Robot control device, robot control method, and storage medium

Abstract

The present application provides a robot control device, a robot control method and a storage medium capable of setting control parameters in accordance with each work content. The robot control device determines the control parameters based on a table that defines a correspondence relationship between the work content of the work performed by the robot and the level of the control parameters of the robot, in which, as the work content, a first conveying work of conveying an object smaller than a predetermined weight value and a second conveying work of conveying an object equal to or greater than the predetermined weight value are included, and, as the control parameters, with respect to the first conveying work and the second conveying work, an instruction tracking indicating the tracking of the robot to the position instruction and a motion end determination reference indicating the reference for determining the end of the motion of the robot are included, the level of the instruction tracking of the first conveying work is lower than the level of the instruction tracking of the second conveying work, and the level of the motion end determination reference of the first conveying work is higher than the level of the motion end determination reference of the second conveying work.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot control device, a robot control method, and a storage medium. BACKGROUND

[0002] An industrial robot needs to act in accordance with work of each worker. However, work contents differ depending on the worker, and therefore, parameters for causing the robot to act are generally set as initial values as common values that can widely cope with all work areas (movable ranges of the robot). In this way, when set as common parameters, there is an advantage that the robot can act equally to all work areas, but on the contrary, it is difficult to achieve improvement in accuracy of the robot act in a certain specific work area or the like, or to improve accuracy locally. In view of this, a robot control device capable of setting dedicated parameters for a specific work area is disclosed in Patent Literature 1.

[0003] Patent Literature 1: Japanese Patent Application Laid-Open No. 2009-142903

[0004] However, control parameters required by the worker differ depending on the weight, speed, damping, or the like of an object of work performed by the robot. Therefore, in the robot control device, it is required to set control parameters that correspond to the expectation of the worker. In the robot control device of Patent Literature 1, however, it is difficult to cope with this point. SUMMARY

[0005] The robot control device of the present application is a robot control device having a control section that causes a robot to perform work, in which

[0006] the control section determines a control parameter based on a table that defines a correspondence relationship between a work content of the work performed by the robot and a level of the control parameter of the robot,

[0007] in the table, as the work content, a first conveyance work of conveying an object smaller than a predetermined weight value and a second conveyance work of conveying an object equal to or larger than the predetermined weight value are included,

[0008] as the control parameter, an instruction tracking property indicating a tracking property of the robot with respect to a position instruction and an action end determination reference indicating a reference for determining an end of an action of the robot are included with respect to the first conveyance work and the second conveyance work,

[0009] the level of the instruction tracking property of the first conveyance work is lower than the level of the instruction tracking property of the second conveyance work,

[0010] and the level of the action end determination reference of the first conveyance work is higher than the level of the action end determination reference of the second conveyance work.

[0011] The robot control method of the present application determines a control parameter of a robot based on a table that defines a correspondence relationship between a work content performed by the robot and a level of the control parameter of the robot,

[0012] In the table, as the work content, a first conveyance work of conveying an object smaller than a predetermined weight value and a second conveyance work of conveying an object equal to or larger than the predetermined weight value are included,

[0013] As the control parameter, with respect to the first conveyance work and the second conveyance work, an instruction tracking property indicating a tracking property of the robot with respect to a position instruction and a motion end determination reference indicating a reference for determining an end of a motion of the robot are included,

[0014] The level of the instruction tracking property of the first conveyance work is lower than the level of the instruction tracking property of the second conveyance work,

[0015] The level of the motion end determination reference of the first conveyance work is higher than the level of the motion end determination reference of the second conveyance work.

[0016] The robot control program of the present application determines a control parameter of a robot based on a table that defines a correspondence relationship between a work content performed by the robot and a level of the control parameter of the robot,

[0017] In the table, as the work content, a first conveyance work of conveying an object smaller than a predetermined weight value and a second conveyance work of conveying an object equal to or larger than the predetermined weight value are included,

[0018] As the control parameter, with respect to the first conveyance work and the second conveyance work, an instruction tracking property indicating a tracking property of the robot with respect to a position instruction and a motion end determination reference indicating a reference for determining an end of a motion of the robot are included,

[0019] The level of the instruction tracking property of the first conveyance work is lower than the level of the instruction tracking property of the second conveyance work,

[0020] The level of the motion end determination reference of the first conveyance work is higher than the level of the motion end determination reference of the second conveyance work. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a perspective view showing the overall configuration of a robot system according to the preferred embodiment.

[0022] Figure 2 is a diagram showing a table.

[0023] Figure 3 is a graph showing a speed of a control parameter.

[0024] Figure 4 is a graph showing an instruction tracking of a control parameter.

[0025] Figure 5 is a graph showing an action end determination reference of a control parameter.

[0026] Figure 6 is a graph showing an action end determination reference of a control parameter.

[0027] Explanation of Reference Numerals

[0028] 1 … robot system, 2 … robot, 21 … base, 22 … robot arm, 221 … first arm, 222 … second arm, 231 … driving device, 232 … driving device, 233 … driving device, 234 … driving device, 24 … work head, 241 … spline nut, 242 … ball screw nut, 243 … spline shaft, 25 … end effector, 26 … payload, 27 … inertial sensor, 3 … robot control device, 30 … control section, C … controller, E … encoder, J1 … first axis, J2 … second axis, J3 … third axis, M … motor, P0 … current position, P1 … destination position, Pt … robot control program, Sd … position command, T … table, W … object, Δt … work time, Δt1 … time, Δt2 … time, Δp … difference. DETAILED DESCRIPTION

[0029] Hereinafter, the robot control device, the robot control method, and the robot control program of the present application will be described in detail based on a preferred embodiment shown in the accompanying drawings.

[0030] Figure 1 is a perspective view showing the overall configuration of a robot system involved in the preferred embodiment. Figure 2 is a graph showing a table. Figure 3 is a graph showing a speed of a control parameter. Figure 4 is a graph showing an instruction tracking of a control parameter. Figure 5 is a graph showing an action end determination reference of a control parameter. Figure 6 is a graph showing an action end determination reference of a control parameter.

[0031] Figure 1 The robot system 1 shown has a robot 2, and a robot control device 3 that controls the driving of the robot 2.

[0032] Robot 2

[0033] The robot 2 is a horizontal multi-joint robot (SCARA robot), for example, used in each work of holding, conveying, assembling, and inspecting, and the like of workpieces such as electronic parts. However, the use of the robot 2 is not particularly limited. Further, the robot 2 is not limited to the horizontal multi-joint robot, and may, for example, be a 6-axis vertical multi-joint robot.

[0034] The robot 2 has a base 21 fixed to the floor, and a robot arm 22 connected to the base 21. Further, the robot arm 22 has a first arm 221 whose base end portion is connected to the base 21 and can rotate with respect to the base 21 about a first axis Jl, and a second arm 222 whose base end portion is connected to a front end portion of the first arm 221 and can rotate with respect to the first arm 221 about a second axis J2 parallel to the first axis Jl. Further, a work head 24 is provided at a front end portion of the second arm 222.

[0035] The work head 24 has a spline nut 241 and a ball screw nut 242 coaxially arranged at the front end portion of the second arm 222, and a spline shaft 243 inserted through the spline nut 241 and the ball screw nut 242. The spline shaft 243 can rotate with respect to the second arm 222 about a third axis J3 as a center axis, and can be raised and lowered in a direction along the third axis J3. Note that the third axis J3 is parallel to the first axis Jl and the second axis J2.

[0036] A payload 26 for mounting an end effector 25 is provided at a lower end portion of the spline shaft 243. The end effector 25 mounted to the payload 26 is not particularly limited, and can be appropriately selected in accordance with the work content, but in the present embodiment, a gripper that sucks and holds an object W is used.

[0037] Further, an inertial sensor 27 is arranged in the payload 26, and can detect an acceleration and an angular velocity applied to the front end of the robot arm 22.

[0038] Further, a drive device 231 that rotates the first arm 221 with respect to the base 21 about the first axis Jl is provided in the base 21. Further, a drive device 232 that rotates the second arm 222 with respect to the first arm 221 about the second axis J2, a drive device 233 that rotates the spline nut 241 and rotates the spline shaft 243 about the third axis J3, and a drive device 234 that rotates the ball screw nut 242 and raises and lowers the spline shaft 243 in the direction along the third axis J3 are provided in the second arm 222.

[0039] Each of the drive devices 231, 232, 233, and 234 has a motor M as a drive source, a controller C that controls the drive of the motor M, and an encoder E that detects the rotation amount of the motor M, and the motor M is driven by servo control that feeds back the output of the encoder E.

[0040] Robot control device 3

[0041] The robot control device 3 has a control unit 30, which controls the drive of the drive devices 231, 232, 233, 234 and the end effector 25 individually based on position commands Sd from a host computer (not shown), so that the robot 2 can perform a predetermined task.

[0042] The robot control device 3, for example, is a computer, having a processor for processing information, a memory connected to the processor in a communicative manner, and an external interface for connecting to external devices. The memory stores a robot control program Pt that can be executed by the processor. The processor reads the robot control program Pt stored in the memory and executes the control method described below.

[0043] Here, in order for robot 2 to perform actions, it is necessary to pre-set various control parameters required for robot 2's control, such as the robot arm 22's range of motion, speed, command tracking performance, and action termination criteria. In the field of robotics, manufacturers typically set these control parameters appropriately at the factory, considering factors such as safety and operability. However, the tasks performed by robot 2 vary from operator to operator, and the optimal control parameters also differ depending on the task. Therefore, manufacturers generally set universal control parameters as initial values ​​to ensure broad applicability to various tasks.

[0044] However, the general control parameters may not be accurate enough to meet the operator's requirements. Although the operator can change the control parameters according to the task content, sufficient knowledge of robot control is required in this case. Therefore, the robot control device 3 is configured to store a table T and set the control parameters based on the table T. The table T has multiple task contents, and the control parameters for each task content correspond to each other.

[0045] like Figure 2 As shown, Table T includes a first conveying operation for transporting objects W with a weight less than a predetermined value, and a second conveying operation for transporting objects W with a weight greater than the predetermined value. It should be noted that the predetermined weight value can be set based on the characteristics of the robot 2, particularly its transportable weight; for example, it can be set to 50% of the transportable weight.

[0046] Further, in the table T, with respect to the first and second conveyance operations, there are control parameters suitable for the operations, respectively. Further, as the control parameters, the table T includes a speed, an instruction followability, and an action end determination reference, each of which is selected from three levels of "high", "medium", and "low". That is, in the table T, a correspondence relationship of the operation contents and the levels of the control parameters is defined. However, the number of the levels is not particularly limited, and can be two, or four or more, or can be substantially no level stages.

[0047] The speed included in the control parameter indicates a speed of the robot arm 22, as shown in Figure 3 The higher the level is, the faster the speed of the robot arm 22 is. Therefore, the higher the level of the speed is, the shorter the time Atl from the current position P0 to the arrival at the destination position Pl of the robot 2 is. Note that the speed includes at least one of an absolute speed, an acceleration, a deceleration, an angular acceleration, and an angular deceleration.

[0048] Further, the instruction followability indicates a followability of the robot 2 to the position instruction Sd, as shown in Figure 4 The higher the level is, the higher the followability of the robot 2 to the position instruction Sd is. Therefore, the higher the level of the instruction followability is, the smaller the difference Ap of the position based on the position instruction Sd and the actual position in the movement to the destination position Pl is, and the shorter the time At2 from the arrival of the robot arm 22 at the destination position Pl to the determination of the end of the action is.

[0049] Further, the action end determination reference indicates a reference for determining the end of one action of the robot 2, and in a case where an amplitude of a residual vibration (hereinafter, also referred to as "residual vibration") remaining after the robot arm 22 arrives at the destination position Pl is equal to or less than a predetermined value, it is determined that the action has ended. That is, as shown in Figure 5 The higher the level of the action end determination reference is, the smaller the amplitude is, and the longer the time At2 from the arrival of the robot arm 22 at the destination position Pl to the determination of the end of the action is.

[0050] The detection method of the actual position of the robot arm 22 and the residual vibration is not particularly limited. For example, the detection can be performed based on an output of the inertial sensor 27. Further, the detection can be performed based on an output from an encoder E included in the driving device 231, 232, 233, 234. According to such a detection method, the actual position of the robot arm 22 and the residual vibration can be detected easily and with high accuracy.

[0051] The operation time Δt taken for one motion of the robot 2 is determined from the total of the time Δtl from the current position P0 to reaching the target position Pl, and the time Δt2 from reaching the target position Pl until the motion is determined to be complete. That is, Δt = Δtl + Δt2. Note that the faster the speed, the higher the level of command tracking, the faster the robot 2, and therefore the shorter the time Δtl, and on the other hand, since the residual vibration becomes larger, there is a tendency for the time Δt2 to become longer. Conversely, the slower the speed, the lower the level of command tracking, the slower the robot 2, and therefore the longer the time Δtl, and on the other hand, since the residual vibration becomes smaller, there is a tendency for the time Δt2 to become shorter.

[0052] Note that the motion completion determination reference is not limited to the amplitude of the residual vibration described above, and it can be determined that the motion has been completed in the case where the difference Δp between the target position Pl and the actual position is below a predetermined value. That is, as shown in FIG. 6, the higher the level of the motion completion determination reference, the smaller the difference Δp, and the longer the operation time Δt. With this detection method, the actual position of the robot arm 22 and the residual vibration can also be detected easily and with good accuracy. Figure 6

[0053] Depending on the operation content, there are cases where the operation time Δt is prioritized over the position accuracy, and in such cases, it is preferable to increase the level of the speed and the level of the command tracking, and to decrease the level of the motion completion determination reference. Further, depending on the operation content, there are cases where the position accuracy is prioritized over the operation time Δt, and in such cases, it is preferable to decrease the level of the speed and the level of the command tracking, and to increase the level of the motion completion determination reference. In this way, the preferable control parameters differ depending on the operation content.

[0054] In the first conveyance operation, and in particular in the case where the operation of conveying the object W from the tray to the other tray is repeatedly performed a plurality of times at short time intervals, it is necessary to repeatedly perform the same motion at short time intervals. Therefore, it is effective to increase the level of the speed and the level of the command tracking. Further, excellent position accuracy is required when the object W is gripped from the tray, and when the gripped object W is placed on the other tray. Therefore, it is preferable to increase the level of the motion completion determination reference to some extent while avoiding the operation time Δt from becoming too long. With the above processing, as shown in FIG. 6, in the table T, the control parameters for the first conveyance operation are set to the speed "high", the command tracking "medium", and the motion completion determination reference "medium" as initial values. Figure 2

[0055] ​​On the other hand, in the second conveyance operation, in which, in particular, the object W is conveyed from the first location to the vicinity of the second location, since high positional accuracy is not required, it is preferable to lower the level of the operation end determination reference, and realize shortening of the operation time Δt. Further, since the influence of residual vibration is small, it is preferable to increase the level of the speed and the instruction followability, and realize shortening of the operation time Δt. By the above processing, as shown in FIG. 8, as initial values, the control parameters of the second conveyance operation are set to "high" for the speed, "high" for the instruction followability, and "low" for the operation end determination reference. Figure 2

[0056] Thus, the level of the instruction followability of the first conveyance operation is lower than the level of the instruction followability of the second conveyance operation, and the level of the operation end determination reference of the first conveyance operation is higher than the level of the operation end determination reference of the second conveyance operation. Thereby, the first and second conveyance operations can be performed with appropriate control parameters, respectively.

[0057] However, the levels of the respective items of the control parameters of the first conveyance operation are not particularly limited as long as the level of the instruction followability is first conveyance operation < second conveyance operation, and the level of the operation end determination reference is first conveyance operation > second conveyance operation. For example, there is a case where the level of the speed is set to "medium", "small", and the level of the instruction followability is set to "small" to realize shortening of the operation time Δt, according to the conveyance distance of the object W. In this case, the level of the speed can be set to "medium", "small", and the level of the instruction followability can be set to "small". Further, in a case where the operation time Δt is sufficiently short compared to the target, in order to realize further improvement of the positional accuracy, the level of the operation end determination reference can be set to "high".

[0058] Similarly, the levels of the respective items of the control parameters of the second conveyance operation are not particularly limited as long as the level of the instruction followability is first conveyance operation < second conveyance operation, and the level of the operation end determination reference is first conveyance operation > second conveyance operation. For example, a larger inertia is applied to the object W, and residual vibration also easily becomes large. Therefore, in a case where the speed and the instruction followability are set to "medium" to realize shortening of the operation time Δt, the speed and the instruction followability can be set to "medium". Further, in a case where positional accuracy is required, the operation end determination reference can be set to "medium".

[0059] The above describes the table T. The robot control device 3 determines the control parameters based on such a table T. Representatively, there is a first determination method of comparing the table T with the operation content received from the operator to determine the control parameters, and a second determination method of comparing the weight of the object W measured by the robot control device 3 with the table T to determine the control parameters. ​

[0060] In the first determination method, the robot control device 3 displays a graphical interface on a display device such as a monitor, and the operator selects the work content through the graphical interface. In a case where the work content is received from the operator through the graphical interface, the robot control device 3 sets the control parameter of the selected work content as the control parameter of the robot 2. Alternatively, the operator inputs the weight of the object W through the graphical interface. In a case where the input is received, the robot control device 3 selects one of the first and second transport works based on the input result, and sets the control parameter of the selected work as the control parameter of the robot 2. Note that the first determination method is not particularly limited.

[0061] In the second determination method, for example, the robot control device 3 causes the robot 2 to actually transport the object W, and measures the weight of the object W based on the output from the inertial sensor 27 at that time. In addition, it is determined whether the object W is smaller than or equal to a predetermined weight value based on the measurement result, and the control parameter of the work content corresponding to the determination result is set as the control parameter of the robot 2. Note that the robot 2 can also have a weight sensor that measures the weight of the object W. Note that the second determination method is not particularly limited.

[0062] According to such a robot control device 3, it is possible to set the control parameter that matches each work content. Therefore, each work can be efficiently performed. In addition, by selecting the target work content or a work content close to the target work content from among a plurality of work contents set in advance, that is, by automatically setting the control parameter suitable for the work, even an operator who lacks knowledge about robot control can easily set the control parameter suitable for the work content. In addition, it is also possible to automatically set the control parameter suitable for the work based on the measurement result of the weight of the object W without causing the operator to select the work content.

[0063] In addition, the robot control device 3 can change each item of the control parameter stored in the table T, that is, the speed, the command followability, and the level of the work end determination criterion, according to a request from the operator. The operator can request a change in the control parameter set in the table T, for example, through the graphical interface displayed on the display device. The robot control device 3 changes the level of each item according to the request from the operator. According to such a configuration, it is possible to set the control parameter that is specific to the work content of the operator.

[0064] In particular, in the present embodiment, each item of the control parameter is selected from among three levels of “high”, “medium”, and “low”, and therefore even an operator who lacks knowledge about robot control can intuitively and easily change the control parameter. Note that the change in the control parameter can also be performed automatically by the robot control device 3 based on the work result of the robot 2.

[0065] The above describes the robot system 1. Such a robot system 1 has the robot control device 3 having the control section 30 that causes the robot 2 to perform the work. Further, the control section 30 determines the control parameter based on the table T that defines the correspondence relation of the work content of the work performed by the robot 2 and the level of the control parameter of the robot 2. Moreover, in the table T, as the work content, the first conveyance work of conveying the object W less than a predetermined weight value and the second conveyance work of conveying the object W of the predetermined weight value or more are included, and as the control parameter, the instruction followability indicating the followability of the robot 2 to the position instruction Sd and the motion end determination reference indicating the reference to determine the end of the motion of the robot 2 are included with respect to the first and second conveyance works. Further, the level of the instruction followability of the first conveyance work is lower than the level of the instruction followability of the second conveyance work, and the level of the motion end determination reference of the first conveyance work is higher than the level of the motion end determination reference of the second conveyance work.

[0066] Thus, the first and second conveyance works can be performed according to appropriate control parameters, respectively. Moreover, for example, by selecting only the target work content or the work content close to the target work content from among the first and second conveyance works or by inputting only the weight of the object W, the control parameter appropriate for the work is automatically set, and thus even a worker who lacks knowledge about robot control can easily set the control parameter appropriate for the work content.

[0067] Further, as described above, the motion end determination reference is based on the difference Δp of the target position P1 according to the position instruction Sd and the actual position, and the higher the level of the motion end determination reference, the smaller the difference Δp. Thus, the first and second conveyance works can be performed according to appropriate control parameters, respectively.

[0068] Further, as described above, the motion end determination reference is based on the amplitude of the residual vibration, and the higher the level of the motion end determination reference, the smaller the amplitude. Thus, the first and second conveyance works can be performed according to appropriate control parameters, respectively.

[0069] Further, as described above, the level of the instruction followability can be changed according to the request from the worker. Thus, the level of the instruction followability specific to the work content of the worker can be set. In particular, in the present embodiment, the instruction followability is selected from among three levels of "high", "medium", and "low", and thus even a worker who lacks knowledge about robot control can intuitively and easily change the change of the level of the instruction followability.

[0070] Further, as described above, the level of the motion end determination criterion can be changed according to a request from the worker. Thereby, the level of the motion end determination criterion specific to the work content of the worker can be set. In the present embodiment, the motion end determination criterion is selected from the three levels of "high", "medium", and "low", and therefore even a worker who lacks knowledge about robot control can intuitively and easily change the change of the motion end determination criterion.

[0071] Further, as described above, the robot control method determines the control parameter based on the table T that defines a correspondence relationship of the work content to be performed by the robot 2 and the level of the control parameter of the robot 2. Further, in the table T, as the work content, the first conveyance work of conveying the object W smaller than a predetermined weight value and the second conveyance work of conveying the object W equal to or larger than the predetermined weight value are included, and as the control parameter, the instruction tracking indicating the tracking of the robot 2 to the position instruction Sd and the motion end determination criterion indicating the criterion of determining the end of the motion of the robot 2 are included with respect to the first and second conveyance works. In addition, the level of the instruction tracking of the first conveyance work is lower than the level of the instruction tracking of the second conveyance work, and the level of the motion end determination criterion of the first conveyance work is higher than the level of the motion end determination criterion of the second conveyance work.

[0072] Thereby, the first and second conveyance works can be performed according to appropriate control parameters, respectively. Further, for example, by selecting only the target work content or the work content close to the target work content from among the first and second conveyance works or by inputting only the weight of the object W, the control parameter appropriate for the work is automatically set, and therefore even a worker who lacks knowledge about robot control can easily set the control parameter appropriate for the work content.

[0073] Further, as described above, the robot control program Pt determines the control parameter based on the table T that defines a correspondence relationship of the work content to be performed by the robot 2 and the level of the control parameter of the robot 2. Further, in the table T, as the work content, the first conveyance work of conveying the object W smaller than a predetermined weight value and the second conveyance work of conveying the object W equal to or larger than the predetermined weight value are included, and as the control parameter, the instruction tracking indicating the tracking of the robot 2 to the position instruction Sd and the motion end determination criterion indicating the criterion of determining the end of the motion of the robot 2 are included with respect to the first and second conveyance works. In addition, the level of the instruction tracking of the first conveyance work is lower than the level of the instruction tracking of the second conveyance work, and the level of the motion end determination criterion of the first conveyance work is higher than the level of the motion end determination criterion of the second conveyance work.

[0074] Thus, the first and second conveyance operations can be performed in accordance with appropriate control parameters, respectively. Further, for example, by selecting only a target operation content or an operation content close to the target operation content from among the first and second conveyance operations, or by inputting only the weight of the object W, the control parameters appropriate for the operation are automatically set, and thus even an operator who lacks knowledge about robot control can easily set control parameters appropriate for the operation content.

[0075] The robot control device, the robot control method, and the robot control program of the present application have been described above based on the illustrated embodiments, but the present application is not limited thereto, and the configurations of the respective units can be replaced with any configurations having the same functions. Further, other arbitrary configurations can be added to the present application.

Claims

1. A robot control device characterized by, the robot control device having a control section that causes a robot to perform work, the control section determining a control parameter of the robot based on a table that defines a correspondence relationship between a work content of the work performed by the robot and a level of the control parameter of the robot, in the table, as the work content, including a first conveyance work of conveying an object smaller than a predetermined weight value, and a second conveyance work of conveying an object of the predetermined weight value or more, as the control parameter, including, with respect to the first conveyance work and the second conveyance work, an instruction tracking indicating a tracking of the robot with respect to a position instruction, and a motion end determination reference indicating a reference for determining an end of a motion of the robot, the level of the instruction tracking of the first conveyance work is lower than the level of the instruction tracking of the second conveyance work, the level of the motion end determination reference of the first conveyance work is higher than the level of the motion end determination reference of the second conveyance work.

2. The robot control device according to claim 1, characterized in that, the motion end determination reference is based on a difference between a target position according to the position instruction and an actual position, the higher the level of the motion end determination reference, the smaller the difference.

3. The robot control device according to claim 1, characterized in that, the motion end determination reference is based on an amplitude of a residual vibration, the higher the level of the motion end determination reference, the smaller the amplitude.

4. The robot control device according to any one of claims 1 to 3, characterized in that, the level of the instruction tracking is changeable according to a request from a worker.

5. The robot control device according to any one of claims 1 to 3, characterized in that, the level of the motion end determination reference is changeable according to a request from a worker.

6. A robot control method characterized by, determining a control parameter of a robot based on a table that defines a correspondence relationship between a work content of a work performed by the robot and a level of the control parameter of the robot, in the table, as the work content, including a first conveyance work of conveying an object smaller than a predetermined weight value, and a second conveyance work of conveying an object of the predetermined weight value or more, as the control parameter, including, with respect to the first conveyance work and the second conveyance work, an instruction tracking indicating a tracking of the robot with respect to a position instruction, and a motion end determination reference indicating a reference for determining an end of a motion of the robot, the level of the instruction tracking of the first conveyance work is lower than the level of the instruction tracking of the second conveyance work, the level of the motion end determination reference of the first conveyance work is higher than the level of the motion end determination reference of the second conveyance work.

7. A storage medium, characterized by storing a robot control program, the robot control program determining a control parameter of a robot based on a table that defines a correspondence relationship between a work content of a work performed by the robot and a level of the control parameter of the robot, In the table, as the job contents, a first conveyance job of conveying an object smaller than a predetermined weight value and a second conveyance job of conveying an object equal to or larger than the predetermined weight value are included, As the control parameters, an instruction tracking property indicating a tracking property of the robot with respect to a position instruction and a movement end determination reference indicating a reference for determining an end of a movement of the robot are included with respect to the first conveyance job and the second conveyance job, A level of the instruction tracking property of the first conveyance job is lower than a level of the instruction tracking property of the second conveyance job, A level of the movement end determination reference of the first conveyance job is higher than a level of the movement end determination reference of the second conveyance job.

Images