Controller

Abstract

A controller, for force-controlling a drive source of a controlled object, having a position control circuit inside a force control circuit in order to define a relative position of the controlled object to a workpiece, and a contact force occurred between the workpiece and the controlled object, the controller including a first data acquiring portion for acquiring a time constant of the position control circuit based on a position command value to the drive source and an actual position value, during operations of the controlled object; a second data acquiring portion for acquiring a rigidity value for the controlled object and the workpiece based on a force data obtained when the controlled object is brought into contact with the workpiece; and an automatic gain calculating portion for calculating a force control gain of the force control circuit from the time constant of the position control circuit acquired by the first data acquiring portion and the rigidity value acquired by the second data acquiring portion, under conditions where a time constant of the force control circuit is larger than the time constant of the position control circuit.

Description

technical field [0001] The present invention relates to a control device, which is applied to equipment such as industrial robots or machine tools as control objects for assembly or grinding, and has a position control circuit inside the force control circuit to control the force of the control object. Background technique [0002] Generally, a control device that performs force control on a control object is used to control an industrial robot or the like after setting and adjusting a force control gain of a force control circuit. Force-controlled industrial robots can perform precision operations such as mating of precision-fit parts, phase-focusing of gears, etc., as well as contacting such as grinding using claida. In order for the robot to stably perform such precision work with a short cycle time, it is necessary to appropriately set and adjust the force control gain of the force control circuit. [0003] Since the force control gain is affected by the actual work env...

AI Technical Summary

Problems solved by technology

However, this method has the following problems: it takes a lot of time to restrict and requires skilled

For example, when a rod 41 with a pin is inserted into a hole 42 as shown in FIG. There is no contact in the X and Y directions. When the rod 41 is not inserted into the hole 42, the adjustment of the force control gain in the X and Y directions cannot be performed.

[0006] In addition, as another example, in the operation of inserting a cylindrical target workpiece into a hole, the following problem occurs when the gap is very small: the performance of the force control is poor when starting from a low value of the force control gain. poor to insert

In this way, in the initial stage of force control gain adjustment, although the performance of force control gain is poor, sometimes it is necessary to cooperate with the two components, and the work of setting or adjusting force control gain itself creates contradictions.

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