controls one or both of 〜334 and an encoder that detects the position of the movable unit A robot control apparatus (in the present embodiment, the robot control apparatus) including a determination unit (in the present embodiment, the judgment unit 233) that determines whether the difference between the value at one end and the value at the other end is within a predetermined range Control device 51).
As one configuration example, in the robot control device, one end and the other end of the movable range of the movable portion are respectively determined based on the decrease in the velocity of the movable portion and the increase in the current of the drive portion that drives the movable portion. .
As one configuration example, the robot control device includes an origin registration unit (an origin registration unit 232 in the present embodiment) that registers the value of the encoder when the movable unit is at one end of the movable range as a reference for the subsequent processing.
As one configuration example, in the robot control device, the movable portion includes a palm and a finger, and the finger is movable in a direction perpendicular to a direction in which the palm moves.
As one configuration example, in a robot control device, a robot control unit performs control to avoid interference between a palm and a finger.
One example of the configuration is a robot controlled by the robot control device as described above.
Note that, as one configuration example, a robot system including the above-described robot control device and a robot controlled by the robot control device may be used.

As one configuration example, the step of controlling the movable portion of the end effector provided in the robot, and the value at one end of the movable range of the movable portion and the other based on the value detected by the encoder that detects the position of the movable portion Determining whether the difference between the value and the value at the end is within a predetermined range (a robot control method performed by the robot control device 51 in the present embodiment).
As one configuration example, in the robot control method, when it is determined that the difference between the value at one end of the movable range of the movable portion and the value at the other end is a predetermined range, execution of a program for operating the robot is enabled. Equipped with steps.
As one configuration example, in the robot control method, if it is determined that the difference between the value at one end of the movable range of the movable portion and the value at the other end is not within the predetermined range, execution of the program for operating the robot is disabled. Equipped with steps.
As one configuration example, in the robot control method, when it is determined that the difference between the value at one end of the movable range of the movable portion and the value at the other end is not a predetermined range, a message is output regarding an error.

  In one configuration example, a robot control device for controlling a robot includes a processor, and the processor controls a movable portion of an end effector provided in the robot and is detected by an encoder for detecting the position of the movable portion A robot control device configured to execute a command to determine whether a difference between a value at one end of the movable range of the movable portion and a value at the other end is within a predetermined range based on the value. .

Second Embodiment
The present embodiment shows a modification of the first embodiment.

[Modification of end effector]
In the first embodiment, the case where the process of determining the success or failure of the origin search is applied to the palm 41-1 and the fingers 331 to 334 of the end effectors END1 and END2 of the dual-arm robot 1 has been described.
As another configuration example, a process of determining the success or failure of the origination may be applied to any movable unit other than the palm or the finger. In addition to the end effector comprising a so-called hand, processing for determining the success or failure of the origin search may be applied to any other end effector.

[Example of another robot]
In the first embodiment, the dual arm robot 1 is shown, but as another example, the process of determining the success or failure of the origination according to the first embodiment is applied to the movable portion of the end effector of another robot. May be
As an example, such a configuration may be applied to the movable part of any end effector in a single arm robot.

[Robot system including single arm robot]
FIG. 8 is a view showing a schematic configuration example of a robot system 1001 including a single-arm robot 1011 according to an embodiment of the present invention.
The robot system 1001 includes a robot 1011, a robot control apparatus 1012, a cable 1013 communicably connecting the robot 1011 and the robot control apparatus 1012, an information processing apparatus 1021, an imaging apparatus 1022, an information processing apparatus 1021 and a robot A cable 1023 communicably connecting to the control device 1012 and a cable 1024 communicably connecting the imaging device 1022 and the information processing device 1021 are provided.

In FIG. 8, the details of the wiring connecting the robot 1011 and the robot control device 1012 are omitted, and only one cable 1013 is shown, but any wiring may be used.
Similarly, in FIG. 8, the details of the wiring connecting the information processing apparatus 1021 and the robot control apparatus 1012 are omitted, and only one cable 1023 is shown, but any wiring may be used. .
Similarly, in FIG. 8, the details of the wiring connecting the imaging device 1022 and the information processing device 1021 are omitted, and only one cable 1024 is shown, but any wiring may be used.

The robot 1011 includes a base end (support base) 1031, a manipulator M1, a force sensor 1032, and an end effector E1.
Here, the robot 1011 is a single arm robot.
In the example of FIG. 8, the robot 1011 can hold an object by the end effector E1. The mode of holding may include, for example, holding, holding, suction and the like.
For example, any object may be used as the object.

  Although the example of FIG. 8 shows a configuration in which communication is performed via the respective wired cables 1013, 1023, and 1024, as another configuration example, regarding one or more of them, instead of the wired cable, wireless communication is performed. A configuration in which communication is performed via a line of

The imaging device 1022 captures an image, and transmits information of the captured image to the information processing device 1021 via the cable 1024.
The imaging device 1022 is installed at a place where it is possible to image the state of the operation performed by the robot 1011 (the state of the work).
The information processing apparatus 1021 is, for example, a computer. The information processing apparatus 1021 receives information of an image from the imaging apparatus 1022, executes processing on the received image, and controls the information of the image or information of the execution result of the processing via the cable 1023. Send to device 1012.
The force sensor 1032 is provided to the robot 1011 and detects one or both of the received force or moment. Note that, as another configuration example, a torque sensor may be provided and used instead of the force sensor 1032.

[Single-arm robot]
The proximal end 1031 of the robot 1011 is installed.
One end of the manipulator M1 of the robot 1011 is connected to the base end 1031. The other end of the manipulator M1 of the robot 1011 and the end effector E1 are connected between them via a force sensor 1032.
The manipulator M1 of the robot 1011 has a six-axis vertical articulated structure, and includes six joints. Each joint comprises an actuator (not shown). Then, in the robot 1011, motion of six degrees of freedom is performed by the motions of the actuators of the six joints. As another configuration example, a robot that operates with five or less axes of freedom or a robot that operates with seven or more axes of freedom may be used.
The end effector E1 of the robot 1011 is, for example, a hand and includes a finger capable of holding an object. The end effector E1 may also include, for example, a palm portion. As another configuration example, the end effector E1 of the robot 1011 may be any one, for example, one that adsorbs an object using suction of air and has a movable part, or a magnetic force It may be something which is used to bring an object close and has a movable part.

The robot control device 1012 controls the robot 1011. For example, the robot control device 1012 controls each of the actuators included in the manipulator M1, the force sensor 1032, and the end effector E1.
Also, the robot control device 1012 can control the imaging device 1022 via the information processing device 1021.
The robot control device 1012 receives the information of the detection result from the force sensor 1032.
Further, the robot control device 1012 receives, from the information processing device 1021, information of an image or information of a result of predetermined processing.
The robot control apparatus 1012 may control the robot 1011 based on one or more of the information received from each of the force sensor 1032 and the information processing apparatus 1021.

[Single-arm robot and surrounding hardware]
FIG. 9 is a view showing a schematic configuration example of a single-arm robot 1011 and peripheral hardware according to an embodiment of the present invention.
In FIG. 9, as components of the robot system 701, a robot 1011, a robot control apparatus 1012, a cable 1013, an information processing apparatus 711, an information processing apparatus 712, an information processing apparatus 713 in the cloud, and a LAN 721. , Cable (line) 731-732 are shown.
Each of the information processing devices 711-713 is, for example, a personal computer. Note that the information processing device 711 may be considered to correspond to, for example, the information processing device 1021 illustrated in FIG.
In addition, the information processing device 713 exists on a so-called cloud.
Although one information processor 711 is shown in the example of FIG. 9, the same function may be realized by the functions of a plurality of information processors as another example.
Similarly, although one information processing apparatus 712 is shown in the example of FIG. 9, the same function may be realized by the functions of a plurality of information processing apparatuses as another example.
Similarly, although one information processing apparatus 713 in the cloud is shown in the example of FIG. 9, the same function may be realized by functions of a plurality of information processing apparatuses as another example.

The robot control device 1012 of the robot 1011 and the information processing device 711 are communicably connected to each other via a cable 731.
The robot control device 1012 is connected to the LAN 721.
The information processing device 711 is connected to the LAN 721.
The robot 1011 and the information processing apparatus 712 are connected via a cable 732.
The information processing device 712 is connected to the LAN 721.
The information processing device 713 in the cloud is connected to the LAN 721.
A plurality of devices connected to the LAN 721 (in this example, the information processing devices 711 to 713 and the robot control device 1012) can communicate with each other via the LAN 721.
Here, a wireless circuit may be used instead of the wired cables 731 to 732.
Further, as the LAN 721, for example, a wired LAN may be used, or a wireless LAN may be used.

The robot control device 1012 of the robot 1011 includes a processor 751, a memory 752, and a communication unit 753.
The processor 751 is, for example, a CPU.
The memory 752 includes a command 761. The command 761 represents, for example, a command described in a program. Here, the command 761 may, for example, collectively represent a plurality of commands described in one program, or represents one or a part of a plurality of commands described in one program. May be The instruction 761 may be, for example, various instructions (for example, a program, a code, etc.) executable by a computer.
The processor 751 executes a command 761 (for example, an operation control program) stored in the memory 752, and executes processing in accordance with the command 761.
The communication unit 753 communicates with the information processing device 711 via the cable 731.
The communication unit 753 communicates with the information processing apparatus 112 in the cloud via the LAN 121.
Also, the communication unit 753 communicates with the robot 1011 via the cable 1013.

The information processing device 711 includes a processor 771, a memory 772, and a communication unit 773.
The processor 771 is, for example, a CPU.
The memory 772 includes a command (not shown). The command represents, for example, a command described in a program, similar to the command 761 in the robot control apparatus 1012.
The processor 771 executes a command (for example, an operation control program) stored in the memory 772 to execute processing in accordance with the command.
The communication unit 773 communicates with the robot control device 1012 via the cable 731.
The communication unit 773 communicates with the information processing apparatus 713 and the like in the cloud via the LAN 721.

The information processing device 712 includes a processor 781, a memory 782, and a communication unit 783.
The processor 781 is, for example, a CPU.
The memory 782 includes a command (not shown). The command represents, for example, a command described in a program, similar to the command 761 in the robot control apparatus 1012.
The processor 781 executes a command (for example, an operation control program) stored in the memory 782 to execute processing in accordance with the command.
The communication unit 783 communicates with the robot 1011 via the cable 732.
The communication unit 783 also communicates with the information processing apparatus 713 and the like in the cloud via the LAN 721.

The information processing apparatus 713 in the cloud includes a processor 791, a memory 792, and a communication unit 793.
The processor 791 is, for example, a CPU.
Memory 792 includes a command (not shown). The command represents, for example, a command described in a program, similar to the command 761 in the robot control apparatus 1012.
The processor 791 executes a command (for example, an operation control program) stored in the memory 792 to execute processing in accordance with the command.
A communication unit 793 communicates with the robot control apparatus 1012 or the information processing apparatuses 711 to 712 via the LAN 721.

Here, the robot control device 1012 may control the robot 1011 alone, or may control the robot 1011 using the function of another device.
As an example, the robot control apparatus 1012 may control the robot 1011 by the information processing apparatus 711 (or the information processing apparatus 712) controlling the robot control apparatus 1012. That is, the robot 1011 may be controlled by combining the function of the information processing device 711 (or the information processing device 712) and the function of the robot control device 1012.
As another example, the information processing device 713 in the cloud controls the information processing device 711 (or the information processing device 712), and the information processing device 711 (or the information processing device 712) controls the robot control device 1012. The robot controller 1012 may control the robot 1011. That is, the robot 1011 may be controlled by combining the function of the information processing apparatus 713 in the cloud, the function of the information processing apparatus 711 (or the information processing apparatus 712), and the function of the robot control apparatus 1012.
As another example, the robot control device 1012 may control the robot 1011 by the information processing device 713 in the cloud controlling the robot control device 1012. That is, the robot 1011 may be controlled by combining the function of the information processing apparatus 713 in the cloud and the function of the robot control apparatus 1012.

  In the example of FIG. 9, the robot control apparatus 1012 is connected to the information processing apparatus 711 via the cable 731 and connected to the LAN 721, but as another example of the configuration, only one of them is shown. A configuration connected with the terminal may be used.

Summary of Second Embodiment
As described above, the process of determining the success or failure of the origination in the robot 1 according to the first embodiment may be applied to the movable portion of any end effector of any other robot, and in the case of the first embodiment It is possible to obtain the same effect as
In the present embodiment, a robot system 1001 including a robot control apparatus 1012 and a robot 1011 controlled by the robot control apparatus 1012 has been shown as one configuration example.

  The robot may be any robot, for example, a parallel link robot, an orthogonal axis robot, a single axis robot, or a SCARA robot. Good.

[Summary of the above embodiment]
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 design and the like within the scope of the present invention.

Note that a program for realizing the function of an arbitrary component in the apparatus (for example, robot control apparatus 51, 1012, etc.) described above is recorded (stored) in a computer readable recording medium (storage medium), The program may be read and executed by a computer system.
The “computer system” mentioned here includes hardware such as an operating system (OS: Operating System) or a peripheral device.
The term "computer-readable recording medium" means portable media such as flexible disks, magneto-optical disks, ROMs (Read Only Memory), CDs (Compact Disc) -ROMs, and storages such as hard disks incorporated in computer systems. It refers to the device. The computer readable recording medium is, for example, a non-transitory recording medium.
Furthermore, “computer readable recording medium” refers to volatile memory (RAM: Random Access) in a computer system serving as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. It is assumed that the memory which holds the program for a fixed time such as Memory) is included.

In addition, the above program may be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium.
Here, the "transmission medium" for transmitting the program is 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.
In addition, the above program may be for realizing a part of the functions described above. Furthermore, the program described above may be a so-called difference file (difference program) that can realize the functions described above in combination with the program already recorded in the computer system.

1, 1011 ... robot, 11-1 to 11-2, 21-1 to 21-2 ... imaging unit, 31-1 to 31-2, 1032 ... force sensor, 41-1 to 41-2 ... palm, 42- 1-42-2, 331-334 ... finger, 51, 1012 ... robot control device, 101, 701, 1001 ... robot system, 111-112, 711-713 ... information processing device, 121, 721 ... LAN, 131, 731 ~ 732, 1013, 1023, 1024 ... Cable, 151, 171, 181, 751, 771, 781, 791 ... Processor, 152, 172, 182, 752, 772, 782, 792 ... Memory, 153, 173, 183, 214 , 753, 773, 783, 793 ... communication unit, 161, 761 ... command, 211 ... input unit, 212 ... output unit, 213 ... storage unit 215 control unit 231 information acquisition unit 232 origin registration unit 233 determination unit 234 robot control unit 311 base 371 encoder unit 391 to 392 surface 1021 information processor 1022 ... imaging device, 1031 ... proximal end, MNP1, MNP2, M1 ... manipulator, END1 to END2, E1 ... end effector

Claims (12)

A robot control unit that controls a movable unit of an end effector provided in the robot;
A determination unit that determines whether the difference between the value at one end of the movable range of the movable unit and the value at the other end is within a predetermined range based on the value detected by an encoder that detects the position of the movable unit When,
Robot control device provided with The one end and the other end are respectively determined based on the decrease in the velocity of the movable part and the increase in the current of the drive part that drives the movable part.
The robot control device according to claim 1. It has an origin registration unit that registers the value of the encoder when the movable unit is at the one end as a reference of the subsequent processing,
The robot control device according to any one of claims 1 or 2. The movable part includes a palm and a finger,
The finger is movable in a direction perpendicular to a direction in which the palm moves.
The robot control device according to any one of claims 1 to 3. The robot control unit performs control to avoid interference between the palm and the finger.
The robot control device according to claim 4. It is controlled by the robot control device according to any one of claims 1 to 5.
Said robot. The robot control device according to any one of claims 1 to 5.
The robot controlled by the robot control device;
Robot system equipped with Controlling a movable portion of an end effector provided in the robot;
Determining whether a difference between a value at one end of the movable range of the movable portion and a value at the other end is within a predetermined range based on a value detected by an encoder that detects the position of the movable portion; ,
A robot control method comprising: Enabling the execution of a program for operating the robot if it is determined that the difference is within the predetermined range,
The robot control method according to claim 8. Disabling the execution of a program for operating the robot if it is determined that the difference is not within the predetermined range;
A robot control method according to any one of claims 8 or 9. Outputting a message about an error if it is determined that the difference is not within the predetermined range;
The robot control method according to any one of claims 8 to 10. A robot controller for controlling a robot,
Equipped with a processor
The processor controls a movable portion of an end effector provided in the robot.
Based on the value detected by the encoder that detects the position of the movable portion, a command to determine whether the difference between the value at one end of the movable range of the movable portion and the value at the other end is within a predetermined range Configured to run,
Robot control unit.

Images