JP2022018843A5 - Robot system, control method, article manufacturing method, program, and recording medium - Google Patents

Robot system, control method, article manufacturing method, program, and recording medium Download PDF

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JP2022018843A5
JP2022018843A5 JP2020122227A JP2020122227A JP2022018843A5 JP 2022018843 A5 JP2022018843 A5 JP 2022018843A5 JP 2020122227 A JP2020122227 A JP 2020122227A JP 2020122227 A JP2020122227 A JP 2020122227A JP 2022018843 A5 JP2022018843 A5 JP 2022018843A5
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predetermined
robot
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robot system
predetermined part
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本開示の第１態様は、所定部位を有するロボットと、前記所定部位が、第１方向、または前記第１方向とは異なる第２方向に移動するよう前記ロボットを制御する制御部と、を備え、前記制御部は、前記所定部位を前記第１方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第２方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットアームを制御する、ことを特徴とするロボットシステムである。 A first aspect of the present disclosure is a robot system comprising: a robot having a predetermined part; and a controller that controls the robot so that the predetermined part moves in a first direction or in a second direction that is different from the first direction .

本開示の第２態様は、所定部位を有するロボットにおいて、前記所定部位が、第１方向、または前記第１方向とは異なる第２方向に移動するよう前記ロボットを制御する制御方法であって、前記所定部位を前記第１方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第２方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、ことを特徴とする制御方法である。 A second aspect of the present disclosure is a control method for controlling a robot having a predetermined part so that the predetermined part moves in a first direction or in a second direction different from the first direction, wherein the robot is controlled such that the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction are different .

本開示の第３態様は、所定部位を有するロボットにおいて、前記所定部位が、第１方向、または前記第１方向とは異なる第２方向に移動するよう前記ロボットを制御して、物品を製造する物品の製造方法であって、前記所定部位を前記第１方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第２方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御し、物品を製造する、ことを特徴とする物品の製造方法である。 A third aspect of the present disclosure is an article manufacturing method for manufacturing an article by controlling a robot having a predetermined part so that the predetermined part moves in a first direction or in a second direction different from the first direction, wherein the robot is controlled so as to make the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction different, thereby manufacturing the article . .

Claims (22)

所定部位を有するロボットと、
前記所定部位が、第１方向、または前記第１方向とは異なる第２方向に移動するよう前記ロボットを制御する制御部と、を備え、
前記制御部は、
前記所定部位を前記第１方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第２方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、
ことを特徴とするロボットシステム。 a robot having a predetermined part ;
a control unit that controls the robot so that the predetermined part moves in a first direction or in a second direction different from the first direction ;
The control unit
controlling the robot so that the posture of the predetermined portion when moving the predetermined portion in the first direction and the posture of the predetermined portion when moving the predetermined portion in the second direction are different;
A robot system characterized by: 前記制御部は、 The control unit
前記所定部位を前記第１方向に移動させる場合の所定軸線まわりの前記所定部位の姿勢と、前記所定部位を前記第２方向に移動させる場合の前記所定軸線まわりの前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、 controlling the robot so that the attitude of the predetermined portion about the predetermined axis when moving the predetermined portion in the first direction is different from the attitude of the predetermined portion about the predetermined axis when moving the predetermined portion in the second direction;
ことを特徴とする請求項１に記載のロボットシステム。 The robot system according to claim 1, characterized by: 前記制御部は、前記所定部位の移動を前記第２方向から前記第１方向、又は前記第１方向から前記第２方向に切り替える場合、前記所定部位を前記第１方向又は前記第２方向に移動させるそれぞれの始点において、前記所定部位を前記始点に移動させた時点での位相に対して所定角度だけ変更するよう、前記ロボットの姿勢を制御することで、前記所定部位を前記第１方向又は第２方向に移動させる場合の前記所定軸線まわりの前記所定部位の姿勢を決定する、 The control unit shall change the predetermined angle at the starting point at the time when the predetermined site is moved to the starting point at the starting point when the predetermined part is moved in the first or second direction of the specified part in the first or second direction when the movement of the specified site is switched from the second direction of the second or the first direction of the first or the first direction. By controlling the posture of the robot, the posture of the predetermined site around the predetermined part of the fixed axle line when the predetermined site is moved in the first or second direction,
ことを特徴とする請求項２に記載のロボットシステム。 3. The robot system according to claim 2, characterized by: 前記制御部は、前記所定部位における前記所定軸線まわりの変位以外の変位を規制した状態で、前記ロボットの姿勢を制御し、前記所定部位を前記第１方向又は前記第２方向に移動させる場合の前記所定軸線まわりの前記所定部位の姿勢を決定する、 The control unit controls the posture of the robot in a state in which displacement other than the displacement of the predetermined part about the predetermined axis is restricted, and determines the posture of the predetermined part about the predetermined axis when moving the predetermined part in the first direction or the second direction.
ことを特徴とする請求項３に記載のロボットシステム。 4. The robot system according to claim 3, characterized in that: 前記制御部は、前記ロボットが有する伝達機構部の入力軸を前記所定角度だけ変更することで、前記所定部位を前記第１方向又は第２方向に移動させる場合の前記所定軸線まわりの前記所定部位の姿勢を決定する、 The control unit determines the posture of the predetermined part about the predetermined axis when moving the predetermined part in the first direction or the second direction by changing the input shaft of the transmission mechanism part of the robot by the predetermined angle.
ことを特徴とする請求項３または４に記載のロボットシステム。 5. The robot system according to claim 3 or 4, characterized in that: 前記伝達機構部は、減速機を含み、前記減速機は、波動歯車減速機である、 The transmission mechanism includes a reducer, and the reducer is a strain wave gear reducer.
ことを特徴とする請求項５に記載のロボットシステム。 6. The robot system according to claim 5, characterized in that: 前記ロボットは、前記伝達機構部の入力側に設けられたエンコーダを有し、 The robot has an encoder provided on the input side of the transmission mechanism,
前記制御部は、前記ロボットを前記エンコーダから取得される前記伝達機構部の入力軸の回転角度の情報に基づく前記ロボットの位置制御を実行可能なモードを有する、 The control unit has a mode capable of executing position control of the robot based on information on the rotation angle of the input shaft of the transmission mechanism acquired from the encoder.
ことを特徴とする請求項５または６に記載のロボットシステム。 7. The robot system according to claim 5 or 6, characterized in that: 前記ロボットは、垂直多関節のロボットアームであり、 The robot is a vertically articulated robot arm,
前記伝達機構部は、前記ロボットアームの基端側の第１関節に設けられている、 The transmission mechanism is provided at a first joint on the base end side of the robot arm,
ことを特徴とする請求項５乃至７のいずれか１項に記載のロボットシステム。 The robot system according to any one of claims 5 to 7, characterized in that: 前記所定角度は、定数である、 the predetermined angle is a constant,
ことを特徴とする請求項３乃至８のいずれか１項に記載のロボットシステム。 The robot system according to any one of claims 3 to 8, characterized in that: 前記所定角度は、９０度、又は１８０度を３以上の整数で割って得られる角度である、 The predetermined angle is an angle obtained by dividing 90 degrees or 180 degrees by an integer of 3 or more,
ことを特徴とする請求項３乃至９のいずれか１項に記載のロボットシステム。 The robot system according to any one of claims 3 to 9, characterized in that: 前記所定軸線は、前記ロボットにより作業を施すワークの面に対して垂直な軸線である、 The predetermined axis is an axis perpendicular to the surface of the work to be worked by the robot,
ことを特徴とする請求項２に記載のロボットシステム。 3. The robot system according to claim 2, characterized by: 前記制御部は、前記所定部位の移動を前記第２方向から前記第１方向、又は前記第１方向から前記第２方向に切り替える場合において、前記第１方向及び前記第２方向と交差する方向に前記所定部位をシフトさせるよう、前記ロボットを制御する、
ことを特徴とする請求項１乃至１１のいずれか１項に記載のロボットシステム。 The control unit controls the robot to shift the predetermined part in a direction intersecting the first direction and the second direction when switching the movement of the predetermined part from the second direction to the first direction or from the first direction to the second direction .
The robot system according to any one of claims 1 to 11 , characterized in that: 前記制御部は、前記所定部位を移動させる場合の速度ムラが、前記第１方向に移動させる場合と、前記第２方向に移動させる場合と、で逆位相となるように、前記第１方向に移動させる場合の前記所定部位の姿勢と前記第２方向に移動させる場合の前記所定部位の姿勢とを異ならせる、 The control unit changes the attitude of the predetermined part when moving in the first direction and the attitude of the predetermined part when moving in the second direction so that the speed unevenness when moving the predetermined part is in opposite phases when moving in the first direction and when moving in the second direction.
ことを特徴とする請求項１乃至１２のいずれか１項に記載のロボットシステム。 The robot system according to any one of claims 1 to 12, characterized in that: 前記制御部は、前記所定部位を前記第１方向に移動させる場合に前記所定部位を第１姿勢に維持した状態で移動させ、前記第１方向から前記第２方向に切り替える場合に、前記所定部位を、前記第１姿勢から所定角度、回転させた第２姿勢に変更し、前記所定部位を前記第２姿勢に維持した状態で前記第２方向に前記所定部位を移動させる、 When moving the predetermined portion in the first direction, the control unit moves the predetermined portion while maintaining the first posture, and when switching from the first direction to the second direction, changes the predetermined portion from the first posture to a second posture rotated by a predetermined angle, and moves the predetermined portion in the second direction while maintaining the predetermined portion in the second posture.
ことを特徴とする請求項１乃至１３のいずれか１項に記載のロボットシステム。 14. The robot system according to any one of claims 1 to 13, characterized in that: 前記所定部位は、ワークに作業を施すエンドエフェクタである、 The predetermined portion is an end effector that applies work to the work,
ことを特徴とする請求項１乃至１４のいずれか１項に記載のロボットシステム。 The robot system according to any one of claims 1 to 14, characterized in that: 前記エンドエフェクタは、切削、研削、研磨、シーリングの少なくとも１つを実行できるツールである、 the end effector is a tool capable of at least one of cutting, grinding, polishing and sealing;
ことを特徴とする請求項１５に記載のロボットシステム。 16. The robot system according to claim 15, characterized by: 前記第１方向と前記第２方向とは反対方向の関係にある、 The first direction and the second direction are opposite directions,
ことを特徴とする請求項１乃至１６のいずれか１項に記載のロボットシステム。 17. The robot system according to any one of claims 1 to 16, characterized in that: 前記第１方向及び前記第２方向は、前記所定部位を走査させる方向である、 The first direction and the second direction are directions in which the predetermined portion is scanned,
ことを特徴とする請求項１乃至１７のいずれか１項に記載のロボットシステム。 18. The robot system according to any one of claims 1 to 17, characterized in that: 所定部位を有するロボットにおいて、前記所定部位が、第１方向、または前記第１方向とは異なる第２方向に移動するよう前記ロボットを制御する制御方法であって、 A control method for controlling a robot having a predetermined part so that the predetermined part moves in a first direction or in a second direction different from the first direction, comprising:
前記所定部位を前記第１方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第２方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、 controlling the robot so that the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction are different;
ことを特徴とする制御方法。 A control method characterized by: 所定部位を有するロボットにおいて、前記所定部位が、第１方向、または前記第１方向とは異なる第２方向に移動するよう前記ロボットを制御して、物品を製造する物品の製造方法であって、
前記所定部位を前記第１方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第２方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御し、物品を製造する、
ことを特徴とする物品の製造方法。 An article manufacturing method for manufacturing an article by controlling a robot having a predetermined portion so that the predetermined portion moves in a first direction or in a second direction different from the first direction, comprising:
manufacturing an article by controlling the robot so that the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction are different;
A method for manufacturing an article characterized by: 請求項１９に記載の制御方法をコンピュータに実行させるためのプログラム。 A program for causing a computer to execute the control method according to claim 19 . 請求項１９に記載の制御方法をコンピュータに実行させるためのプログラムを記録した、コンピュータで読み取り可能な記録媒体。 A computer - readable recording medium recording a program for causing a computer to execute the control method according to claim 19 .
JP2020122227A 2020-07-16 2020-07-16 Robot device, method for controlling robot arm, method for manufacturing article, program and recording medium Pending JP2022018843A (en)

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