Robot control device

A control device, robot technology, applied in program control, general control system, control/regulation system, etc., can solve problems such as interference, low detection sensitivity, and inability to detect the force exerted by the robot hand

Inactive Publication Date: 2008-08-13
FANUC LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0013] However, the technology using servo motors has the following problems: because it detects the load applied to the joints of the robot, the detection sensitivity is low. In addition, in the technology using touch sensors, there are problems of interference between the touch sensor and the workpiece, and the inability to detect objects. The problem with the forces exerted by the robotic hand

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Embodiment Construction

[0034] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following drawings, the same reference signs are attached to the same components. For easy understanding, the scales of these drawings are appropriately changed.

[0035] FIG. 1 is a diagram showing the overall configuration of a robot controller and a robot according to the present invention. FIG. 1 shows an articulated robot 1 . As shown in the figure, a six-axis force sensor 2 is attached to the wrist of the robot 1 , and a hand 5 for gripping a workpiece or the like is attached to the front end side of the force sensor 21 .

[0036] The articulated robot 1 shown in FIG. 1 can freely change the posture of the wrist, so that the workpiece grasped by the hand 5 can be arranged in a desired direction. The six-axis force sensor 2 can detect the force in the directions of the three orthogonal axes (X, Y, Z) and the rotational moment (Mx, My, Mz) of each axis in th...

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Abstract

The present invention relates to a robot control device, which has a designated speed adjustment unit that adjusts the designated speed included in the program to be lower than the designated speed, and further includes: an interpretation unit that interprets the speed based on the detection value of the force sensor attached to the wrist of the robot. The movement stop command that stops the movement of the robot; the movement instruction unit generates a movement instruction that causes the robot to move in the direction specified by the program at the specified speed contained in the program, and the specified speed adjustment unit does not work; the force calculation unit generates the movement command when the robot starts to move The detection value of the force sensor is used as a reference value, and the change from the reference value is calculated as the current value of the force; the comparison unit, during the movement of the robot, repeatedly calculates the current value of the force calculated by the force calculation unit within a predetermined period and the predetermined force designation value comparison. When the force current value exceeds the specified force value, the movement command unit stops the robot. This makes it possible to detect an external force on the robot with high sensitivity and stop the robot with high precision.

Description

technical field [0001] The present invention relates to a robot control device for controlling a robot such as an industrial robot, and more particularly to a robot control device for stopping the movement of the robot based on a force detection value of a force sensor mounted on the robot's wrist when the robot is moving. Background technique [0002] Generally, the robot controller stops the movement of the robot when it detects that the robot hand has come into contact with another object and received an external force. For example, JP-A-7-24665 discloses that the robot is stopped when the detection value of a force sensor attached to the wrist of an orthogonal robot exceeds a threshold value. [0003] In addition, Japanese Patent Application Laid-Open No. 3-49886 discloses that in a robot equipped with a force sensor, force control is performed using feedback control of force sensor detection information, force feedback is stopped during a movement command, and when the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J9/16B25J19/02
CPCB25J9/1648G05B2219/39082G05B2219/39325G05B2219/39529G05B2219/49141
Inventor 坂野哲朗
Owner FANUC LTD
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