JP2019202360A5 - Robot control device, control method of robot control device, and robot system - Google Patents
Robot control device, control method of robot control device, and robot system Download PDFInfo
- Publication number
- JP2019202360A5 JP2019202360A5 JP2018097311A JP2018097311A JP2019202360A5 JP 2019202360 A5 JP2019202360 A5 JP 2019202360A5 JP 2018097311 A JP2018097311 A JP 2018097311A JP 2018097311 A JP2018097311 A JP 2018097311A JP 2019202360 A5 JP2019202360 A5 JP 2019202360A5
- Authority
- JP
- Japan
- Prior art keywords
- finger
- output
- detection unit
- finger portion
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims description 31
- 238000000034 method Methods 0.000 claims description 2
- 230000000875 corresponding Effects 0.000 claims 1
Description
この発明は、ロボット制御装置、ロボット制御装置の制御方法、及びロボットシステムに関する。 The present invention relates to a robot control device, a control method for the robot control device, and a robot system.
上記課題を解決するために本発明の一態様は、基部と、前記基部に対して移動可能に設けられた第１指部と、前記基部に設けられた第２指部と、前記基部に対する前記第１指部の位置を検出する第１位置検出部と、を有する把持部と、アームと、前記把持部と前記アームとの間に設けられた力検出部と、を備えたロボットを制御するロボット制御装置であって、前記第１指部を物体に接触させ、前記力検出部から出力される出力値が第１閾値以上となるまで前記第１指部を前記物体に付勢させる第１動作を行わせ、前記第１動作の後、前記力検出部から出力される出力値が前記第１閾値以上である状態を維持し、前記第１指部と前記アームとを移動させ、前記物体に前記第１指部と前記第２指部とを接触させる第２動作を行わせ、前記第２動作において、前記力検出部から出力される出力値が前記第１閾値よりも小さい第２閾値よりも小さくなったとき、前記第１位置検出部から出力される出力値に基づいて、前記物体が所定の状態で前記第１指部と前記第２指部とによって把持されているか否かを判定する、ロボット制御装置である。 In order to solve the above problems, one aspect of the present invention includes a base portion, a first finger portion movably provided with respect to the base portion, a second finger portion provided with the base portion, and the said portion with respect to the base portion. Controls a robot including a grip portion having a first position detecting portion for detecting the position of a first finger portion, an arm, and a force detecting portion provided between the grip portion and the arm. A first robot control device in which the first finger portion is brought into contact with an object and the first finger portion is urged against the object until the output value output from the force detection unit becomes equal to or higher than the first threshold value. The operation is performed, and after the first operation, the state in which the output value output from the force detection unit is equal to or higher than the first threshold value is maintained, and the first finger portion and the arm are moved to move the object. the second to perform the operation of contacting with the first finger and the second finger portion, in the second operation, the force detector has smaller than the output value to be output by the first threshold from the second When it becomes smaller than the threshold value, whether or not the object is gripped by the first finger portion and the second finger portion in a predetermined state based on the output value output from the first position detection unit. It is a robot control device that determines whether or not.
また、本発明の一態様は、基部と、前記基部に対して移動可能に設けられた第１指部と、前記基部に設けられた第２指部と、前記基部に対する前記第１指部の位置を検出する第１位置検出部と、を有する把持部と、アームと、前記把持部と前記アームとの間に設けられた力検出部と、を備えたロボットを制御するロボット制御装置の制御方法であって、前記第１指部を物体に接触させ、前記力検出部から出力される出力値が第１閾値以上となるまで前記第１指部を前記物体に付勢させる第１動作と、前記第１動作の後、前記力検出部から出力される出力値が前記第１閾値以上である状態を維持し、前記第１指部と前記アームとを移動させ、前記物体に前記第１指部と前記第２指部とを接触させる第２動作と、前記第２動作において、前記力検出部から出力される出力値が前記第１閾値よりも小さい第２閾値よりも小さくなったとき、前記第１位置検出部から出力される出力値に基づいて、前記物体が所定の状態で前記第１指部と前記第２指部とによって把持されているか否かを判定する処理と、を有するロボット制御装置の制御方法である。 Further, one aspect of the present invention includes a base portion, a first finger portion movably provided with respect to the base portion, a second finger portion provided with the base portion, and the first finger portion with respect to the base portion. Control of a robot control device that controls a robot including a grip portion having a first position detection unit for detecting a position, an arm, and a force detection unit provided between the grip portion and the arm. a method, said first finger portion is brought into contact with the object, first operation and for biasing the first finger unit to the object to output value output from the force detection unit becomes smaller than the first threshold value After the first operation, the state in which the output value output from the force detection unit is equal to or higher than the first threshold value is maintained, the first finger portion and the arm are moved, and the first finger portion and the arm are moved to the object. second operation and contacting said finger portion second finger portion, in the second operation, the output value output from the force detection unit becomes smaller than the second threshold value have smaller than the first threshold value At that time, a process of determining whether or not the object is gripped by the first finger portion and the second finger portion in a predetermined state based on the output value output from the first position detection unit. It is a control method of a robot control device having.
また、本発明の一態様は、基部と、前記基部に対して移動可能に設けられた第１指部と、前記基部に設けられた第２指部と、前記基部に対する前記第１指部の位置を検出する第１位置検出部と、を有する把持部と、アームと、前記把持部と前記アームとの間に設けられた力検出部と、を備えたロボットと、前記ロボットを制御するロボット制御装置と、を備えたロボットシステムであって、前記ロボット制御装置は、前記第１指部を物体に接触させ、前記力検出部から出力される出力値が第１閾値以上となるまで前記第１指部を前記物体に付勢させる第１動作を行わせ、前記第１動作の後、前記力検出部から出力される出力値が前記第１閾値以上である状態を維持し、前記第１指部と前記アームとを移動させ、前記物体に前記第１指部と前記第２指部とを接触させる第２動作を行わせ、前記第２動作において、前記力検出部から出力される出力値が前記第１閾値よりも小さい第２閾値よりも小さくなったとき、前記第１位置検出部から出力される出力値に基づいて、前記物体が所定の状態で前記第１指部と前記第２指部とによって把持されているか否かを判定する、ロボットシステムである。
Further, one aspect of the present invention includes a base portion, a first finger portion movably provided with respect to the base portion, a second finger portion provided with the base portion, and the first finger portion with respect to the base portion. A robot including a grip portion having a first position detection unit for detecting a position, an arm, and a force detection unit provided between the grip portion and the arm, and a robot that controls the robot. A robot system including a control device, wherein the robot control device brings the first finger portion into contact with an object, and the output value output from the force detection unit becomes the first threshold value or more. The first operation of urging the object with one finger is performed, and after the first operation, the state in which the output value output from the force detection unit is equal to or higher than the first threshold value is maintained, and the first operation is performed. The finger portion and the arm are moved to cause the object to perform a second operation of bringing the first finger portion and the second finger portion into contact with each other, and in the second operation, an output output from the force detection unit. when the value is smaller than the second threshold value it has smaller than the first threshold value, based on the output value outputted from the first position detector, the said first finger portion and the object is in a predetermined state It is a robot system that determines whether or not it is gripped by a second finger portion.
Claims (9)
アームと、
前記把持部と前記アームとの間に設けられた力検出部と、
を備えたロボットを制御するロボット制御装置であって、
前記第１指部を物体に接触させ、前記力検出部から出力される出力値が第１閾値以上となるまで前記第１指部を前記物体に付勢させる第１動作を行わせ、
前記第１動作の後、前記力検出部から出力される出力値が前記第１閾値以上である状態を維持し、前記第１指部と前記アームとを移動させ、前記物体に前記第１指部と前記第２指部とを接触させる第２動作を行わせ、
前記第２動作において、前記力検出部から出力される出力値が前記第１閾値よりも小さい第２閾値よりも小さくなったとき、前記第１位置検出部から出力される出力値に基づいて、前記物体が所定の状態で前記第１指部と前記第２指部とによって把持されているか否かを判定する、
ロボット制御装置。 A base portion, a first finger portion movably provided with respect to the base portion, a second finger portion provided with the base portion, and a first position detecting unit for detecting the position of the first finger portion with respect to the base portion. And, with a grip
With the arm
A force detecting unit provided between the grip portion and the arm,
It is a robot control device that controls a robot equipped with
The first operation of bringing the first finger into contact with the object and urging the object with the first finger until the output value output from the force detection unit becomes equal to or higher than the first threshold value is performed.
After the first operation, the state in which the output value output from the force detection unit is equal to or higher than the first threshold value is maintained, the first finger portion and the arm are moved, and the first finger is moved to the object. The second operation of bringing the portion into contact with the second finger portion is performed.
In the second operation, when the output value output from the force detection unit becomes smaller than the second threshold value have smaller than the first threshold value, based on the output value outputted from the first position detector , the object determines whether it is gripped by a second finger portion and said first finger portion in a predetermined state,
Robot control device.
請求項１に記載のロボット制御装置。 The predetermined state is a state in which the position of the object with respect to the grip portion coincides with the predetermined position, or a state in which the posture of the object with respect to the grip portion coincides with the predetermined posture.
The robot control device according to claim 1.
前記把持部は、前記基部に対する前記第２指部の位置を検出する第２位置検出部を更に有し、
前記第１位置検出部から出力される出力値と、前記第２位置検出部から出力される出力値とに基づく値と、前記第１値と、の差異が前記所定の範囲内である場合、前記物体が前記所定の状態で前記第１指部と前記第２指部とによって把持されていると判定する、
請求項１又は２に記載のロボット制御装置。 The second finger portion is movable with respect to the base portion and is movable.
The grip portion further includes a second position detecting portion that detects the position of the second finger portion with respect to the base portion.
When the difference between the output value output from the first position detection unit, the value based on the output value output from the second position detection unit, and the first value is within the predetermined range. the object is determined to have been gripped by said second finger and said first finger portion in the predetermined state,
The robot control device according to claim 1 or 2.
請求項１から３のうちいずれか一項に記載のロボット制御装置。 When the robot is made to perform the second operation, the arm or the second finger is moved with respect to the object to move the second finger in a direction approaching the first finger. The first finger portion and the second finger portion are brought into contact with the object.
The robot control device according to any one of claims 1 to 3.
請求項１から４のうちいずれか一項に記載のロボット制御装置。 In the second operation, when the output value output from the force detection unit becomes zero, whether or not the object is gripped by the first finger portion and the second finger portion in the predetermined state. Judgment,
The robot control device according to any one of claims 1 to 4.
請求項１から５のうちいずれか一項に記載のロボット制御装置。 The value corresponding to the output value output from the first position detection unit and the first value are values indicating a distance.
The robot control device according to any one of claims 1 to 5.
前記第２動作において、前記力検出部から出力される出力値が前記第２閾値よりも小さくなったとき、前記負荷検出部から出力される出力値に基づく値と、前記第１位置検出部から出力される出力値に基づく値と、前記第１値と、予め決められた第２値と、に基づいて前記物体が前記所定の状態で前記第１指部と前記第２指部とによって把持されているか否かの判定を行う、
請求項１から６のうちいずれか一項に記載のロボット制御装置。 The grip portion further includes a drive unit that moves the first finger portion with respect to the base portion, and a load detection unit that detects a load applied to the drive unit.
In the second operation, when the output value output from the force detection unit becomes smaller than the second threshold value, the value based on the output value output from the load detection unit and the first position detection unit The object is gripped by the first finger portion and the second finger portion in the predetermined state based on the value based on the output value, the first value, and the predetermined second value. Judge whether or not it is done,
The robot control device according to any one of claims 1 to 6.
アームと、
前記把持部と前記アームとの間に設けられた力検出部と、
を備えたロボットを制御するロボット制御装置の制御方法であって、
前記第１指部を物体に接触させ、前記力検出部から出力される出力値が第１閾値以上となるまで前記第１指部を前記物体に付勢させる第１動作と、
前記第１動作の後、前記力検出部から出力される出力値が前記第１閾値以上である状態を維持し、前記第１指部と前記アームとを移動させ、前記物体に前記第１指部と前記第２指部とを接触させる第２動作と、
前記第２動作において、前記力検出部から出力される出力値が前記第１閾値よりも小さい第２閾値よりも小さくなったとき、前記第１位置検出部から出力される出力値に基づいて、前記物体が所定の状態で前記第１指部と前記第２指部とによって把持されているか否かを判定する処理と、
を有するロボット制御装置の制御方法。 A base portion, a first finger portion movably provided with respect to the base portion, a second finger portion provided with the base portion, and a first position detecting unit for detecting the position of the first finger portion with respect to the base portion. And, with a grip
With the arm
A force detecting unit provided between the grip portion and the arm,
It is a control method of a robot control device that controls a robot equipped with
Contacting the first finger on the object, first operation and for biasing the output value output from the force detector is the first finger until the first threshold value or more on the object,
After the first operation, the state in which the output value output from the force detection unit is equal to or higher than the first threshold value is maintained, the first finger portion and the arm are moved, and the first finger is moved to the object. second operation and contacting parts between the second finger section,
In the second operation, when the output value output from the force detection unit becomes smaller than the second threshold value have smaller than the first threshold value, based on the output value outputted from the first position detector A process of determining whether or not the object is gripped by the first finger portion and the second finger portion in a predetermined state.
A control method for a robot control device having.
アームと、
前記把持部と前記アームとの間に設けられた力検出部と、
を備えたロボットと、
前記ロボットを制御するロボット制御装置と、
を備えたロボットシステムであって、
前記ロボット制御装置は、
前記第１指部を物体に接触させ、前記力検出部から出力される出力値が第１閾値以上となるまで前記第１指部を前記物体に付勢させる第１動作を行わせ、
前記第１動作の後、前記力検出部から出力される出力値が前記第１閾値以上である状態を維持し、前記第１指部と前記アームとを移動させ、前記物体に前記第１指部と前記第２指部とを接触させる第２動作を行わせ、
前記第２動作において、前記力検出部から出力される出力値が前記第１閾値よりも小さい第２閾値よりも小さくなったとき、前記第１位置検出部から出力される出力値に基づいて、前記物体が所定の状態で前記第１指部と前記第２指部とによって把持されているか否かを判定する、
ロボットシステム。 A base portion, a first finger portion movably provided with respect to the base portion, a second finger portion provided with the base portion, and a first position detecting unit for detecting the position of the first finger portion with respect to the base portion. And, with a grip
With the arm
A force detection unit provided between the grip portion and the arm,
With a robot equipped with
A robot control device that controls the robot and
It is a robot system equipped with
The robot control device is
The first operation of bringing the first finger into contact with the object and urging the object with the first finger until the output value output from the force detection unit becomes equal to or higher than the first threshold value is performed.
After the first operation, the state in which the output value output from the force detection unit is equal to or higher than the first threshold value is maintained, the first finger portion and the arm are moved, and the first finger is moved to the object. The second operation of bringing the portion into contact with the second finger portion is performed.
In the second operation, when the output value output from the force detection unit becomes smaller than the second threshold value have smaller than the first threshold value, based on the output value outputted from the first position detector , the object determines whether it is gripped by a second finger portion and said first finger portion in a predetermined state,
Robot system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018097311A JP7127362B2 (en) | 2018-05-21 | 2018-05-21 | ROBOT CONTROL DEVICE, CONTROL METHOD OF ROBOT CONTROL DEVICE, AND ROBOT SYSTEM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018097311A JP7127362B2 (en) | 2018-05-21 | 2018-05-21 | ROBOT CONTROL DEVICE, CONTROL METHOD OF ROBOT CONTROL DEVICE, AND ROBOT SYSTEM |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2019202360A JP2019202360A (en) | 2019-11-28 |
| JP2019202360A5 true JP2019202360A5 (en) | 2021-07-26 |
| JP7127362B2 JP7127362B2 (en) | 2022-08-30 |
Family
ID=68725780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2018097311A Active JP7127362B2 (en) | 2018-05-21 | 2018-05-21 | ROBOT CONTROL DEVICE, CONTROL METHOD OF ROBOT CONTROL DEVICE, AND ROBOT SYSTEM |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP7127362B2 (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014240106A (en) * | 2013-06-12 | 2014-12-25 | セイコーエプソン株式会社 | Robot, robot control device, and driving method of robot |
| JP6106122B2 (en) * | 2014-04-02 | 2017-03-29 | ファナック株式会社 | Welding inspection robot system |
-
2018
- 2018-05-21 JP JP2018097311A patent/JP7127362B2/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9701014B2 (en) | Robot control device for preventing misjudgment by collision judging part | |
| US9737989B2 (en) | Human cooperation robot system in which robot is caused to perform retreat operation | |
| JP5820013B1 (en) | Robot safety monitoring device that grips and transports workpieces | |
| JP6034895B2 (en) | Human cooperative robot system that retracts the robot according to external force | |
| KR101798673B1 (en) | Method and device for controlling a manipulator | |
| CN107073713B (en) | Method and device for controlling mechanical arm, computer system, storage medium and robot | |
| JP2019018340A5 (en) | Robot systems, article manufacturing methods, control methods, control programs, and recording media | |
| US9933345B2 (en) | Welding inspection robot system | |
| JP6055014B2 (en) | Robot control device having function of detecting contact with object or person | |
| JP2016059971A5 (en) | ||
| JP2017077608A (en) | Robot safety monitoring device | |
| JP2016013613A5 (en) | ||
| US20130259632A1 (en) | Workpiece taking-out method using robot including holding nails | |
| JP2017159426A5 (en) | ||
| EP2808133A3 (en) | Robot system and method for producing to-be-processed material | |
| CN107000209B (en) | Method and device for controlling a drive assembly for moving a tool, in particular a robot-guided tool | |
| CN108724180B (en) | Robot system | |
| JP2019034398A5 (en) | Robot control method, robot control device, and robot system | |
| JP2009000799A (en) | Work management system | |
| JP2020138293A5 (en) | ||
| TWI774666B (en) | Jam-proof method for a collaborative robot arm | |
| JP2019197799A5 (en) | ||
| JP2019202360A5 (en) | Robot control device, control method of robot control device, and robot system | |
| CN111867791A (en) | Control device, control method, and program | |
| JP2021191594A (en) | Robot control device |