JPH03190687A - Control method for profile speed of robot - Google Patents

Abstract

PURPOSE:To reduce the burden of an operator, by applying a constant force by a force control part on the surface of the object having the curved face in an unknown shape based on a calculated profile coordinates system and moving command and performing a profile motion while changing the moving speed automatically. CONSTITUTION:A position control part 3 controlling the position of a robot based on the position coordinate value of a position detection part 5, a force control part 4 controlling the force of a robot based on the force detected by a force detection part 6, a curvature calculator 71 calculating the curvature of the point of contact of the object of the robot for performing the transmission of a force/ position commands and parameter to the robot, a control command producing part 7 having a moving speed setting part 72 which automatically changes the moving speed of the robot tip by the curvature and a slope line vector calculating part 8 which calculates the slope line vector of the point of contact of the robot and object and calculates a profile coordinate system, are provided. A calculation part 9 which calculates the vector in the moving direction of this robot is provided, a constant force is applied on the surface of the object, the moving speed is changed and the profile motion is executed.

Description

[Detailed description of the invention] [Summary] Tracing speed control method during force control of robot When scanning the surface of a target object having a curved surface of unknown shape,
The aim is to easily control the scanning speed by changing the movement speed command of the robot's tip.In the scanning speed control method during force control of the robot, force detection detects the force acting on the robot and the target object. a position detection section that detects the position of the robot; a position control section that controls the position of the robot based on the position coordinate values of the position detection section; and a position control section that controls the robot's force based on the force detected by the force detection section. A force control unit that controls the robot, a curvature calculation unit that calculates the curvature of the contact point of the robot object in order to transfer robot position commands and parameters, and a movement speed that automatically changes the movement speed of the robot tip depending on the curvature. A control command generation unit having a setting unit, a normal vector calculation unit that calculates the normal vector of the contact point between the robot and the object and also calculates the tracing coordinate system, and a movement direction vector calculation unit that calculates the movement direction vector of the robot. and applying a constant force to the surface of the object having a curved surface of unknown shape based on the calculated scanning coordinate system and movement command, and while automatically changing the movement speed. The device is configured to perform a copying operation.

[Industrial Application Field] The present invention relates to a scanning speed control method during force control of a robot, and more particularly to a scanning speed control method in a scanning control device for performing scanning along the surface of a target object by a force-controlled robot.

The scanning control device basically includes an operation section that operates the controlled object, a position detection section that detects the position and orientation of the controlled object, and a force detection section that detects the force applied to the controlled object. When the tip of the robot traces the surface of a target object having an unknown curved surface, it is necessary to maintain a constant force applied to the target object by changing the movement speed command of the robot tip. The copying control device is for performing such control.

[Problems to be solved by the prior art and the invention] When performing a copying operation on a target object having a curved surface of unknown shape during force control of a robot, the surface of the target object at the point of contact between the tip of the robot and the target object is The scanning coordinates (○-X w Y w Z w ) determined by the pressing direction n that coincides with the normal direction and the movement direction 0 that moves while scanning are sequentially sent to the robot controller according to the shape of the object. It is necessary to give.

FIG. 2 is a diagram illustrating a state in which the tip of the robot traces a target surface A having a large curvature and a target surface B having a small curvature at a constant moving speed. As shown, point P on the target object
Assume that the scanning coordinate systems n, o are set in , and a force F set by the operator is applied. Until the next sampling time τ, the tip of the robot moves in the direction of vector 0 to a constant speed .multidot.r, and in the direction of vector n to a position that satisfies the balance of the spring system formed by the robot and the target object. At this time, the tip of the robot is at point PA, i regarding surface A. 1. For surface B, point P71. .

Move up to. Point ptt, t. 4, and point PR5i. ,
The displacement amount in the vector n direction up to δ8. δ6
shall be.

When the spring constant of the spring system formed by the robot and the object is k, the point P A+ =++ and the point PR9i. 1, the forces in the vector n direction acting on the object are δ8 on Fkδ1 and F−, respectively. Since δ,>δ8, as shown in this figure, when the curvature of the surface is large, the deviation between the setting force and the pressing force against the object also becomes large.

In this way, when the moving speed of the robot's tip remains constant while tracing work on objects with different curvatures, a difference occurs between the pressing force against the object and the setting force depending on the magnitude of the curvature.

The purpose of the present invention is to provide a scanning method for keeping the force applied to the target object constant by changing the movement speed command of the tip of the robot depending on the curvature of the target surface when the robot moves to trace the surface of the target object having a curved surface of unknown shape. An object of the present invention is to provide a copying speed control method for a control device.

[Means to solve the problem]

FIG. 1 is a diagram showing the principle configuration of the present invention. The present invention is a scanning speed control method for force control of a robot, which includes: - a force detection unit (6) that detects the force acting on the robot (1) and the object (11); and a force detection unit (6) that detects the position of the robot; a position detection section (5), a position control section (3) that controls the position of the robot based on the position coordinate values of the position detection section, and a force that controls the force of the robot based on the force detected by the force detection section. A control unit (4), a curvature calculation unit (71) that calculates the curvature of the contact point of the robot object in order to transfer the robot position command and parameter data, and a curvature calculation unit (71) that calculates the curvature of the contact point of the robot object and automatically adjusts the moving speed of the robot tip based on the curvature. a control command generation unit (7) having a movement speed setting unit (72) that changes the movement speed to , and a normal vector calculation unit (8) that calculates the normal vector of the contact point between the robot and the object and also calculates the tracing coordinate system. and a movement direction vector calculation unit (9) that calculates the movement direction vector of the robot.
), the force control unit applies a constant force to the surface of the object having a curved surface of unknown shape based on the calculated scanning coordinate system and movement command, and while automatically changing the movement speed. It is characterized by the fact that it performs the following actions:

[For production]

Below, a method for controlling the tracing operation and a speed control method for changing the moving speed of the robot tip depending on the curvature of the object will be described in detail.

Figure 3 is an explanatory diagram of the copying coordinate system.Copying coordinate system 08-
X w Y w Z u is a coordinate system determined by the position and orientation of the robot tip with respect to the object, and is expressed as shown in FIG. Vectors n, o, and a are coordinate axes X of the scanning coordinate system, respectively. ,y,4, is a unit vector for z. n indicates the direction of pressing when applying force to the object, which is the same direction as the normal vector of the surface of the object. 0 is orthogonal to n and indicates the moving direction of the robot tip during the copying operation. a is determined to be perpendicular to n and o, and a=nX.

is given by

Reference coordinate system X of n, o, a. YoZ.

When displaying minutes, n = (nxnynJ” 0 = (Ox Oy Og)' About becomes. However, T indicates a transposed matrix.

FIG. 4 is an explanatory diagram of the positional relationship between the object and the manipulator. It is assumed that the robot is performing a copying operation on a certain surface of an object, and at this time, the copying coordinate system is given as the position P1 in FIG.

As shown, vector n is perpendicular to the plane and vector O
, a are on the tangential plane. When the robot performs a tracing operation and moves in the direction of vector 0, the normal direction of the surface at the point of contact between the robot and the object no longer matches the pressing direction n at position P (position Pz).

If the normal direction of the surface and the pressing direction n do not match, the pressing force generated against the object will deviate from the set value.

Therefore, in order to generate accurate force, it is necessary to switch the scanning coordinate system at position P1 to the scanning coordinate system at position P2. The conditions for determining whether or not to change the tracing coordinate system are: (1) when a certain period of time has elapsed; (2) when the reaction force received from the object deviates from the set force by more than a certain degree; (3) when the robot When the object moves a certain distance, etc. In the following description, it is assumed that the scanning coordinates are changed according to the condition (1). Also, in cases (2) and (3), the basic principle is the same as in (1).

FIG. 5 is an explanatory diagram of the tracing coordinate system at each point, and shows how the tracing coordinate system and the trajectory of the robot change. A control method for performing a tracing operation on an object having a curved surface will be explained using FIGS. 1 and 5.

1. First of all, the method of calculating the tracing coordinate system at the starting point P shown in FIG. 5 will be explained.

(1) Calculation of the normal vector at the starting point The normal vector nll at the starting point Pg is calculated as follows. FIGS. 6(a) and 6(b) are diagrams showing the relationship between the reaction force F that the hand receives from the object and the force sensor coordinate system 0°X, Y, Z. In a force sensor, Xs of reaction force F
, Ys , Zs force direction component force fX , f, ,
f, is detected. (Hereinafter, a description of the torque component detected by the force sensor will be omitted.) When the reaction force 3F is expressed as a vector, (S is the force sensor coordinate system Os
) 'F= (fxryrz)' ・Indicates that it is written in sZs.
...(1). Normal vector Sn expressed in the force sensor coordinate system, b! It is a vector in the opposite direction to F, and when expressed as components: (2) 13F1 is the magnitude of the vector. Let us express the normal vector Snl in the reference coordinate system. Each coordinate axis Xs, Ys of the force sensor coordinate system.

Turn on the unit vector for the reference coordinate system of Z.

Gos + Oa (0 indicates that it is written in the reference coordinate system). When the ingredients are displayed, it is. At this time, the coordinate transformation matrix 0A3 from the force sensor coordinate system to the reference coordinate system is 0As = (0ns.os.as> -(
4) is given by Normal vector O expressed in the reference coordinate system
n, using the coordinate transformation matrix 'A3,'n++
= oA, 5nll·+ (5). The normal vector is calculated by the normal vector calculation unit shown in FIG. Also,
Calculation of normal vectors at contact points other than the starting point is also performed in a similar manner.

(2) The moving direction vector at the starting point PIl is calculated using the moving direction vector 0°P given by the operator and the obtained normal vector On. Calculate. However, vector OOF and vector On are 00P-OnB or 0OP='ni
- (6) shall not be satisfied. The moving direction vector O8 is a vector that is orthogonal to the normal vector On,l and is on a plane formed by the moving direction vector 0° and the normal vector OnI+. At this time, a, which is one of the unit vectors representing the coordinate axes of the scanning coordinate system, is 0nll and QOF
Using 'a B = ('nHX 0or) / l 'ns
X OOF... (7) Represented by: Movement direction vector 00. is the vector 0n
B+. Due to the orthogonal relationship with a@, GoII= 'a,X
'n, −(8). The moving direction vector is calculated by the moving direction vector calculating section shown in FIG.

Next, a method of calculating the tracing coordinate system at point P1 in FIG. 5 will be explained.

(3) Calculating the normal vector at point P The method for calculating the normal vector n1 at point P is the same as the method for calculating the normal vector at the starting point P, and is expressed by the following equation. However, the reaction force 3F at point P is... (9) 'n(=0As=Sn,
-(10)' A B i is a coordinate transformation matrix from the force sensor coordinate system of the point P to the reference coordinate system.

(4) Calculation of the movement direction vector at point P. Since the tip position of the robot is also controlled in the direction of vector a, the tip position is controlled so that it is always on the plane formed by vectors n and o. Ru. Therefore, the locus drawn on the surface of the object becomes a curve on the plane formed by the vector nl+ol given at the starting point. From this, it can be seen that the moving direction vector at point P can be given directly. Also, the moving direction vector 0. is also orthogonal to the normal vector n, so the vector Oo is expressed as 00i-('aBx'nt)/l'aBX'nt.

... (11) A unit representing the coordinate axes of the tracing coordinate system. Due to the orthogonal relationship with Oo, Oa, = 0niX00゜ (12) is required.

2' A method of controlling the copying operation at the starting point P shown in FIG. 5 will be explained.

(1) When generating the set force F1 against the target object at the generation starting point P of the target force F1, it is sufficient to generate a force whose magnitude is F and whose direction is nB. . Therefore, the setting force vector OFr is (
2) Using OnB determined by formula, 0Fr=Fr”nB
・It is given by (13).

(2) Setting the target position The direction of movement of the robot at the starting point P is given by a relative position command from the starting points P and l. The moving direction from the starting point P8 is given by the moving direction vector 0011 in equation (9), and O
Using o8 to represent the relative position, OXB = α・00s
+・+ (14). α is the condition (1) to (
It is an appropriate constant determined from 3).

The target force and target position are set by the control command generation section shown in FIG.

(3) End of copying operation The copying operation ends when the following conditions are met.

1) When the operator gives a command to finish 2) When a certain period of time has elapsed 3) When the robot collides or leaves the target 4) When the robot exceeds its range of motion (11) is Oa, - On, or Oa l==
On.

It does not hold when . At this time, the moving direction can be maintained by using the moving direction vector of 0° given by the operator as the moving direction vector of point P.

B ′−′ As mentioned above, if the scanning coordinates are set at the point where the robot and the object come into contact for each sampling and the correct control direction is indicated, the contact force between the robot and the object for each sampling can be kept constant. things become possible. However, if the target surface changes significantly between sampling points where sampling is not performed, the contact force between the robot and the target object will deviate from the set force. Therefore, when the target surface changes significantly, that is, when the curvature of the surface is large, the moving speed of the robot tip is slowed down to control so that the deviation between the contact force and the set force does not become large.

FIG. 7 shows a method for calculating the curvature at point P. Furthermore, FIG. 8 shows a method for determining the commanded moving speed of the robot tip. Hereinafter, a speed control method for keeping the contact force between the robot and the object constant will be explained using FIG. 1.7.8.

Since the target object has an unknown shape, the curvature up to the point where the next sampling will be performed is estimated using the information of the current point P and the point P, -1 one sampling before. However, Pi,
Pi-, it is assumed that the shape of a nearby target object can be approximated by a sphere. At this time, if the radius of the sphere is r, the curvature χ is 1
/ given by r.

As shown in Fig. 7, the position vector of the point Pi, P, -, is
Find the curvature at point P when P i + OP i-1 and the normal vector of point P8 are set to On.

Since it is assumed that the shape of the point P and its vicinity can be represented by a sphere, the center of the circle of curvature is the normal vector On, and the line segment p,
This is the intersection of the perpendicular bisectors of p and I.

A vector from point P to the center R of the circle of curvature can be expressed as (r, is the radius of the circle of curvature of point P).

It can be seen from FIG. 7 that the following relationship holds true.

('P4-'Pi-+)/2=.

Therefore, the radius r1 of the circle of curvature is ... (15) shows the inner product of

It is required as follows. The curvature can be found from equation (16).

As shown in Figure 2, the control command in the normal direction is not changed until moving to the next sampling point, so if the displacement in the vector n direction at the next sampling point is δ, then , changes from the set force by δ (where k is the spring constant of the spring system formed by the robot and the object). P l * P
Estimating the displacement of the force that occurs after the sampling time τ, which is obtained by assuming that the shape of the target object near i-1 can be approximated by a sphere (the speed command in the direction of the movement vector is controlled so that Jkδ is always within the allowable range) Show how.

Now, let ΔF be the allowable range of force displacement. Given the bus constant k of the spring system formed by the robot and the object, the permissible condition is kδ≦ΔF (18). When the spring constant is indeterminate, the allowable range is given not by force displacement but by displacement Δδ in the vector n direction. The allowable condition at this time is δ≦Δδ
...(19). A method of calculating a command speed that satisfies the above conditions will be explained using FIG. 8. In the figure, the current tip position of the robot is point P. If the vector from point P1. Direction command speed 1v=
If the robot advances at I, the tip of the robot will be at a point P on the circle of curvature after the next sampling time τ. , ′ (estimated position at next sampling) is reached. The displacement δ in the vector n direction that occurs when moving to p, , l is r calculated using equation (16).
Using i, δ=ri-7ri-vr-(19
). From (18) and (19), the displacement δ is r, 7
7Go τGocho”≦ΔF/−(20) Or, rt, /−Y7:Go■〒P−≦Δδ ・(21) must be satisfied.In order to satisfy the above equation, 6 , command speed 1v, 1, 1v, 1≦ 'iri /r or Vi l≦ rt -r, -/r: ・= (2
2). Therefore, when the command speed factor is expressed as a vector, using lvt+ of equation (23) or (24), it becomes as follows.

When tracing is performed using the command speed Ov determined by equation (23), it is possible to control so that the deviation between the contact force acting between the object and the robot tip and the set force does not become large even between samplings.

The above calculations are performed to generate control commands using the robot tip position detected by the position detection unit shown in Figure 1, the normal vector calculated by the normal vector calculation unit, and the movement direction vector calculated by the movement direction vector calculation unit. This is performed by a curvature calculation section and a movement speed setting section provided within the section.

[Embodiment] FIG. 9 is a block diagram of an embodiment of the scanning control device of the present invention. The control device includes an operation section 22 that controls the manipulator 21. This operating section 22 includes a servo motor 22a, a power amplifier 22b, a D/A converter 22c, and a compensator 22d.

The control device also includes a position detecting section 26 that detects the tip position of a hand section (not shown) of the manipulator 21, and this position detecting section 26 has a counter and an encoder 26.
a and a tachometer 26b.

Further, the control device includes a force detection section 23 that detects the force applied to the hand section of the manipulator 2I.

This force detection section 23 includes a force sensor 23a similar to the above and a coordinate conversion section 2 from the hand coordinate system to the robot reference coordinate system.
3b.

Furthermore, the control device detects the force F detected by the force detection section 23 during the copying operation. , a force control section 24 that issues a speed command signal (■) in the force control direction based on the set force (force command F,) and force control parameters, and the position X0, target position Xr, and position parameters detected by the position detection section 26. A position control unit 27 that issues a speed command signal VP in the position control direction based on
It is equipped with

FIG. 10 is a configuration diagram of the position control section and the force control section.

The specific configuration of this position control unit 27 includes a transposed orthogonal transformation matrix (R7) calculation unit 31 and a selection matrix N-5r) calculation unit 32.
, an orthogonal matrix (R) calculation section 33, and a position feed pack gain (C7) calculation section 34.

On the other hand, the force control unit 24 includes a transposed orthogonal transformation matrix (R”) calculation unit 38, a selection matrix (Sr) calculation unit 37, and an orthogonal matrix (R
) calculation unit 36 and a feedback gain (cr) calculation unit 35. Note that symbols 24a and 27a are deviation parts.

The robot reference coordinate system (X,
, Yo, Zo) to copy coordinate system (X, IYt42t=)
An orthogonal coordinate transformation matrix R for coordinate transformation into is expressed as follows.

is given by

The feedback gain Cf is expressed as follows with respect to the reference coordinate system: ... (25) is given by

In addition, the position feedback gain C4 is similarly calculated based on the tracing coordinate system (X w Y w Z u
), the Xl and 1 directions are the force control directions, and the Y and Z directions are the position control directions, then the selection matrices Sf of the selection matrix calculation units 32 and 37 are as follows: ... (24) ... (26) Given.

Furthermore, the control device includes a force control section 24 and the position control section 2.
Adding unit 30 that adds the speeds output from 7.
b, and an inverse Jacobi transform unit 30a that converts the added velocity into an angular velocity θ of each joint of the manipulator 21.

The coordinate conversion unit 20 converts the joint angle θ of the manipulator detected by the position detection unit 26 into a position Xo in the reference coordinate system.

The host computer 40 provides (1) control commands for target position Xr and force command F, (2) position control associated with switching of the scanning coordinate system, transmission of force control parameters, (3) normal vector calculation unit, and movement direction. A control command generation unit 40a generates a signal for state control of the hector calculation unit, a normal vector calculation unit 40b calculates a normal vector at the contact point of the manipulator and the object, and a normal vector calculation unit 40b calculates the normal vector at the contact point of the manipulator and the object. Movement direction vector calculation unit 40c that calculates a movement direction vector
The robot's tip position converted by the coordinate conversion unit 20, the normal vector calculated by the normal hector calculation unit 40b, and the movement direction vector calculated by the movement direction vector calculation unit 40c are used to calculate the current position of the robot. A curvature calculation unit 40e that calculates the curvature of the tip position, and a movement speed setting unit 40f that calculates a movement speed command to the controller when performing copying.
is provided in the control command generation section 40a. Further, parameters for the copying operation are set in the control command generation section by the operator.

FIG. 11 is a block diagram of the system of the present invention. The host computer 40 includes a control command generation section 40a, a normal vector calculation section 40b, a moving direction hectare calculation section 40c, a communication control section 40d, a curvature calculation section 40e, and a movement speed setting section 40f.
, has a memo U40g. The robot controller 10 includes a memory 10a, a communication control section Job, a control section, a coordinate conversion section, a deviation section, etc., and controls the manipulator 21 via an operation section 22 and a position detection section 26. The host computer and the robot controller are connected by a communication interface such as a HAS, and communication control units 10b and 4 manage the timing of sending and receiving respective signals.
Data is transferred between the memo 1 month Oa and the memory 40g by 0d.

Data necessary for calculations by the control generation command section, normal hector calculation section, movement direction vector calculation section, curvature calculation section, and movement speed setting section is referred to data on the memory.

FIG. 12 shows the flow of processing when a tracing operation is performed on an object having a curved surface when the system is configured as shown in FIG. 11.

FIG. 12 is a processing procedure diagram of the present invention, showing the processing performed by the control command generation section, normal vector calculation section, movement direction hector calculation section, curvature calculation section, movement speed setting section, and robot controller in the host computer. This shows the flow. It is assumed that the parameters for the copying operation are set by the operator. Further, in the figure, the subscript B indicates the starting point, and the subscript i indicates the first contact point between the robot and the object.

First, the operator selects the moving direction vector 00o4, the setting force Fr, the switching time τ of the scanning coordinate system having an appropriate value, the coefficient α specifying the relative position, the force vector FB generated to calculate the normal vector at the starting point, Set the starting point moving speed command Ov'. The control command generating section generates a force command F and force control parameters in order to generate an appropriate force Fll at the starting point, and transfers them to the robot controller.

The robot controller performs a pressing operation on the object based on the command. At this time, when the detected reaction force is 0 (
When the robot and the object are separated), the force vector F3 is applied again.
Configure settings.

Next, the robot tip position op8 detected by the position detection section of the controller is stored in the memory. Furthermore, in the normal vector calculation section, Sn8 is calculated from the detected reaction force F using equation (2). Furthermore, a force sensor coordinate system is calculated using a Jacobian matrix, and a coordinate transformation matrix 0AS is calculated from equation (4). Using the calculated 0A3, the normal vector OnB
is calculated and sent to the control command generation unit and moving direction vector calculation unit.
Transfer nl+.

Here, the normal vector OnB and the moving direction vector 00o
, if the directions match, set the parameters again.

The movement direction vector calculation unit calculates hector Oa! using equation (7). + is calculated, and the movement direction vector 00. is calculated from On8 and OaB. (Equation (8)).

The control command generation unit generates a target force hector 0F1 and a target relative position vector OXr from equations (13) and (14), the normal vector unB, and the hector UoB.
Transfer to robot controller. Since the curvature cannot be calculated at the starting point opB, the moving speed command Ovo given by the operator in advance is used. The robot controller receives the speed command O from the control command generation section.
When v0 is received, copying operation is started.

After a certain period of time τ has elapsed, it is checked whether the robot is within the movable range, and if it is within the movable range, the reaction force F at the first contact point is detected.

At the first contact point, a target relative position vector 0 is generated, and the normal vector is calculated in the normal vector calculation unit using the same operation as for the starting point until it is transferred to the robot controller, and the movement direction vector is A calculation unit calculates a moving direction vector. The control command generation unit generates a target force hector 0Fr and a target relative position vector 0Xr from the normal vector 0n9 and the movement direction vector °τ1, and transfers them to the robot controller. The curvature calculation unit uses the normal vector 0nB stored in memory and the previous robot tip position 0P.
B. The current position of the robot's tip J'P.

The radius r1 of the circle of curvature is calculated from equation (17).

The movement speed setting unit determines the movement command speed Ov1 from the calculated radius r7 of the circle of curvature, the permissible displacement range Δδ set by the operator, and the sampling time τ. The robot controller receives the speed command O from the control command generation section.
When v1 is received, the copying operation is started.

After a certain period of time τ has elapsed, it is checked whether there is a termination command from the operator, and if there is a command, the copying operation is stopped and the next operation is performed. If there is no command, the normal vector Sn2 of the second contact point is calculated from the reaction force F. The above operations
Repeat until the operator issues a termination command.

[Effects of the Invention] As explained above, according to the present invention, it is possible to automatically perform a copying operation on a target object having a curved surface, and to change the target object or change the target object, which was conventionally performed by a robot operator. There is no need to teach the robot due to the positional shift of the object, and the burden on the operator is reduced. Furthermore, since the moving speed of the robot tip automatically changes depending on the curvature of the target surface, it is possible to perform a tracing operation while keeping the difference between the target force on the target object and the force generated on the target object constant.

[Brief explanation of drawings]

Fig. 1 is a diagram of the principle configuration of the control system of the present invention, Fig. 2 is an explanatory diagram of contact force deviation, Fig. 3 is an explanatory diagram of the scanning coordinate system, and Fig. 4 is an explanatory diagram of the positional relationship between the object and the manipulator. , Figure 5 is an explanatory diagram of the scanning coordinate system at each point, Figure 6 (a
), (b) is an explanatory diagram of the method of calculating the setting force, Fig. 7 is an explanatory diagram of the method of calculating the curvature, Fig. 8 is an explanatory diagram of the method of calculating the moving speed command, and Fig. 9 is an explanatory diagram of the method of calculating the moving speed command. Example configuration diagram, FIG. 10 is a configuration diagram of the position control section and force control section, FIG. 11 is a system configuration diagram of the present invention, and FIG. 12 (a) to (c)
) is a processing procedure diagram of the present invention, (Explanation of symbols) 1...Controlled object, 3...Position control unit, 5...Position detection unit, 7...Control command generation unit, 8... Normal vector calculation unit, 9... Movement direction vector calculation unit, 71... Curvature calculation unit, 72... Movement speed setting unit. 2... Operation unit, 4... Force control unit, 6... Force detection unit,

Claims (1)

[Claims] 1. In a scanning speed control method during force control of a robot, a force detection unit (6) detects the force acting on the robot (1) and the object (11), and detects the position of the robot. a position detection unit (5) for controlling the position of the robot based on the position coordinate values of the position detection unit; a position control unit (3) for controlling the position of the robot based on the force detected by the force detection unit; A force control unit (4), a curvature calculation unit (71) that calculates the curvature of the contact point of the robot object in order to transfer force/position commands and parameters to the robot, and a curvature calculation unit (71) that automatically adjusts the moving speed of the robot tip based on the curvature. a control command generation unit (7) having a movement speed setting unit (72) that changes the movement speed according to ), and a movement direction vector calculation unit (9) that calculates a movement direction vector of the robot, and the force control is applied to the surface of an object having a curved surface of an unknown shape based on the calculated scanning coordinate system and movement command. A method for controlling the scanning speed during force control of a robot, characterized in that the scanning motion is performed while applying a constant force to the part and automatically changing the moving speed.