Apparatus and method for controlling robot arm, robot, program for controlling robot arm, and integrated electronic circuit

Abstract

An apparatus for controlling a robot arm performs operations using a robot arm (5) by controlling the movement of the robot arm (5). The apparatus corrects movement information by means of a movement correcting section (20), corresponding to movement correcting information relating to a method for correcting the movement information relating to the movement of the robot arm with respect to the operations performed to the robot arm by a human, and a human force detected by a force detecting section (53), while the robot arm (5) is moving.

Description

technical field [0001] The present invention relates to a control device and a control method of a robot arm for generating and teaching the motion of a robot, a robot having a control device for the robot arm, a program of the robot arm, and an integrated electronic circuit. Background technique [0002] In recent years, home robots such as care robots and housework support robots have been actively developed. Unlike industrial robots, home robots must be operated by amateurs at home, so it is necessary to be able to teach motion easily. Furthermore, since the operating environment during robot work is also varied depending on the household, it is necessary to flexibly respond to the household environment. [0003] As an example of the teaching method of the robot device, a force sensor is attached to the wrist of the robot, etc., and the teacher directly holds the handle attached to the front end of the force sensor, guides the robot to the teaching point, and performs te...

AI Technical Summary

Problems solved by technology

[0010] However, this method has the following problem in comparison with the conventional teaching at the time of stop in order to perform motion correction by human operation during the robot motion: the motion parameters input by humans fluctuate and cannot be performed smoothly. Perform movement correction

For example, when the speed of the movement is fast, in terms of the movement correction performed by the person, especially at the start and end of the operation, the human finger is also corrected including the shaking, and the movement cannot be performed smoothly. to correct

Furthermore, since it can be corrected by a person during the movement, even a section where a large amount of force is applied instantaneously by mistake, such as when a person accidentally collides, will be corrected, and accurate correction cannot be performed.

In addition, when it is desired to correct only the force applied to the work object, errors such as position and speed are also corrected at the same time, and motion correction cannot be performed accurately.

In addition, the movement of the human is also directed to the direction of acceleration or deceleration of the movement of the robot arm, which cannot be corrected accurately by humans.

Furthermore, when correction is performed as a repetitive motion, the repetitive motion fluctuates depending on the application of human force, and accurate correction cannot be performed.

In addition, if humans do not understand the characteristics of the range of motion of the robot arm in detail, it is impossible to correct the desired motion in the vicinity of the range of motion for manipulation.

In addition, in the case of elderly people, handicapped people, children, etc., if the force to be applied to the work object is insufficient, accurate correction cannot be made.

Similarly, when it is desired to move a robot arm at a high speed, it cannot be corrected accurately when a human cannot operate at that speed.

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