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Controller and control method of robot, and robot system

A robot system and control device technology, applied in the field of robot systems, can solve the problems of inability to teach and fit the robot, damage and change of the workpiece, etc.

Active Publication Date: 2018-11-23
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the above-mentioned background art, since a position suitable for insertion is searched for while bringing the two workpieces into contact with each other, it may not be possible to teach the robot an appropriate fitting operation.
In addition, through the exploration action, due to the elastic force and surface friction of the workpiece itself, the holding position of the workpiece may change, which may damage the workpiece

Method used

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  • Controller and control method of robot, and robot system
  • Controller and control method of robot, and robot system
  • Controller and control method of robot, and robot system

Examples

Experimental program
Comparison scheme
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no. 1 approach

[0049] figure 1 is a schematic diagram of the robotic system of one embodiment. This robot system includes a robot 100 , a control device 200 , a teaching box 300 , and a transport device 400 . The robot 100 is a teaching reproduction type robot. Work using the robot 100 is executed in accordance with pre-generated teaching data. In this robot system, a system coordinate system Σs defined by three orthogonal coordinate axes X, Y, and Z is set. exist figure 1 In the example, the X-axis and Y-axis are in the horizontal direction, and the Z-axis is in the vertical direction. The teaching points included in the teaching data and the posture of the end effector are represented by the coordinate values ​​of the system coordinate system Σs and the angles around each axis.

[0050] The robot 100 includes a base 120 and an arm 130 . The arm 130 is sequentially connected by six joints J1 to J6. Among these joints J1 to J6, three joints J2, J3, and J5 are bending joints, and the o...

no. 2 approach

[0085] Figure 15 It is a flowchart showing the teaching data generation procedure in the second embodiment, and is the same as that of the first embodiment. Figure 10 corresponding figure. Figure 16 It is an explanatory diagram showing the state of rotation of the object in the second embodiment. It should be noted that since the configuration of the robot system is the same as that of the first embodiment, description thereof will be omitted. The difference between the second embodiment and the first embodiment is only that steps S135 and S136 are added, and the other procedures are the same as those of the first embodiment.

[0086] When the teaching point search process ends in step S130 ( Figure 11 ), proceed to step S135, and judge whether all the searches have been completed. In the second embodiment, the search process for the teaching point is executed at a plurality of rotation angles around one or more axis directions. For example, regarding rotation of one ...

no. 3 approach

[0089] Figure 17 It is a flowchart showing the teaching data generation procedure in the third embodiment, and is the same as that of the second embodiment. Figure 15 corresponding figure. It should be noted that the configuration of the robot system is the same as that of the first embodiment and the second embodiment, so description thereof will be omitted. The difference between the third embodiment and the second embodiment is only that step S136 is replaced with step S138, and the other procedures are the same as those of the second embodiment.

[0090] When the point search process is taught in step S130 ( Figure 11 ) after the end, proceed to step S135, and judge whether all the explorations have been completed. In the third embodiment, when step S130 is executed for the first time, if the relative position at which the moving distance of the first object OB1 until contact is the longest is obtained, then the process proceeds from step S135 to S138, and the search...

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Abstract

When teaching a robot, at least one processor brings a first object and a second object into contact with each other with a first force by using the robot, and generates teaching data based on the contact. When causing the robot to perform an operation according to the teaching data, the at least one processor causes the first object and the second object to be fitted to each other with a second force greater than the first force, by using the robot.

Description

technical field [0001] The invention relates to a robot control device, a control method and a robot system. Background technique [0002] Japanese Patent Application Laid-Open No. 2014-166681 (JP 2014-166681A) discloses a technique of teaching a robot a fitting operation of two workpieces or objects. In this background art, the motion of a robot in a mating operation is divided into a contact motion, an exploration motion, and an insertion motion, and motion condition parameters in these three motions are adjusted. [0003] However, in the background art described above, since a position suitable for insertion is searched for while bringing the two workpieces into contact with each other, it may not be possible to teach the robot an appropriate fitting operation. In addition, due to the elastic force and surface friction of the workpiece itself, the holding position of the workpiece may change due to the exploration action, which may damage the workpiece. Contents of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/22
CPCB25J9/0081B25J9/16B25J9/161
Inventor 下平泰裕
Owner SEIKO EPSON CORP
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