JP6425385B2 - Robot control method, robot control device, program, recording medium, and part manufacturing method - Google Patents

Description

The present invention relates to a robot control method for controlling a robot based on the position and posture of a workpiece, a robot control device, a program, a recording medium, and a method of manufacturing parts.

  Most of the parts assembly work by the robot was to repeatedly operate on the teaching point where the position and attitude were set in advance, but recently, the position of the work and the position of the work using the camera to perform precise assembly work and processing work It is done to recognize the posture. At that time, as a means for improving the recognition accuracy of the workpiece, it is desirable to acquire an image free from imaging blurring due to vibration. That is, the relative positional relationship between the camera and the work to be imaged is invariable, and the coordinates of the work in the visual sensor incorporated in the camera are known.

  A method of shortening the imaging time can be considered as a countermeasure against the imaging blur due to the vibration. Since shortening the imaging time reduces the amount of light that can be received by the visual sensor, it is necessary to increase the aperture diameter (also referred to as the aperture value or F value) of the lens. However, depending on the surface shape of the workpiece to be imaged, it may not be possible to secure a sufficient amount of light for recognition.

  Therefore, a method has been proposed in which the shutter of the camera is started (imaging starts) at the moment when the vibration converges to the range set according to the assembly request accuracy (see Patent Document 1).

Unexamined-Japanese-Patent No. 2011-11330

  However, in the method of Patent Document 1 that confirms that the vibration has converged and starts imaging, when vibration occurs due to a disturbance or the like after the start of imaging of the camera, there is a possibility that blurring occurs in the captured image. Therefore, there has been a problem that even if the image processing apparatus performs image processing on a blurred captured image, it can not recognize the position and posture of the workpiece.

  An object of the present invention is to more effectively reduce the occurrence of blurring in a captured image obtained by capturing a workpiece.

The present invention relates to a camera control method for controlling a robot based on a detection result of a detection unit for detecting a vibration of the robot and a position and a posture of the workpiece obtained using a captured image obtained by capturing the workpiece. Control step of controlling imaging for a predetermined period of time, and when the detection unit does not detect a vibration larger than a predetermined threshold during imaging of the predetermined period of time by the camera, the predetermined period of time The information on the position and orientation of the workpiece obtained using the captured image obtained by the imaging of is used to control the robot, and the detection unit determines in advance during imaging of the predetermined time by the camera. when detecting a large vibration than the threshold value, related to the position and orientation of the workpiece obtained by using the captured image obtained by the imaging of the predetermined time period Without utilizing information on the control of the robot, again, characterized by comprising a second control step of controlling to perform image capturing of the predetermined time by the camera.

  According to the present invention, it is confirmed that vibration of the robot has converged during imaging by a camera to complete imaging, so that occurrence of blurring in a captured image obtained by imaging a workpiece can be more effectively reduced. it can. As a result, the position and orientation of the workpiece can be accurately recognized from the captured image, and the working accuracy of the robot is improved.

It is a perspective view showing a schematic structure of a robot device concerning a 1st embodiment. It is a block diagram showing a robot device concerning a 1st embodiment. It is a flowchart which shows each process of the robot control method which concerns on 1st Embodiment. It is the graph which showed the time change of the position, velocity, and acceleration by the residual vibration of the robot which occurs after the operation stop of a robot. It is a perspective view showing a schematic structure of a robot apparatus concerning a 2nd embodiment. It is a block diagram showing a robot apparatus concerning a 2nd embodiment. It is a flowchart which shows each process of the robot control method which concerns on 2nd Embodiment. It is the graph which showed the time change of the position, velocity, and acceleration by the residual vibration of the robot which occurs after the operation stop of a robot. It is a perspective view showing a schematic structure of a robot apparatus concerning a 3rd embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

First Embodiment
FIG. 1 is a perspective view showing a schematic configuration of a robot apparatus according to a first embodiment of the present invention. The robot apparatus 100 is a so-called single arm robot apparatus provided with one robot 200. The robot apparatus 100 includes a camera 300 that captures an image of a workpiece W that is a work target of the robot 200. The robot apparatus 100 further includes an image processing apparatus (image processing unit) 400 that performs predetermined image processing by capturing an image captured by the camera 300, and a robot control apparatus 500 that controls the robot 200. . In the first embodiment, a control system (control unit) 600 is configured by the image processing apparatus 400 and the robot control apparatus 500.

  The robot 200 includes a robot arm 201 having a vertical articulated joint (for example, six axes), and a robot hand (end effector) 202 attached to the tip of the robot arm 201 for gripping the workpiece W. The robot arm 201 is configured by connecting a plurality of links 211 to 216 via joints. The proximal end of the robot arm 201 is fixed on a gantry 700 disposed on the floor F.

  Between the robot hand 202 and the robot arm 201, a force sensor 250 for detecting a force acting on the robot hand 202 (for example, a force when the robot hand 202 grips the workpiece W) is provided.

  The camera 300 is a digital camera having an imaging element (vision sensor) such as a CCD image sensor or a CMOS image sensor. The camera 300 is fixed to the link 216 of the robot arm 201 by a support, and an acceleration sensor (detection unit) 260 for detecting the acceleration of the robot 200 (the acceleration of the camera 300) is mounted inside the camera 300. . The camera 300 and the acceleration sensor 260 are connected to the image processing apparatus 400.

  The image processing apparatus 400 performs pattern matching and the like on the captured image captured by the camera 300, and executes image processing for obtaining the position and orientation of the workpiece W. Further, information on the acceleration detected by the acceleration sensor 260 is output to the robot control device 500 through the image processing device 400.

  FIG. 2 is a block diagram showing a robot apparatus 100 according to the first embodiment of the present invention. The robot control device 500 includes a CPU (Central Processing Unit) 501 as an arithmetic unit. The robot control device 500 further includes a read only memory (ROM) 502, a random access memory (RAM) 503, and a hard disk drive (HDD) 504 as a storage unit. The robot control device 500 further includes a recording disk drive 505, a timer 506 which is a clock unit, and various interfaces 511 to 514. The timer 506 may be included in the CPU 501.

  A ROM 502, a ROM 503, an HDD 504, a recording disk drive 505, and various interfaces 511 to 514 are connected to the CPU 501 via a bus 520. The ROM 502 stores a basic program such as a BIOS. The RAM 503 is a storage device that temporarily stores various data such as the calculation processing result of the CPU 501.

  The HDD 504 is a storage device that stores the calculation processing result of the CPU 501, various data acquired from the outside, and the like, and records a program 530 for causing the CPU 501 to execute various calculation processing to be described later. The CPU 501 executes each step of the robot control method based on the program 530 recorded (stored) in the HDD 504.

  The recording disk drive 505 can read various data and programs recorded on the recording disk 531. The timer 506 measures time under the control of the CPU 501.

  An image processing apparatus 400 is connected to the interface 511. The image processing apparatus 400 performs image processing for obtaining the position and orientation of the workpiece W from the captured image acquired from the camera 300, and outputs data indicating the position and orientation of the workpiece W to the CPU 501 via the interface 511 and the bus 520. .

  The acceleration sensor 260, which is a detection unit, detects information on the acceleration of the robot as information on the vibration of the robot 200. Information on acceleration is output to the CPU 501 via the image processing apparatus 400, the interface 511, and the bus 520.

  A force sensor 250 is connected to the interface 512. Information on the force detected by the force sensor 250 is output to the CPU 501 via the interface 512 and the bus 520.

  The robot arm 201 is connected to the interface 513. The CPU 501 performs trajectory calculation based on the assembly program 530, and outputs position commands (joint angle commands) to the drive units of the joints of the robot arm 201 via the interface 513 at predetermined time intervals. The drive unit of each joint drives each joint based on the input position command.

  The robot hand 202 is connected to the interface 514, and the CPU 501 controls the gripping operation of the robot hand 202 based on the program 530 for assembly.

  Note that an external storage device (not shown) such as a rewritable non-volatile memory or an external HDD may be connected to the bus 520 via an interface (not shown).

  In the first embodiment, the image processing apparatus 400 performs image processing for obtaining the position and orientation of the workpiece W using the captured image acquired from the camera 300 that captured the workpiece W. Then, the CPU 501 of the robot control device 500 reads and executes the program 530 stored in the HDD 504 to control the operation of the robot 200 based on the data of the position and orientation of the workpiece W acquired from the image processing device 400. Do.

  Further, the CPU 501 obtains two pieces of information of the position of the robot 200 and the velocity of the robot 200 by calculation (integration) from the detection result (information of acceleration) acquired from the acceleration sensor 260.

  That is, in the first embodiment, the CPU 501 performs arithmetic processing (integral) using the acceleration information obtained by the acceleration sensor 260 to obtain the speed and position of the robot 200.

  The robot arm 201 assembles the work W by the information on the position and attitude of the work W sent from the image processing apparatus 400, the detection signal of the acceleration sensor 260, and the program 530 for assembly incorporated in the robot control device 500. Do.

  Here, the position of the robot 200 is the position of the hand of the robot 200 (that is, the robot hand 202). Further, the velocity of the robot 200 is the velocity of the hand of the robot 200, and the acceleration of the robot 200 is the acceleration of the hand of the robot.

  Although not shown, the image processing apparatus 400 includes an operation unit (CPU) and a storage unit storing a program that causes the operation unit to execute image processing.

  FIG. 3 is a flowchart showing each step of the robot control method according to the first embodiment of the present invention. FIG. 4 is a graph showing temporal changes in the position P, the velocity V, and the acceleration A due to the residual vibration of the robot 200 generated after the operation of the robot 200 is stopped (time t0). In FIG. 4, the X-axis represents time, the Y-axis represents position P, velocity V, and acceleration A.

  The CPU 501 controls the operation of the robot 200 to a predetermined position and posture for imaging the workpiece W, and then sends an operation stop signal to the robot 200 to stop the operation of the robot 200 (S11). That is, the CPU 501 causes the robot 200 to move to a position and orientation at which the camera 300 picks up an image of the workpiece W, and stops the robot 200 at that position and orientation.

  Next, the CPU 501 causes the camera 300 to start imaging of the work W (S12: imaging start step). That is, the CPU 501 outputs a trigger signal for opening the shutter to the camera 300 via the image processing apparatus 400. The camera 300 which has received this trigger signal opens the shutter. At the same time, the CPU 501 causes the timer 506 to start timing.

  The imaging start timing of the camera 300 is after the start of the JOB operation in step S11, and imaging is completed before the robot hand 202 grips the work W.

  By the way, in step S11, the CPU 501 sends an operation stop signal to the robot 200 at the timing of time t0 in FIG. 4 and determines that the robot 200 has stopped. However, in fact, since the vibration accompanying the stop of the operation of the robot 200 remains, the position, velocity and acceleration of the robot hand 202 and the camera 300 attached to the tip of the robot arm 201, that is, the tip of the robot arm 201 are constantly It is changing.

  The position of the robot 200 due to the residual vibration of the robot 200 is an actual position Pn1, the velocity of the robot 200 is an actual velocity Vn1, and the acceleration of the robot 200 is an actual acceleration An1. As shown in FIG. 4, the actual position Pn1, the actual velocity Vn1, and the actual acceleration An1 have large amplitudes at time t0, but gradually attenuate as time passes from time t1 to time t2. Under the influence of the above-mentioned residual vibration, in order to image the workpiece W with the camera 300, it is necessary to wait until the vibration converges from the time when the robot 200 stops its operation (time t0 in FIG. 4).

  The CPU 501 acquires information on acceleration which is a detection result from the acceleration sensor 260 during imaging by the camera 300 (S13: detection step).

  Next, the CPU 501 obtains two pieces of information of the position Pn1 and the velocity Vn1 of the robot 200 by calculation (integration) from the acquired information of the acceleration An1. Then, the CPU 501 determines whether the vibration of the robot 200 has converged by determining the acceleration An1, the velocity Vn1, and the position Pn1 as a threshold (S14 to S16: determination step).

  If the CPU 501 determines that the vibration of the robot 200 has converged as a result of the determinations in steps S14 to S16 (S14 to S16: all “OK”), has a predetermined time elapsed since the start of imaging by the camera 300? It is determined whether or not it is (S17). That is, the CPU 501 determines whether the time measured by the timer 506 has reached a predetermined time. The predetermined time is a shutter speed (imaging time), and is a preset time (for example, 1/10 second).

  The CPU 501 repeatedly executes steps S13 to S16 until a predetermined time has elapsed since the start of imaging.

  When it is determined that the predetermined time has elapsed from the start of imaging under the condition that it is determined that the vibration of the robot 200 has converged (S17: Yes), the CPU 501 completes the imaging by the camera 300 (S18). That is, the CPU 501 outputs a trigger signal for closing the shutter of the camera 300, and the camera 300 that has received the trigger signal closes the shutter. After the imaging by the camera 300 is completed, the CPU 501 causes the image processing apparatus 400 to perform image processing (S19: image processing step).

  That is, in step S19, the CPU 501 causes the image processing apparatus 400 to perform pattern matching processing on the image obtained from the camera 300, and acquires information on the position and orientation of the workpiece W from the image processing apparatus 400. Then, the CPU 501 controls the operation of the robot 200 based on the position and attitude of the workpiece W.

  If the CPU 501 determines that the vibration of the robot 200 has not converged as a result of the determinations in steps S14 to S16 (at least one of S14 to S16 is "NG"), the imaging by the camera 300 is forcibly ended (that is, Cancel) (S20). In this case, the image being captured is discarded.

  Although it is preferable that the process of step S20 is performed without waiting for a predetermined time to elapse after the start of imaging from the viewpoint of shortening the time, the imaging may be ended after the predetermined time has elapsed.

  Then, the CPU 501 returns to the process of step S12 again and executes an imaging start step of starting imaging. By returning to the process of step S12, the CPU 501 repeatedly executes steps S13 to S17 while steps S14 to S16 are "OK". Note that the CPU 501 may immediately start imaging in step S12 when imaging ends in step S20, but starts imaging in step S12 after a predetermined standby time has elapsed after ending imaging in step S20. You may The CPU 501 also causes the timer 506 to count the predetermined standby time.

  Here, the processes of steps S14 to S16 will be specifically described. The detection unit may detect at least one of the position, velocity, and acceleration of the robot 200 as the information related to the vibration of the robot 200. In the first embodiment, the detection unit is an acceleration sensor 260 that detects the acceleration of the robot 200. .

  Then, in the determination step, at least one of the position, velocity, and acceleration of the robot 200 may be determined as a threshold, but in particular, it is preferable to determine the acceleration of the robot 200 as a threshold. In the first embodiment, all of the position, velocity, and acceleration of the robot 200 are thresholded. Therefore, in the first embodiment, the CPU 501 calculates the remaining two pieces of information, that is, the velocity and the position of the robot 200, based on the information of the acceleration of the robot 200.

  First, the CPU 501 performs threshold determination on the actual position Pn1 (information of position) calculated based on the information of acceleration (S14). That is, the CPU 501 determines whether or not the calculated actual position Pn1 is within a predetermined position range (within the position threshold allowable range) between the upper limit position threshold + Δp11 and the lower limit position threshold −Δp12 set in advance.

  Since the vibration accompanying the stop of the operation remains in the robot 200, the position of the camera 300 attached to the robot 200 is constantly changing. The position (actual position) Pn1 of the robot 200 due to the residual vibration gradually attenuates as time passes. In order to image the workpiece W with the camera 300, it is necessary to wait until the vibration converges from the time when the robot 200 stops its operation. Therefore, in the first embodiment, the threshold determination of the actual position Pn1 of the robot 200 is performed in step S14.

  Further, the CPU 501 makes a threshold determination on the actual velocity Vn1 (information on velocity) calculated based on the information on acceleration (S15). That is, the CPU 501 determines whether or not the calculated actual speed Vn1 is within a predetermined speed range (within the speed threshold allowable range) between the upper limit speed threshold + Δv11 and the lower limit speed threshold −Δv12 set in advance.

  That is, even if the actual position Pn1 satisfies the condition of the position threshold in step S14, the movement speed may remain in the robot 200. At this time, there is a high possibility that the workpiece W will be blurred even if the camera 300 captures an image, so that the threshold determination of the actual velocity Vn1 of the robot 200 is performed in step S15.

  Furthermore, the CPU 501 determines a threshold value for the detected actual acceleration An1 (information on acceleration) (S16). That is, the CPU 501 determines whether the detected actual acceleration An1 is within a predetermined acceleration range (within the acceleration threshold allowable range) between the upper limit acceleration threshold + Δa11 and the lower limit acceleration threshold −Δa12 set in advance.

  Even when the position threshold in step S14 and the velocity threshold in step S15 are satisfied, the actual acceleration An1 may temporarily rise. This is the case where an unexpected vibration is generated in the robot 200 or the like. At this time, even if the workpiece is imaged by the camera, there is a possibility that the recognition result of the workpiece is deteriorated. Therefore, in step S16, the threshold determination of the actual acceleration An1 of the robot 200 is performed.

  In the first embodiment, the CPU 501 determines the position, velocity, and acceleration of the robot 200 within the predetermined position range, within the predetermined velocity range, and within the predetermined acceleration range, respectively, as a determination as to whether or not the vibration of the robot 200 has converged. Determine if there is.

  Then, when the position of the robot 200 is within the predetermined position range, the speed is within the predetermined speed range, and the acceleration is within the predetermined acceleration range, that is, all of the steps S14 to S16 are “OK”. , Determines that the vibration of the robot 200 has converged. If at least one of the position, velocity, and acceleration of the robot 200 is within the predetermined position range, within the predetermined velocity range, and not within the predetermined acceleration range, that is, if at least one of steps S14 to S16 is "NG". It is determined that the vibration has not converged.

  The order of determination in steps S14 to S16 is not limited to this, and may be performed from any step, and may be performed simultaneously if it can be performed simultaneously. However, it is preferable to perform threshold determination in the order of the actual acceleration An1, the actual velocity Vn1, and the actual position Pn1, because the time required for the threshold determination can be shortened.

  The upper limit position threshold value + Δp11 and the lower limit position threshold value −Δp12 are determined from the allowable value when the work W fits in the image captured by the camera 300. The upper limit position threshold + Δp11 and the lower limit position threshold −Δp12 are determined based on the required accuracy for image processing. The upper limit speed threshold + Δv11 and the lower limit speed threshold −Δv12 are determined by the shutter speed of the camera 300 and the required accuracy for image processing. The upper limit acceleration threshold + Δa 11 and the lower limit acceleration threshold −Δa 12 are determined with the allowable vibration amplitude of the camera 300 as a guide.

  Hereinafter, the operation of steps S14 to S16 will be described by taking FIG. 4 as an example. In addition, imaging of the camera 300 shall be started at the time of time t1 of FIG.

  At time t1, the actual position Pn1 satisfies the condition of the position threshold allowable range −Δp12 ≦ Pn1 ≦ + Δp11, and the actual acceleration An1 satisfies the condition of the acceleration threshold allowable range −Δa12 ≦ An1 ≦ + Δa11. However, the actual velocity Vn1 does not satisfy the condition of the velocity threshold allowable range −Δv12 ≦ Vn1 ≦ + Δv11.

  Further, also at time t2, the actual position Pn1 satisfies the condition of the position threshold allowable range −Δp12 ≦ Pn1 ≦ + Δp11, and the actual velocity Vn1 satisfies the condition of the speed threshold allowable range −Δv12 ≦ Vn1 ≦ + Δv11. However, at time t2, although the vibration is attenuated from the time t1, the actual acceleration An1 does not satisfy the condition of the acceleration threshold allowable range −Δa12 ≦ An1 ≦ + Δa11. This is considered to be because an unexpected vibration is generated in the robot 200. At this time, even if the workpiece W is imaged by the camera 300, the recognition result of the workpiece W may be degraded. Therefore, the detected actual acceleration An1 is fed back to determine the timing of imaging completion. Generally, the vibration amplitude can be predicted from “force pushing the system” and “elastic coefficient of the system”, but the elastic coefficient of the robot arm 201 has non-linear portions such as the posture and the structure of the reduction gear, so the measurement results Cause an error.

  As described above, from time t1 to time t3, the CPU 501 continues to determine that the vibration has not converged, and even if imaging with the camera 300 is started, imaging is stopped and the captured image is continuously discarded.

  Next, the CPU 501 satisfies the three conditions of steps S14 to S16 at time t3. However, at time t4, the actual position Pn1 and the actual acceleration An1 no longer satisfy the condition in the threshold determination at time t4 until the imaging time Ts elapses from time t3 at which imaging by the camera 300 is started. At S16), it is determined as "NG". Therefore, the captured image captured from time t3 to time t4 is discarded in step S20. At time t5, the actual velocity Vn1 also fails to satisfy the condition in the threshold determination. At time t6, although the actual position Pn1 and the actual velocity Vn1 satisfy the condition, the actual acceleration An1 still does not satisfy the condition.

  Then, at time t7, the CPU 501 determines that three of the actual position Pn1, the actual velocity Vn1, and the actual acceleration An1 satisfy the conditions, and imaging is completed when a predetermined time (imaging time) Ts elapses from time t7. (S18).

  As described above, according to the first embodiment, since the CPU 501 confirms that the vibration of the robot 200 has converged during imaging by the camera 300 and completes the imaging, blurring occurs in the captured image obtained by imaging the workpiece W. Can be reduced more effectively. Thereby, the position and posture of the workpiece W can be accurately recognized from the captured image, and the working accuracy of the robot 200 is improved.

  Further, according to the first embodiment, when the CPU 501 determines that the vibration of the robot 200 has not converged, the imaging by the camera 300 is ended, and the imaging by the camera 300 is started again. That is, the work W is to be photographed again until the vibration of the robot 200 converges, and it is possible to more effectively reduce the occurrence of blurring in the captured image. Thereby, the position and posture of the workpiece W can be accurately recognized from the captured image, and the working accuracy of the robot 200 is improved.

  Further, according to the first embodiment, since the CPU 501 repeatedly executes steps S13 to S16 during imaging by the camera 300, it is possible to more effectively reduce the occurrence of blurring in the captured image.

  Further, according to the first embodiment, since the acceleration of the robot 200 is detected as the information on the vibration of the robot 200, the vibration of the robot 200 can be accurately grasped. Further, according to the first embodiment, since the position and the velocity of the robot 200 are also obtained by calculation, the vibration of the robot 200 can be more accurately grasped.

  Then, according to the first embodiment, only when the robot 200 is within the position threshold, within the velocity threshold and within the acceleration threshold and within the acceleration threshold during imaging by the camera 300, imaging is completed when a predetermined time has elapsed, and the captured image Is acquired by the image processing apparatus 400. Accordingly, it is possible to reduce blurring that occurs in an image due to vibration due to a disturbance input during imaging of the camera 300 while advancing the imaging completion timing of the camera 300. Further, since the occurrence of recognition abnormality of the work W can be prevented by the image processing apparatus 400, an effect of reducing the frequency of the apparatus stop due to the abnormality in the image processing apparatus 400 can be expected.

  Further, in the image processing apparatus 400, since it is not necessary to perform the image correction process of the error image (the captured image in which the blur occurs), the time required for the image process for obtaining the position and the attitude of the workpiece W can be shortened.

Second Embodiment
Next, a robot control method in a robot apparatus according to a second embodiment of the present invention will be described. FIG. 5 is a perspective view showing a schematic configuration of a robot apparatus according to a second embodiment of the present invention. In the robot apparatus 100A of the second embodiment, the same components as those of the robot apparatus 100 of the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.

The robot apparatus 100A is a so-called dual arm robot apparatus provided with _two robots 200 ₁ and 200 ₂ . The robot apparatus 100A includes a camera 300 and an image processing apparatus (image processing unit) 400 similar to those in the first embodiment, and a robot control apparatus 500A that controls the robots 200 ₁ and 200 ₂ . In the second embodiment, a control system (control unit) 600A is configured by the image processing apparatus 400 and the robot control apparatus 500A.

Robot 200 ₁ includes a robot arm 201 ₁ of the same structure as the robot arm 201 of the first embodiment, and a robot hand 202 ₁ of the same structure as the robot hand 202 of the first embodiment. Robot 200 ₂ includes a robot arm 201 ₂ of the same structure as the robot arm 201 of the first embodiment, and a robot hand (end effector) 202 ₂ attached to the tip of the robot arm 201 _2. The robot hand 202 ₂ is able to hold a work W.

Camera 300, one of a plurality of robots ₂₀₀ 1, 200 _2, the second embodiment is attached to the tip of the robot 200 _1. Therefore, it is possible to image the workpiece W gripped by the robot 200 ₂ of the robot hand 202 ₂ with the camera 300 attached to the robot 200 _1.

Between the robot hand 202 ₁ and the robot arm 201 _1, the force sensor 250 ₁ having the same configuration as the force sensor 250 of the first embodiment are provided.

The camera 300 is provided with an acceleration sensor (detection unit) 260. Between the robot hand 202 ₂ and the robot arm 201 _2, the force sensor (detecting section) of the same configuration as the force sensor 250 of the first embodiment 250 ₂ are provided. That is, in the second embodiment, there are a plurality of robots, and a detection unit is provided corresponding to each robot.

  FIG. 6 is a block diagram showing a robot apparatus 100A according to a second embodiment of the present invention. The robot control device 500A includes a CPU 501 as an operation unit, and a ROM 502, a RAM 503, and an HDD 504 as a storage unit. The robot control device 500 further includes a recording disk drive 505, a timer 506, and various interfaces 511 to 517. The timer 506 may be included in the CPU 501.

  A ROM 502, a ROM 503, an HDD 504, a recording disk drive 505, and various interfaces 511 to 517 are connected to the CPU 501 via a bus 520.

  In the HDD 504, a program 530A for causing the CPU 501 to execute various arithmetic processing to be described later is recorded (stored). The CPU 501 executes each step of the robot control method based on the program 530A recorded (stored) in the HDD 504.

  As in the first embodiment, the image processing apparatus 400 is connected to the interface 511.

Force sensor 250 ₁ to the interface 512, the robot arm 201 ₁ to the interface 513, the robot hand 202 ₁ is connected to the interface 514. Further, the force sensor 250 ₂ to the interface 515, the robot arm 201 ₂ interface 516, the robot hand 202 ₂ are connected to the interface 517.

The CPU 501 reads out and executes the program 530A to control the operation of the robots 200 ₁ and 200 ₂ based on the data of the position and orientation of the workpiece W acquired from the image processing apparatus 400.

In the second embodiment, CPU 501, from the detection result obtained from the acceleration sensor 260 (acceleration information), the position of the robot 200 _1, and the two pieces of information of the velocity of the robot 200 _1, obtained by calculation (computation).

Further, CPU 501 converts the force information obtained from the force sensor 250 ₂ in the acceleration information of the robot 200 _2, and the detection result information of the acceleration from the force sensor 250 _2. Then, CPU 501, the position of the robot 200 _2, and two pieces of information of the velocity of the robot 200 _2, obtained by calculation from the acceleration information (integration).

Here, the positions of the robots 200 ₁ and 200 ₂ are the positions of the hands of the robots 200 ₁ and 200 ₂ (that is, the robot hands 202 ₁ and 202 ₂ ). Also, the robot ₂₀₀ 1, 200 ₂ speed, the speed of the hand of the robot ₂₀₀ 1, 200 _2, the robot ₂₀₀ 1, 200 ₂ of the acceleration, the acceleration of the hand of the robot ₂₀₀ 1, 200 _2.

FIG. 7 is a flowchart showing each step of the robot control method according to the second embodiment of the present invention. Figure 8 is a graph showing the time change of the position P, the speed V and acceleration A according to the residual vibration of the robot 200 ₂ which occurs after the operation stop of the robot 200 ₂ (time t0). In FIG. 8, the X-axis represents time, the Y-axis represents position P, velocity V, and acceleration A.

In the flowchart of FIG. 7, the workpiece W held by the robot hand 202 ₂ of the robot 200 ₂ will be described when performing imaging by the camera 300 attached to the robot 200 _1. The relationship between the robot 200 ₁ and the robot 200 ₂ may be reversed.

CPU501 controls the operation of the robot ₂₀₀ 1, 200 ₂ at a predetermined position and orientation for imaging the workpiece W, then sends an operation stop signal to the robot ₂₀₀ 1, 200 _2, the operation of the robot ₂₀₀ 1, 200 ₂ Stop (S21). That is, the CPU 501 causes the robots 200 ₁ and 200 ₂ to move to positions and orientations at which the camera 300 captures an image of the workpiece W, and stops the robots 200 ₁ and 200 ₂ at those positions and orientations.

  Next, the CPU 501 causes the camera 300 to start imaging of the work W (S22: imaging start step). That is, the CPU 501 outputs a trigger signal for opening the shutter to the camera 300 via the image processing apparatus 400. The camera 300 which has received this trigger signal opens the shutter. At the same time, the CPU 501 causes the timer 506 to start timing.

  The imaging start timing of the camera 300 is after the start of the JOB operation in step S11, and imaging is completed before the robot hand 202 grips the work W.

Robot 200 ₁ and the robot 200 ₂ vibration by the operation stop is left. Thus, the relative positional relationship between the workpiece W that are gripped by the robot hand 202 ₂ with respect to the camera 300 is constantly changing, blurring of an image captured in this state is increased.

CPU501, during imaging by the camera 300, a detection result from the acceleration sensor 260 and the force sensor 250 _2, to obtain information of the robot ₂₀₀ 1, 200 ₂ acceleration An1, An2 (S23: detection step).

The CPU 501 obtains information on the positions Pn1 and Pn2 and the speeds Vn1 and Vn2 of the robots 200 ₁ and 200 ₂ by calculation (integration) from the acquired information on the accelerations An1 and An2. Then, the CPU 501 determines whether all the vibrations of the robots 200 ₁ and 200 ₂ have converged by making a threshold determination on the accelerations An1 and An2, the velocities Vn1 and Vn2, and the positions Pn1 and Pn2 (S24 to S32). : Judgment process).

When the CPU 501 determines that all the vibrations of the robots 200 ₁ and 200 ₂ have converged as a result of the determinations in steps S 24 to S 32 (S 24 to S 32: all “OK”), the imaging by the camera 300 is started. It is determined whether a predetermined time has elapsed (S33). That is, the CPU 501 determines whether the time measured by the timer 506 has reached a predetermined time. The predetermined time is a shutter speed (imaging time), and is a preset time (for example, 1/10 second).

  The CPU 501 repeatedly executes steps S23 to S32 until a predetermined time has elapsed since the start of imaging.

  When it is determined that the predetermined time has elapsed from the start of imaging under the condition that it is determined that the vibration of the robot 200 has converged (S33: Yes), the CPU 501 completes the imaging by the camera 300 (S34). That is, the CPU 501 outputs a trigger signal for closing the shutter of the camera 300, and the camera 300 that has received the trigger signal closes the shutter. After the imaging by the camera 300 is completed, the CPU 501 causes the image processing apparatus 400 to perform image processing (S35: image processing step).

That is, in step S35, the CPU 501 causes the image processing apparatus 400 to perform pattern matching processing on the image obtained from the camera 300, and acquires information on the position and orientation of the workpiece W from the image processing apparatus 400. Then, the CPU 501 controls the operation of the robots 200 ₁ and 200 ₂ based on the position and posture of the workpiece W.

If it is determined that the vibration has not converged in at least one of the robots 200 ₁ and 200 ₂ as a result of the determination in steps S 24 to S 32, the CPU 501 forcibly ends (that is, cancels) imaging by the camera 300. (S36). That is, when at least one of steps S24 to S32 is "NG", the CPU 501 forcibly ends (that is, cancels) the imaging by the camera 300. In this case, the image being captured is discarded.

  Although it is preferable to perform the process of step S36 without waiting for a predetermined time to elapse after the start of imaging from the viewpoint of shortening the time, the imaging may be ended after a predetermined time has elapsed.

  Then, the CPU 501 returns to the process of step S22 again and executes an imaging start step of starting imaging. By returning to the process of step S22, the CPU 501 repeatedly executes steps S23 to S33 while steps S24 to S32 are "OK". It should be noted that the CPU 501 may immediately start imaging in step S22 when imaging is completed in step S36, but starts imaging in step S22 after a predetermined standby time has elapsed after completing imaging in step S36. You may The CPU 501 also causes the timer 506 to count the predetermined standby time.

Here, the processes of steps S24 to S32 will be specifically described. Detector for the robot 200 _1, as the information about the vibration of the robot 200 _1, the position of the robot 200 ₁ may detect at least one information of the velocity and acceleration. In the second embodiment, an acceleration sensor 260 for detecting acceleration of the robot 200 _1.

Then, in the determining step, the position of the robot 200 _1, of the velocity and acceleration may be a threshold determined at least one, but particularly preferred to threshold determination acceleration of the robot 200 _1. In the second embodiment, the position of the robot 200 _1, the threshold is determined for all of the velocity and acceleration. Therefore, in the second embodiment, CPU 501, based on the acceleration information of the robot 200 _1, are calculated remaining two information, i.e., the speed and position of the robot 200 _1.

The detecting unit of the robot 200 _2, as the information about the vibration of the robot 200 _2, the position of the robot 200 _2, may be detected at least one information of the velocity and acceleration. In the second embodiment, a force sensor 250 ₂ for detecting an acceleration of substantially the robot 200 _2.

Then, in the determining step, the position of the robot 200 _2, of the velocity and acceleration may be a threshold determined at least one, but particularly preferred to threshold determination acceleration of the robot 200 _2. In the second embodiment, the position of the robot 200 _2, the threshold is determined for all of the velocity and acceleration. Therefore, in the second embodiment, CPU 501, based on the acceleration information of the robot 200 _2, are calculated remaining two information, i.e., the speed and position of the robot 200 _2.

First, CPU 501, the threshold determines the actual position of the robot 200 ₁ Pn1 (information of the first position) calculated based on the acceleration of the information obtained from the acceleration sensor 260 (S24). This step S24 performs the same processing as step S14 of the first embodiment.

Further, CPU 501 is a threshold determines the actual speed of the robot 200 ₁ calculated based on the acceleration of the information obtained from the acceleration sensor 260 Vn1 (information of the first speed) (S25). This step S25 performs the same processing as step S15 of the first embodiment.

Furthermore, CPU 501 is a threshold determines the actual acceleration An1 of the robot 200 ₁ obtained from the acceleration sensor 260 (information of the first acceleration) (S26). This step S26 performs the same processing as step S16 of the first embodiment.

Next, CPU 501, the threshold determines the actual position of the robot 200 ₂ Pn2 (information of the second position) calculated based on the acceleration of the information obtained from the force sensor 250 ₂ (S27). That is, the CPU 501 determines whether or not the calculated actual position Pn2 is within a predetermined position range (within the position threshold allowable range) between the upper limit position threshold + Δp21 and the lower limit position threshold −Δp22 set in advance.

Further, CPU 501 may force sensor 250 ₂ actual speed of the robot 200 ₂ calculated based on the acceleration information obtained from Vn2 (second speed information) threshold determines (S28) for. That is, the CPU 501 determines whether or not the calculated actual speed Vn2 is within a predetermined speed range (within the speed threshold allowable range) between the upper limit speed threshold + Δv21 set in advance and the lower limit speed threshold −Δv22.

Furthermore, CPU 501 is a threshold determines the actual acceleration An2 of the robot 200 ₂ obtained from the force sensor 250 ₂ (information of the second acceleration) (S29). That is, the CPU 501 determines whether the detected actual acceleration An2 is within a predetermined acceleration range (within the acceleration threshold allowable range) between the upper limit acceleration threshold + Δa21 and the lower limit acceleration threshold −Δa22 set in advance.

  Further, the CPU 501 determines whether the sum of the actual position Pn1 and the actual position Pn2 is within a predetermined position range (within the position threshold allowable range) (S30). Further, the CPU 501 determines whether or not the sum of the actual velocity Vn1 and the actual velocity Vn2 is within a predetermined velocity range (within an allowable velocity threshold range) (S31). Further, the CPU 501 determines whether the sum of the actual acceleration An1 and the actual acceleration An2 is within a predetermined acceleration range (within the acceleration threshold allowable range) (S32).

That is, in the second embodiment, CPU 501 may, as a determination of whether or not the vibration of the robot 200 ₁ has converged, the position of the robot 200 _1, speed, acceleration, respectively within a predetermined position range, within a predetermined speed range, a predetermined It is determined whether or not it is within the acceleration range. Then CPU501, the position of the robot 200 ₁ is within a predetermined position range, the speed is within a predetermined speed range, if the acceleration is within a predetermined acceleration range, i.e. none of the steps S24~S26 in the case of "OK" determines that the vibration of the robot 200 ₁ are converged. If at least _one of the position, velocity, and acceleration of the robot 2001 is within the predetermined position range, within the predetermined velocity range, and not within the predetermined acceleration range, that is, at least one of steps S24 to S26 is also "NG". In the case, it is determined that the vibration has not converged.

Further, CPU 501 in step S27 to S29, similarly the threshold determining step S24~S26 also the robot 200 _2.

Here, the camera 300 and is attached to the robot 200 _1, the captured image captured the workpiece W that are gripped by the robot hand 202 ₂ of the robot 200 _2, blurring caused by vibration of both the robot 2001, 2002 Occurs.

  Therefore, in the second embodiment, steps S24 to S26 are also performed in steps S30 to S32 for the position sum of the position Pn1 and the position Pn2, the velocity sum of the velocity Vn1 and the velocity Vn2, and the acceleration total of the acceleration An1 and the acceleration An2. Similarly to the above, the threshold is determined.

  Specifically, the position total is the sum of the absolute value of the position Pn1 and the absolute value of the position Pn2, the velocity total is the sum of the absolute value of the velocity Vn1 and the absolute value of the velocity Vn2, the acceleration total is the acceleration It is the sum of the absolute value of An1 and the absolute value of the acceleration An2. Then, when at least one of these total values exceeds the threshold, it is determined that the vibration has not converged, and when all the total values are less than the threshold, it is determined that the vibration has converged.

In the second embodiment the assembly operation using the robot 200 ₁ fitted with a camera 300 for imaging the robot 200 ₂ and the workpiece W which holds the workpiece W. Thus, by performing different assembly operations, respectively robot 200 ₁ and the robot 200 _2, vibration displacement in accordance with the operation occurs in the robot 200 ₁ and the robot 200 _2.

Therefore, a position upper threshold + Derutapi11 and lower -Δp12 presetting the robot 200 _1, the upper limit + Derutapi21 and lower -Δp22 position threshold value previously set in the robot 200 _2, is necessary to reduce the position threshold of the first embodiment is there. That is, the actual position Pn1 of the robot 200 _1, the sum of the actual position Pn2 of the robot 200 _2, should not exceed the required accuracy of the tolerance to the image processing, in step S30, the threshold determination of the position total I do.

In the second embodiment the assembly operation using the robot 200 ₁ fitted with a camera 300 for imaging the robot 200 ₂ and the workpiece W which holds the workpiece W. Therefore, the upper limit + .DELTA.V11 and lower -Δv12 speed threshold value presetting the robot 200 ₁ as in the case of position threshold, the upper limit + Derutabui21 and lower -Δv22 speed threshold value presetting the robot 200 _2, the first embodiment It needs to be smaller than the speed threshold. That is, the actual speed Vn1 of the robot 200 _1, the sum of the actual speed Vn2 of the robot 200 _2, should not exceed the required accuracy of the tolerance to the image processing, in step S31, the threshold determination of the speed Total I do.

Furthermore, in the second embodiment the assembly operation using the robot 200 ₁ fitted with a camera 300 for imaging the robot 200 ₂ and the workpiece W which holds the workpiece W. Similar to the case of the position threshold value and the speed threshold, the upper limit + Derutaei11 and lower -Δa12 acceleration threshold to be set in the robot 200 _1, the upper limit + Derutaei21 and lower -Δa22 acceleration threshold to be set in the robot 200 _2, acceleration of the first embodiment It needs to be smaller than the threshold. That is, the actual acceleration An1 of the robot 200 _1, the sum of the actual acceleration An2 of the robot 200 _2, should not exceed the required accuracy of the tolerance to the image processing, in step S32, the threshold determination of the acceleration sum I do.

  In addition, the order of determination of these steps S24 to S32 is not limited to this, and may be performed from any step, and may be performed simultaneously if it can be performed simultaneously. However, it is preferable to perform threshold determination in the order of the actual acceleration An1, the actual velocity Vn1, and the actual position Pn1, because the time required for the threshold determination can be shortened. Moreover, it is preferable to perform threshold determination in the order of the actual acceleration An2, the actual velocity Vn2, and the actual position Pn2 because the time required for the threshold determination can be shortened.

  Hereinafter, the operation of steps S27 to S29 will be described by taking FIG. 8 as an example. It is assumed that imaging of the camera 300 is started at time t11 in FIG.

As shown in FIG. 8, the actual position Pn2, the actual velocity Vn2 and the actual acceleration An2 have large amplitudes at time t0, but gradually attenuate as time passes from time t11 to time t15. Actual position Pn2 and actual speed PVn2 is obtained based on the acceleration information detected from the force sensor 250 ₂ provided between the tip of the robot hand 202 _second proximal end and the robot arm 201 _2.

Since at least one of the actual position Pn2, the actual velocity Vn2, and the actual acceleration An2 is “NG” in the threshold determination at time t11 to t14 in FIG. 8 during imaging by the camera 300, the image is discarded and imaging in step S22 is performed again. We will start over again. The actual position of the robot 200 ₂ at time t15 Pn2, actual speed Vn2, all actual acceleration An2 becomes within the threshold, since the "OK" in the threshold determination, to permit image acquisition. However, before the predetermined time (imaging time) Ts elapses, the actual position Pn2 and the actual acceleration An2 become “NG” at time t16, the image is discarded, and the process is restarted from the imaging start in step S22 again.

Furthermore, time t17 even the actual position of the robot 200 ₂ Pn2, actual speed Vn2, all actual acceleration An2 becomes within the threshold, since the "OK" in the threshold determination, but permits an image acquisition for a predetermined time (imaging time) It becomes "NG" before Ts elapses, and restarts from the imaging start again.

Finally, the actual position of the robot 200 ₂ at time t18 Pn2, actual speed Vn2, "OK" and all the threshold determination of the actual acceleration An2, from time t8 predetermined time (imaging time) Ts becomes imaging completed when has elapsed , A captured image is acquired.

In step S24～S32, it determines three positions threshold, speed threshold and the acceleration threshold of the robot 200 ₁ determines the three positions threshold, speed threshold and the acceleration threshold of the robot 200 _2, total position threshold, the total rate Determine the threshold and the total acceleration threshold. That is, all nine threshold determinations are performed. The CPU 501 of the robot control device 500A permits the imaging completion of the camera 300 when it is determined that all the nine threshold determinations are "OK".

Then, the image obtained by completing the imaging with the camera 300 in step S34 is sent to the image processing apparatus 400, and the position and posture of the workpiece W are recognized through step S35 in which image processing such as pattern matching is performed. . Further, through the robot control device 500A, it sends an operation completion signal to the robot 200 _2, completing the confirmation that the workpiece W is captured state. The information on the position and orientation of the workpiece W recognized by the image processing apparatus 400 is sent to the robot control apparatus 500A and shared.

As described above, according to the double-arm robot apparatus 100A of the second embodiment, the same function and effect as the single-arm robot apparatus 100 of the first embodiment can be obtained. That is, since the CPU 501 confirms that the vibrations of the robots 200 ₁ and 200 ₂ have converged during imaging by the camera 300 and completes the imaging, it is more effective that blurring occurs in the imaged image of the workpiece W Can be reduced. Thus, the position and orientation of the workpiece W can be accurately recognized from the captured image, and the working accuracy of the robots 200 ₁ and 200 ₂ is improved.

Further, in the assembling operation in the double-arm robot apparatus 100A of the second embodiment, to confirm that the robot 200 ₁ and the robot 200 ₂ satisfies the condition of the position threshold, the speed threshold and the acceleration threshold. Therefore, the robot 200 ₂ better without mounting the camera, it is possible to reduce the weight of the hand portion of the robot 200 _2. This allows room for the acceleration of the drive motor, the acceleration of the robot arm 201 ₂ is increased, it is possible to realize a more stable operation.

Third Embodiment
Next, a robot apparatus according to a third embodiment of the present invention will be described. FIG. 9 is a perspective view showing a schematic configuration of a robot apparatus according to a third embodiment of the present invention. In the robot apparatus 100B of the third embodiment, the same components as those of the robot apparatuses 100 and 100A of the first and second embodiments are denoted by the same reference numerals and the description thereof will be omitted.

The robot apparatus 100B shown in FIG. 9 includes a camera 300B for workpiece monitoring that monitors the position and quantity of the workpiece W placed on the workpiece tray Tr, instead of the camera 300. The camera 300 </ b> B is supported (fixed) by a support member 301 disposed on the floor F at a position at which the work tray Tr can be imaged. In this case, by using the camera 300B and the robot 200 _2, to assemble the operation by the procedure of FIG.

In the assembled operations in the camera 300B and the robot 200 ₂ for work monitoring to ensure that the camera 300B and the robot 200 ₂ satisfies the condition of the position threshold, the speed threshold and the acceleration threshold in the robot controller 500A. Therefore, it becomes possible to robot 200 ₂ grasps precisely the workpiece W placed on the work tray Tr, it is possible to realize a more stable operation.

  The present invention is not limited to the embodiments described above, and many modifications can be made within the technical concept of the present invention.

  In the above embodiment, the robot arm is a vertical robot arm, but may be a multi-axis orthogonal robot.

  Moreover, although the case where the end effector is a robot hand has been described in the above embodiment, it may be a tool for performing work on a work.

  Further, in the above embodiment, although the acceleration is detected by the acceleration sensor, the present invention is not limited to this, and a force sensor mounted (embedded) in the robot hand is used to detect the vibration due to the external force applied to the robot hand It is also good.

  Further, in the second and third embodiments, the case of two robots has been described, but the present invention is also applicable to the case of three or more robots.

  Further, in the above embodiment, the case where the control system which is the control unit is configured by the robot control device and the image processing device by two computers has been described, but the present invention is not limited to this. It may be configured.

  Further, each processing operation of the above embodiment is specifically executed by the CPU 501. Therefore, a recording medium recording a program for realizing the above-described function is supplied to the robot control device, and a computer (CPU or MPU) of the robot control device reads out and executes the program stored in the recording medium. May be In this case, the program itself read from the recording medium implements the functions of the above-described embodiments, and the program itself and the recording medium recording the program constitute the present invention.

  In the above embodiment, the case where the computer readable recording medium is the HDD 504 and the programs 530 and 530A are stored in the HDD 504 is described, but the present invention is not limited to this. The program may be recorded on any recording medium as long as it is a computer readable recording medium. For example, as a recording medium for supplying the program, the ROM 502 shown in FIGS. 2 and 6, the recording disk 531, an external storage device (not shown) or the like may be used. A specific example will be described. As a recording medium, a flexible disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CD-R, magnetic tape, rewritable nonvolatile memory (for example, USB memory), ROM, etc. It can be used.

  Further, the program in the above embodiment may be downloaded via a network and executed by a computer.

  Further, the present invention is not limited to the implementation of the functions of the above embodiments by executing the program code read by the computer. The case where the OS (Operating System) or the like operating on the computer performs a part or all of the actual processing based on the instruction of the program code and the processing of the above-described embodiment is realized by the processing is also included. .

  Furthermore, the program code read out from the recording medium may be written to a memory provided to a function expansion board inserted into the computer or a function expansion unit connected to the computer. Based on the instruction of the program code, the CPU included in the function expansion board or the function expansion unit performs a part or all of the actual processing, and the processing of the above embodiment is realized.

  Further, in the above embodiment, the case where the computer executes image processing by executing a program recorded in a recording medium such as an HDD has been described, but the present invention is not limited to this. Some or all of the functions of the control unit that operates based on a program may be configured by a dedicated LSI such as an ASIC or an FPGA. ASIC is an acronym of Application Specific Integrated Circuit, and FPGA is an acronym of Field-Programmable Gate Array.

DESCRIPTION OF SYMBOLS 100 ... Robot apparatus, 200 ... Robot, 201 ... Robot arm, 202 ... End effector (robot hand), 260 ... Detection part (acceleration sensor) 300 ... Camera, 400 ... Image processing apparatus, 500 ... Robot control apparatus, 530 ... Program, 600 ... control system (control unit)

Claims (11)

A robot control method for controlling the robot based on a detection result of a detection unit that detects a vibration of the robot and a position and a posture of the workpiece obtained using a captured image obtained by capturing the workpiece.
A first control step of controlling imaging of a predetermined time by a camera;
If the detection unit does not detect a vibration larger than a predetermined threshold during imaging of the predetermined time by the camera, it is determined using a captured image obtained by imaging of the predetermined time Information on the position and attitude of the work is used to control the robot,
When the detection unit detects a vibration larger than a predetermined threshold during imaging of the predetermined time by the camera, the work obtained using the captured image obtained by imaging of the predetermined time A second control step of performing control so that imaging of the predetermined time by the camera is performed again without using information related to the position and attitude of the robot for controlling the robot . The detection unit detects at least one of the position of the robot, the velocity of the robot, and the acceleration of the robot.
In the second control step,
The remaining two values are determined by calculation from at least one value of the position of the robot, the velocity of the robot, and the acceleration of the robot detected by the detection unit,
When the value of the position of the robot, the value of the velocity of the robot, and the value of the acceleration of the robot are smaller than predetermined threshold values during imaging of the predetermined time by the camera, The information on the position and posture of the work obtained using the captured image obtained by imaging for the predetermined time is used for control of the robot,
If the value of the position of the robot, the value of the velocity of the robot, the value of the acceleration of the robot, and the respective values are larger than predetermined threshold values during imaging of the predetermined time by the camera, In order to perform imaging of the predetermined time by the camera again without using information on the position and orientation of the work obtained using the captured image obtained by imaging of the predetermined time for control of the robot The robot control method according to claim 1, wherein the control is performed. There are a plurality of the robots,
The robot control method according to claim 1, wherein the detection unit is provided for each of the plurality of robots.   The robot control method according to any one of claims 1 to 3, wherein the camera is attached to the robot.   The robot control method according to any one of claims 1 to 4, wherein the camera is attached to any one of the plurality of robots.   The robot control method according to any one of claims 1 to 5, wherein the camera is supported by a support member disposed on a floor. A robot control apparatus that controls the robot based on a detection result of a detection unit that detects a vibration of the robot and a position and a posture of the workpiece obtained using a captured image obtained by capturing the workpiece.
Imaging control means for controlling imaging of a predetermined time by the camera;
If the detection unit does not detect a vibration larger than a predetermined threshold during imaging of the predetermined time by the camera, it is determined using a captured image obtained by imaging of the predetermined time Information on the position and attitude of the work is used to control the robot,
When the detection unit detects a vibration larger than a predetermined threshold during imaging of the predetermined time by the camera, the work obtained using the captured image obtained by imaging of the predetermined time A control unit that controls the imaging control unit to perform imaging of the predetermined time by the camera again without using information related to the position and orientation of the robot for controlling the robot. Robot control unit. The detection unit detects at least one of the position of the robot, the velocity of the robot, and the acceleration of the robot.
The control unit
The remaining two values are determined by calculation from at least one value of the position of the robot, the velocity of the robot, and the acceleration of the robot detected by the detection unit,
During imaging between the plant scheduled by the camera, the value of the position of the robot, the rate of the value of the robot, acceleration values of the robot, if each value is less than the respective threshold determined in advance Using the information on the position and orientation of the work obtained using the captured image obtained by imaging for the predetermined time for control of the robot,
During imaging between the plant scheduled by the camera, the value of the position of the robot, the rate of the value of the robot, acceleration values of the robot, if each value is greater than the respective threshold value for the predetermined In order to perform imaging of the predetermined time by the camera again without using information on the position and orientation of the work obtained using the captured image obtained by imaging of the predetermined time for control of the robot The robot control apparatus according to claim 7, wherein the imaging control means is controlled on the basis of   The program for making a computer perform each process of the robot control method of any one of Claims 1-6.   The computer-readable recording medium which recorded the program of Claim 9.   A method of manufacturing a part comprising performing an assembly operation or a processing operation using the robot control method according to any one of claims 1 to 6.

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