System and method for judging success or failure of work of robot
A technology for judging systems and robots, applied in general control systems, control/regulation systems, instruments, etc., and can solve problems such as judging the success or failure of operations
Inactive Publication Date: 2015-07-08
YASKAWA DENKI KK
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Problems solved by technology
[0006] However, in the conventional method, it is impossible to determine the success or failure of the work without being affected by the surrounding environment, without obstructing the work, and without being affected by individual differences in workpieces and the presence or absence of latches.
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Embodiment Construction
[0015] The robot work success / failure judging system according to the embodiment includes a position command generating unit, a contact position detecting unit, and a work success / failure judging unit. The position command generation unit generates a position command after the robot performs a predetermined operation on the work object, and the position command is used to move the fingertip of the robot so that the position and posture of the fingertip mounted on the robot and having an elastic deformation region The detection unit contacts a predetermined position associated with the work object. The contact position detection unit calculates the contact position based on the value of the external force applied to the fingertip and the position of the tip of the position and posture detection unit when the predetermined position is touched. The work success / failure determination unit determines that the scheduled work has succeeded when the calculated contact position is with...
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A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success / failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit. The work success / failure judging unit judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.
Description
technical field [0001] The embodiments disclosed in the present invention relate to a system and a method for judging the success or failure of a robot operation. Background technique [0002] When automation of assembly and fitting is performed using a working robot, the robot itself may judge the success or failure of the work after the work is completed. [0003] Conventional methods for checking the status of work objects can be divided into methods for checking after the work is completed and methods for checking during work. As a method of checking after the work is completed, there is a method of measuring the work object in a non-contact manner with a three-dimensional vision sensor (for example, International Publication WO98 / 17444). [0004] In addition, there is also a method of holding the object to be assembled by hand again after assembly, and comparing the force sense information of the process with the force sense information of success (for example, Japanes...
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IPC IPC(8): B25J13/08B25J9/16B25J19/04
CPCB25J9/1633G05B19/401
Inventor 永田英夫井上康之神谷阳介
Owner YASKAWA DENKI KK