JPH08155867A - Control of work robot - Google Patents

Abstract

PURPOSE: To provide a power distribution work robot with a control method capable of controlling in a common language independently of types of robots in use. CONSTITUTION: In a program preparation device 2, plural commands corresponding to plural basic works necessary for power distribution work, are selected and they are arranged in a desired order. And thus, a work program in common language, not dependent on type of robot for power distribution work, is prepared. It is then supplied to a power distribution work robot 1 through a magnetic disk 27. In the power distribution converted to a work program proper to a respective power distribution work robot and so this is executed in controlling a power distribution work robot 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a work robot for performing power distribution work at a high place such as a utility pole.

[0002]

2. Description of the Related Art For example, various works are required for electrical work, and one of them is work for opening an electric path on the power supply side of a work place so that a voltage is not supplied to the work place. When carrying out this circuit opening work,
Conventionally, a worker climbs a utility pole or uses an aerial work vehicle to perform a series of work such as peeling and brushing of electric wires, attaching a power tensioner, cutting an electric wire, and attaching an insulating cover. ing. However, there is a problem that working in a high place is dangerous and is easily affected by weather and temperature, and the working environment is bad.

Therefore, in recent years, an extendable arm is attached to a vehicle, a robot base is provided at the tip of this arm, a remotely operable manipulator is attached, and the manipulator is controlled from an operation room provided inside the vehicle. Has been. This manipulator traces the movement of the operator, and the operator operates the operation levers and switches while monitoring the image from the surveillance camera attached to the robot base on the monitor screen. The above-mentioned series of electric line opening work is performed.
In the electric line opening work by the manipulator, the worker can work in the vehicle, and the working environment is improved.

However, in the electric path opening work by the manipulator, it is difficult to grasp the sense of distance because the working location cannot be directly visually inspected, and the work is indirect work due to the manipulator. Was not good.

Therefore, an attempt has been made to improve the workability by automating the electric path opening work by the manipulator. This automation is realized by using a robot to open the circuit.

[0006]

When performing work using a robot, it is necessary to create a program for controlling the robot. Several techniques are known for creating this program.

One method is that an operator manually controls a robot to perform an actual work, and control information such as a control order and a control amount at this time is stored in a storage device, and at the time of the actual work, This is a method called direct teaching in which the robot is controlled based on the control information stored in the storage device.

However, in this direct teaching, since the worker actually goes to the work site and the entire work plan of the robot is created on the site while operating the robot, a long standing work is required. There was a problem that considerable effort was required and fatigue was great.
Further, there is a problem that it takes time to input data required for control.

Another method is a method called off-line programming in which a work environment model of a robot is held on a computer without actually operating the robot and work plan data is created.

According to this off-line programming, it is not necessary for the worker to actually go to the work site, and the work plan of the robot can be created only by operating the keyboard and mouse while looking at the model displayed on the computer display. Therefore, it is possible to easily perform the creation work.

This off-line programming is typically done using a robot language. This robot language includes a large number of commands that describe basic motions such as rotation and movement, and a robot work plan is created by combining these commands. However, there is a problem that a huge program is required to execute an actual work in a three-dimensional space by using this instruction, and it takes a long time to create the program. Also,
Even if a predetermined standard command combination cannot achieve the desired operation, or even if it can actually be achieved, the skill of the program will allow the program to achieve the desired operation. In some cases, there was a problem that programming itself was difficult. Further, an error is unavoidable between the model on the computer and the actual work environment, and eventually it was necessary to operate the robot in the actual work environment and correct the program. .

There are several types of various robots on the market, and the control method of these robots differs depending on the robot manufacturer. For example, the robot of company A uses a robot language for control peculiar to the company, and its operation is controlled based on a control program created using this robot language. Also, the robot of company B uses a robot language different from the robot language of company A. Further, the robot of Company C does not have a robot language itself, and employs direct teaching in which a worker actually performs a work and stores the work process in the robot.

Therefore, although the content of the work to be finally executed is the same, the control program must be created using different robot languages for each company according to the robot to be used. . However, it is difficult for personnel on the electric power company side to understand the different robot languages of each robot manufacturer and learn the program creation technique, and it takes a very long time to create the program.

Although it may be possible to request each robot manufacturer to create a control program, it is difficult for the robot manufacturer to obtain a control program that meets the demand of the electric power company because the robot manufacturer is not familiar with power distribution work. Also, there is a problem that the cost is high because the development cost is generated for each work.

Therefore, an object of the present invention is to provide a work robot control method capable of creating a robot control program in a good work environment and performing highly accurate control.

It is another object of the present invention to provide a work robot control method capable of causing a desired motion of the robot with a small amount of programming.

It is another object of the present invention to provide a control method for a work robot which can be controlled by a common language regardless of the type of robot used.

[0018]

In order to achieve the above object, the present invention provides a work program for providing a program creation device independent of a work robot and controlling the operation of the work robot in the program creation device. When creating the position data, create a work program in the state of variable whose value is undecided, read the work program that does not include the position data into the work robot, and operate the work robot manually to perform the actual work. Position data is obtained by performing a teaching operation on an object, the work program is completed by incorporating the position data into a work program that does not include the position data, and the work robot is controlled by the completed program. It is characterized by

Further, the present invention is a method for controlling a work robot for performing work using a predetermined type of tool, wherein a plurality of types of the tool and the operation of the tool are paired. From the storage device storing the plurality of instructions, a desired program is selected according to the type of work and arranged in a desired order to create a work program, and the work robot is configured based on the work program. It is characterized by controlling.

Further, the present invention is a control method of a work robot controlled by a unique program, in which a plurality of instructions corresponding to a plurality of basic works necessary for performing the work are stored. A desired program is selected from the storage device according to the type of work and arranged in a desired order to create a work program in a common language that does not depend on the type of work robot, and the work program in the common language is created. The work robot is supplied via an information transmission medium, and on the work robot side, the work program in the common language is converted into a work program unique to each work robot, and the work is performed based on the unique work program. It is characterized by controlling a robot for use.

[0021]

In the present invention, a work program for controlling the work robot is created by a program creation device provided independently of the work robot. This work program is created by combining a plurality of commands that make a pair of the type of tool and the operation of this tool. Also, in the initial state, this work program
Position data is represented as variables that do not have actual values. Each command does not depend on the type of aerial work robot, and the created work program is a work program in a common language that does not depend on the type of aerial work robot. The work program in the common language is supplied to the work robot via an information transmission medium such as a magnetic disk.

On the side of the work robot, the teaching operation is performed using the actual work target, the actual position data is obtained, and this position data is substituted into the variable representing the position data. This completes the work program.

The completed work program is converted into a work program unique to each work robot. Then, each work robot is controlled based on a work program unique to this robot.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The features of the present invention will be specifically described below based on embodiments with reference to the drawings.

FIG. 1 is a block diagram showing an entire system for carrying out the control method for an aerial work robot according to the present invention. Here, a power distribution work robot will be described as an example.

First, the work robot will be described.
The work robot 1 is for performing power distribution work based on a program written in a common language that is given from the outside or is built in. This work robot 1
Is provided with a manipulator 2 and its controlled device 3 for exchanging tools and performing various operations. In addition to the manipulator 2 and other controlled devices 3, a distance measuring device 4 including a laser irradiator for measuring the distance between the base position of the manipulator 2 and an electric wire and an imaging camera, a tip of the manipulator 2, and the like. A monitoring camera 5 and the like for monitoring the movement of the camera are provided. As shown in FIGS. 2 and 3, the manipulator 2, other controlled devices 3, the distance measuring device 4, the monitoring camera 5, etc.
It is attached to the robot base 32 at the end of the telescopic arm 31 attached to 0. Incidentally, reference numeral 33 is an operation cabin in which an operator works.

The manipulator 2, the other controlled equipment 3, the distance measuring device 4, and the monitoring camera 5 described above are connected to a processing device 7 via an interface 6. The processing device 7 executes a program given from the outside through the disk device 8 and controls each device based on this program. The input device 10 is for giving various instructions to the processing device 7, and the display device 11
Is for displaying input information, information indicating the operation state of the robot, and the like. In the present embodiment, the display device 11 is composed of a touch panel arranged on the display surface of the display device 11 and a keyboard provided on the operation console. Further, the video imaged by the monitoring camera 5 is the monitor television 12 provided near the display device 11.
Is displayed in.

The interface 6, the processing device 7, the disk device 8, the storage device 9, the input device 10, the display device 11, and the monitor TV described above are provided on the console in the operation cabin 33.

Next, the program creating device will be described. The program creation device 21 is for creating a program to be executed by the work robot 1. This program creating device 21 is, like a general computer or workstation, an input device 22 such as a keyboard and a mouse, a processing device 23 such as a microprocessor, a display device 24 such as a liquid crystal display, a storage device 25, a disk device 26 and the like. Is equipped with. The program creating device 21 is usually placed in an office or the like with a good working environment. However, when the program creating device 21 is composed of a portable computer such as a laptop computer, a work site is required as needed. Can be carried on the phone.

Next, a program for power distribution work is created by using the common language in the program creation device 21 described above,
The manner in which the work robot 1 performs power distribution work based on this program will be described. Here, the "opening / reconnecting mid-span electric circuit" among various power distribution operations will be described as an example. This "opening and reconnecting work in the middle of the span" is to cut the electric wire on the power supply side of the main body work place so that no voltage is supplied to the work place during main body work such as rebuilding the utility pole or replacing the electric wire. It is a work to reconnect the cut electric wire after the work is completed.

This "opening and reconnecting work in the middle of the span"
As shown in the work procedure of FIG. 4, the work is roughly divided into three works of “opening the electric line”, “working”, and “reconnecting the electric line”. Here, the operation of "opening the electric circuit" will be described.

The operation of "opening the electric circuit" is "strike of the electric wire,
It consists of three procedures, "polishing", "installation of power tensioner", and "cutting of electric wire and installation of insulating cover". "Peeling and brushing of electric wire" is shown in Fig. 5 (a),
As shown in (b), the coating B at the portion of the electric wire A to be cut / reconnected is peeled off over a certain length, for example, 100 mm to expose the core wire C, and the surface of the core wire C is polished. As shown in FIG. 5 (c), “attaching the power tensioner” is as shown in FIG. 5 (d) after the power tensioner D clamps the positions on both sides of the cut point of the electric wire A. In addition, it is a work of winding the power tensioner D and stretching the electric wire. Note that, in FIG. 5, the power tensioner D is schematically illustrated. "Cut the wire and install the insulation cover" is shown in Fig. 5.
As shown in (e), the electric wire is cut, and as shown in FIG. 5 (f), the insulating cover E is attached to the cut electric wire end, and the power tensioner is gradually rewound.

Next, a procedure for creating a work program in a common language in the program creating device 21 based on the work procedure of the above-mentioned "open circuit" work and executing this work program by the work robot 1 will be described. .

Based on the work procedure shown in FIG. 4, the program creator decomposes the work contents into unit works as shown in the left column of FIG. 6 and inputs them as major items. In the example of FIG. 6, “opening the electric circuit” is performed by “peeling / brushing”, “attaching wire tensioner”, “tensioning of electric wire”, “cutting of electric wire”, “attaching terminal cap (right)”, "Mount terminal cap (left)",
It is broken down into the seven major items of "Rewinder for wire tension device". Although only seven items are shown in the example of the drawing, other large items are also prepared according to the type of work.

At the time of actual large item input work, a screen for large item input as shown in FIG. 7 is displayed on the display device 24 of the program creating device 21, and an item display button a with a downward arrow is displayed. When is selected, as shown in FIG. 8, the major item names already registered are displayed in the major item window b. Next, when a desired large item name is selected from the displayed large item names, the selected large item name is displayed in the input field c at the bottom of the screen as shown in FIG. When the confirm button d is pressed in this state, as shown in FIG. 10, the selected major item name (in this case, "start point move") is inserted between "start" and "end" on the screen. In addition, a button e for selecting a middle item is newly displayed at the bottom of the screen. Similarly, other major items are sequentially input.

Each of the large items input in this way is shown in FIG.
It is stored in the storage device 25 in a list format as shown in FIG. The types and order of major items included in each work are as follows:
A standard one is stored in the storage device 25 in advance,
It is also possible to change the type and order of major items by an instruction from the input device 22.

Next, the program creator decomposes each large item into detailed works and inputs them as middle items. In the example of FIG.
"Peeling and polishing" work includes six middle items: "tool change", "manipulator approach", "tool insertion into electric wire", "peeling work", "tool opening alignment", and "remove from electric wire". Is decomposed into. Other middle items are prepared according to the type of work.

At the time of the actual large item inputting work, by selecting the middle item selecting button e on the input screen in which the large items shown in FIG. 10 are displayed, the middle item as shown in FIG. Since the item window f is displayed, when a desired middle item name is selected from the displayed plurality of middle item names and the confirm button d is pressed, as shown in FIG. The selected middle item name (in this case, "laser measurement and boom automatic approach") is displayed next to "Start point movement". Similarly, other middle items are sequentially input. In addition, in the case of inputting a medium item with respect to other major items, if a desired major item is selected on the input screen in which the major item as shown in FIG. 10 is displayed, the selected major item is selected. Since the included middle items are displayed, selection may be made in the same manner as described above.

Each decomposed middle item input in this way is stored in the storage device 25 in a list format as shown in FIG. 11 (b). As for the type and order of medium items included in each major item, standard items are stored in advance in the storage device 25, and as described above, by selecting a desired major item, Although the middle items included as standard are selected and displayed, the input device 22
It is also possible to change the type and order of middle items according to instructions from.

Finally, the program creator inputs a plurality of sub-items constituting the work program using a common language based on the details of the detailed work. This small item corresponds to a command in the common language. In the example of FIG. 6, as small items, “manipulator-reproduction”, “manipulator manual”, “skin peel-rotation”, “manipulator-move”,
There are "skin peeling-rotation stop", "skin peeling-reverse rotation", and the like.
Input of small items is performed for each of the left and right arms of the manipulator. Programming using a common language is performed by inputting the above-mentioned small items and assembling instructions.

The common language in this embodiment is controlled by a program using the same command for a specific work type using a specific tool without depending on the manufacturer or model of the work robot to be used. It is a language that enables it.

In the present embodiment, attention is paid to the fact that the type of tools used in power distribution work using a robot is relatively small, and that all power distribution work can be performed with, for example, about 10 kinds of tools. Uses a language that uses commands to control with tools as keys.

For example, in the case of controlling a robot for power distribution work, it is composed of about 30 basic operations expressed in Japanese such as "manipulator-reproduction" described above. Table 1 shows a list of instructions.

[0044]

[Table 1] For example, "skin peeling" is one of the commands that express tool operation.
, And the actual action is defined by the syntax “peel + (action)”. For example, "Peel-forward rotation",
"Peeling-reverse rotation" and "peeling-stopping rotation" mean that the peeling device is normally rotated, reversely rotated, and stopped rotating, respectively. There is also a "manipulator-move" as one of the commands that express movement, and this command is to move at the specified speed by the specified amount of movement on the specified coordinate system from the current position of the manipulator. means. The command "manipulator-reproduce" reproduces the designated moving program as it is.

The details of this common language will be described by taking "peeling work" as an example. The "peeling work" is composed of three commands, "peeling-rotation", "manipulator-movement", and "peeling-rotation stop". These commands start the rotation of the skin peeler attached to the manipulator, move the manipulator at the specified speed along the axial direction of the wire, and stop the movement of the manipulator after moving the specified distance. It is an instruction to stop the rotation of the peeling device.

When the actual small item input operation is performed, the displayed middle item (in the figure, "laser measurement and By selecting "Automatic approach"
An initial screen for inputting small items as shown in FIG. 14 is displayed. When the button g on the left arm is selected here, a window h for inputting small items as shown in FIG. 15 is displayed,
A list of commands in the common language is displayed, so a desired command (for example,
Select "Tool change") and press the confirm button i.
As shown in 6, the attribute input window j is displayed.
A list of tool names is displayed in the attribute input window j, and a desired tool is selected. In addition, a path number indicating the moving path of the tool and an execution mode are selected. When the confirm button k is selected in this state, as shown in FIG. 17, the selected command, that is, the small item is displayed, and the next command becomes selectable.

Further, the program creating device 21 has a function of displaying the entire work plan created as described above, and as shown in FIG. You can also display an entire tree showing the relationships.

Next, the procedure from the creation of the above work program to the execution of this work program will be described with reference to FIG.
This will be described with reference to the flowchart in FIG.

First, a work program in a common language is created by assembling instructions in the order of execution as described above (step 101). FIG. 20A shows a part of an example of the work program in the common language. FIG.
In the work program shown in (a), "tool change"
Is an instruction to automatically remove the currently mounted tool, mount the designated tool, and then move to the standby position along the designated path. The “teaching laser” is an instruction for fetching the position data of the target point by measuring the laser distance in the teaching environment and storing it in the designated variable TL01. "Gripper-open" is an instruction to open the gripper. The "manipulator-correction" is an instruction for operating the manipulator by comparing the teaching position data with the execution position data and shifting the teaching data of the designated movement program by the amount of deviation. “Manipulator-manual” is an instruction to switch manipulator operation to manual operation. “Material take-out” is an instruction to take out a specified material and move it to a standby position along a specified path. "Camera-
"Reproduce" is a command to move the camera to the taught position.

The position data of the target point is fetched by laser distance measurement in the teaching environment among the plurality of commands,
Although it is an instruction to store in the specified variable TL01, since the position data is unknown at the time of program creation, the variable TL01 is stored.
No value is entered in 01. When no value is input to the variable, the non-input flag is set to the variable. Similarly, "manipulator-correction" and "camera-reproduction" also require a variable obtained by teaching, and the value of the variable is undetermined at the time. In the figure, the command including the uninput variable is
It is shaded.

Next, a grammatical check is performed by the syntax check function built in the program creating device 21 (step 102). For example, when only a large item is set in the work program, when only a large item and a medium item are set, and when a small item attribute is not set, an error is determined. If there is a syntax error, the type of error is displayed on the display device 24, and the program creator refers to this display to modify the program.
The program after the syntax check is stored in the storage device 25 and further written in the magnetic disk 27 via the disk device 26 (step 103).

Next, the operation of controlling the work robot based on the work program in the common language created as described above will be described. Note that, here, the work program in the common language is written in the magnetic disk 27, and the work program in the common language is supplied to the work robot 1 via the magnetic disk 27.

First, the common language work program written in the magnetic disk 27 is read into the processing device 7 via the disk device 8 (step 104) and stored in the storage device 9. FIG. 20B shows a program which is first read by the work robot 1. Next, it is determined whether or not the work program in the common language includes position data required for control (step 105).
The presence / absence of this position data is determined by looking at the state of the non-input flag with a variable indicating the position data.

No variables are input to the work program created first, so the teaching operation is performed and the actually measured values are input to the variables (step 106). Figure 2
0 (c) indicates a work program after teaching, and indicates that a value is input to the variable. Next, the work program after teaching is set to the magnetic disk 27 by the disk device 8.
(Step 107).

Next, the work program after the teaching, that is, the magnetic disk 27 in which the work program including the position data is written is read into the processing device 23 of the program creating device 21 via the disk device 26 (step 108). ), Rearrange instructions as needed (step 1
09), and the syntax is checked again (step 10).
2). As described above, the work program including the actual position data is completed. FIG. 20D shows the completed work program.

Next, the completed work program is written on the magnetic disk 27 in the program creating device 21, and the magnetic disk 27 is read again by the work robot 1 (step 104). This time, since the work program includes position data, the process proceeds from step 105 to step 110, and the common program is converted into the program of each work robot 1 (step 11
0). When the work robot 1 has its own control language, the work program in the common language is converted into the control language of each work robot. Further, when the work robot does not have a control language, the work program in the common language is directly converted into a machine language level control code. The converted program is stored in the storage device 9.
When there is an instruction to start work from the input device 10, the processing device 7
Executes the unique work program stored in the storage device 9 (step 111) to control the manipulator 2 and its controlled device 3.

For example, in the "peeling" operation described above, the manipulator is operated in accordance with a work program composed of three instructions, "peeling-rotation", "manipulator-movement", and "peeling-rotation stop". Start the rotation of the peeler attached to the and move the manipulator at the specified speed along the axial direction of the wire,
The movement of the manipulator is stopped and the rotation of the peeling device is stopped when the manipulator is moved by the designated distance. As a result, as shown in FIG. 5B, the coating B of the electric wire A is peeled off for a certain length, and the core wire C is exposed. That is, the "peeling" operation is performed.

In the above description, "peel"
Although the work has been described as an example, work programs for other medium items are similarly created using the common language and executed by each work robot 1.

[0059]

The present invention has the following effects.

(1) The process of creating a work program
Since it is possible to divide into two processes, the process that specifies the work order and the process that obtains the position data, a program that only performs the work for obtaining the position data at the actual work site and specifies the work sequence that occupies most of the work program The program can be created in a good working environment such as in an office, and the work robot can be controlled with high accuracy.

(2) Since a command is facilitated by using a specific tool used for a specific work as a key and a work program is created by combining these commands, a desired operation can be performed with a small number of commands. it can.

(3) Since one program can control robots of different manufacturers and models, the development period of the work program can be shortened and the development cost can be reduced.

(4) Since the language system is simple and is similar to a commonly used language, it is easy to understand the language and can be learned in a short time.

(5) The program can be created by the electric power company, which is familiar with the power distribution work, so that the optimum program can be created according to the content of the work.

[Brief description of drawings]

FIG. 1 is a block diagram showing an entire system for implementing a method for controlling a power distribution robot according to the present invention.

FIG. 2 is a schematic diagram showing a usage mode of a power distribution robot.

FIG. 3 is an enlarged schematic view showing a usage mode of a power distribution work robot.

FIG. 4 is an explanatory diagram showing a work procedure.

FIG. 5 is an explanatory view showing a work process of “peeling / brushing of electric wire”.

FIG. 6 is an explanatory diagram showing a procedure for creating a work program in a common language.

FIG. 7 is an explanatory diagram showing an initial screen for inputting major items.

FIG. 8 is an explanatory diagram showing an input screen on which major item candidates are displayed.

FIG. 9 is an explanatory diagram showing an input screen in which a major item is selected.

FIG. 10 is an explanatory diagram showing an input screen in which selected major items are inserted into a work program.

11 (a), (b), and (c) are explanatory diagrams showing the data structure of a large item, a medium item, and a small item showing the content of the work.

FIG. 12 is an explanatory diagram showing an input screen on which medium item candidates are displayed.

FIG. 13 is an explanatory diagram showing an input screen in which a selected middle item is inserted into a work program.

FIG. 14 is an explanatory diagram showing an initial screen for inputting small items.

FIG. 15 is an explanatory diagram showing an input screen in which small item candidates are displayed.

FIG. 16 is an explanatory diagram showing a screen for inputting attributes of small items.

FIG. 17 is an explanatory diagram showing an input screen in which a selected small item is inserted into a work program.

FIG. 18 is an explanatory diagram showing an entire tree display screen for large items, medium items, and small items.

FIG. 19 is a flowchart showing creation of a work program in the program creation device and execution of the work program in the work robot.

FIG. 20 is an explanatory diagram showing an example of a work program in a common language.

[Explanation of symbols]

1 ... Work robot, 2 ... Manipulator, 3 ... Peeling device, 4 ... Distance measuring device, 5 ... Surveillance camera, 6 ... Interface, 7 ... Processing device, 8 ... Disk device, 9 ... Storage device, 10 ... Input device , 11 ... Display device, 21 ... Program creation device, 22 ... Input device, 23 ... Processing device, 24
... display device, 25 ... storage device, 26 ... disk device, 2
7 ... Magnetic disk, 30 ... Power distribution work vehicle, 31 ... Telescopic arm, 32 ... Robot base, 33 ... Operation cabin

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Morinoyuki Nakajima 2-82 Watanabe-dori, Chuo-ku, Fukuoka City, Fukuoka Prefecture Kyushu Electric Power Co., Inc. 8-101

Claims (3)

[Claims] 1. A program creating device is provided independently of the work robot, and when creating a work program for controlling the operation of the work robot in the program creating device, the position data is in the state of a variable whose value is undecided. To create a work program, read the work program that does not include the position data into the work robot, and manually operate the work robot to perform teaching operation on the actual work target to obtain the position data. A method for controlling a work robot, characterized in that the work program is completed by incorporating the position data into a work program that does not include the position data, and the work robot is controlled by the completed program. 2. A method for controlling a work robot that performs work using a predetermined type of tool, wherein a plurality of instructions that store the type of the tool and the operation of the tool are stored. From the stored storage device, a desired command is selected according to the type of work and arranged in a desired order to create a work program, and the work robot is controlled based on the work program. Control method for working robot. 3. A method for controlling a work robot, each of which is controlled by a unique program, wherein a plurality of instructions corresponding to a plurality of basic works required to perform the work are stored in a storage device. By selecting a desired command according to the type of work and arranging it in a desired order, a work program in a common language that does not depend on the type of work robot is created, and the work program in the common language is used as an information transmission medium. The work robot in the common language is converted into a work program unique to each work robot, and the work robot is controlled based on the unique work program. A method for controlling a work robot, comprising: