Robot, robot system, control apparatus, and control method

Abstract

The invention provides a robot, a robot system, a control apparatus and a control method. In order to provide the robot which easily calibrates a manipulator, a robot includes an arm and a force sensor, in which the arm is calibrated by causing the arm to take a plurality of attitudes on the basis of an output value from at least the force sensor in a state in which a part of a first member attached to a tip of the arm is moved so that a distance between the part and a second member becomes a distance of 1 for each of a plurality of second members, the part being provided at a position which is not present on a rotation axis of the tip of the arm.

Description

technical field [0001] The present invention relates to a robot, a robot system, a control device and a control method. Background technique [0002] In order to make robots perform high-precision work, research and development have been carried out on the calibration of robot mechanisms, imaging devices, and work environments. [0003] In this regard, there is known a TCP (Tool Center Point Tool Center Point) in which the manipulator is constrained structurally by some jig without using an external measuring device, or a method of calibrating the manipulator by connecting the manipulators (for example, refer to Patent Document 1. Non-Patent Document 1). [0004] The position of the TCP moving along with the driving of the manipulator can be calculated based on forward kinematics by assigning a rotation angle to each of a plurality of actuators included in the manipulator. However, the actual position of the TCP reached when these actuators are driven to realize the given ...

AI Technical Summary

Problems solved by technology

[0010] However, in the methods described in Patent Document 1 and Non-Patent Document 1, when correcting the manipulator by manual operation, it is necessary to stop the operation of each actuator and change the posture of the manipulator by manual work. takes time and labor

In addition, when the robot is calibrated by driving each actuator, since the calibration of the robot has not been completed, the robot cannot be operated correctly, and the actuators and components constituting the robot cannot be energized while the TCP is bound. It is very difficult to control the manipulator when the load is applied

In addition, in order to constrain the manipulator structurally with certain jigs, a large-scale jig that can withstand the operating load of the manipulator is required, so there is a problem that the installation position of the jig is corrected and portability is impaired.

[0011] In addition, in the robot described in Patent Document 2, if both the first robot and the second robot are not properly calibrated, the work of both the first robot and the second robot cannot be performed correctly.

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