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 a control parameter based on a table that defines a correspondence relationship between a work content of a work performed by a robot and a level of a control parameter of the robot, in the table, as the work content, a transport work of transporting an object and an assembly work of assembling an object are included, as the control parameter, with respect to the transport work and the assembly work, a speed, an instruction tracking property, and a motion end determination reference of the robot are included respectively, the level of the speed of the transport work is higher than the level of the speed of the assembly work, the level of the instruction tracking property of the transport work is lower than the level of the instruction tracking property of the assembly work, and the level of the motion end determination reference of the transport work is lower than the level of the motion end determination reference of the assembly 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 by 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 robot actuation and the like in a certain specific work area, 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, depending on the type of work performed by the robot, control parameters required by the worker such as speed and damping also differ. Therefore, in the robot control device, it is required to set control parameters that correspond to the expectations 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,

[0006] the control section determines the control parameters based on a table that defines a correspondence relationship between work contents of the work performed by the robot and levels of the control parameters of the robot,

[0007] in the table, as the work contents, a conveyance work of conveying an object, and an assembly work of assembling the object are included,

[0008] as the control parameters, for the conveyance work and the assembly work, respectively, a speed of the robot, an instruction tracking property that indicates a tracking property of the robot with respect to a position command, and an actuation end determination reference that indicates a reference for determining an end of actuation of the robot are included,

[0009] the level of the speed of the conveyance work is higher than the level of the speed of the assembly work,

[0010] the level of the instruction tracking property of the conveyance work is lower than the level of the instruction tracking property of the assembly work,

[0011] The level of the action end determination reference of the conveyance work is lower than the level of the action end determination reference of the assembly work.

[0012] The robot control method of the present application determines the 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,

[0013] In the table, as the work content, a conveyance work of conveying an object and an assembly work of assembling the object are included,

[0014] As the control parameter, for the conveyance work and the assembly work, a speed of the robot, an instruction tracking property that indicates a tracking property of the robot with respect to a position instruction, and an action end determination reference that indicates a reference for determining an end of an action of the robot are included,

[0015] The level of the speed of the conveyance work is higher than the level of the speed of the assembly work,

[0016] The level of the instruction tracking property of the conveyance work is lower than the level of the instruction tracking property of the assembly work,

[0017] The level of the action end determination reference of the conveyance work is lower than the level of the action end determination reference of the assembly work.

[0018] The robot control program of the present application determines the 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,

[0019] In the table, as the work content, a conveyance work of conveying an object and an assembly work of assembling the object are included,

[0020] As the control parameter, for the conveyance work and the assembly work, a speed of the robot, an instruction tracking property that indicates a tracking property of the robot with respect to a position instruction, and an action end determination reference that indicates a reference for determining an end of an action of the robot are included,

[0021] The level of the speed of the conveyance work is higher than the level of the speed of the assembly work,

[0022] The level of the instruction tracking property of the conveyance work is lower than the level of the instruction tracking property of the assembly work,

[0023] The level of the action end determination reference of the conveyance work is lower than the level of the action end determination reference of the assembly work. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a perspective view showing the overall configuration of a robot system according to the preferred embodiment.

[0025] Figure 2 is a graph showing a table.

[0026] Figure 3 is a graph showing the speed of a control parameter.

[0027] Figure 4 is a graph showing the instruction tracking of a control parameter.

[0028] Figure 5 is a graph showing the action end determination reference of a control parameter.

[0029] Figure 6 is a graph showing the action end determination reference of a control parameter.

[0030] BRIEF DESCRIPTION OF DRAWINGS

[0031] 1... robot system, 2... robot, 21... base, 22... robot arm, 221... first arm, 222... second arm, 231... drive device, 232... drive device, 233... drive device, 234... drive device, 24... work head, 241... spline nut, 242... ball screw nut, 243... spline shaft, 25... end effector, 26... payload, 27... inertia 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, At... work time, At1... time, At2... time, Ap... difference. DETAILED DESCRIPTION

[0032] Hereinafter, the robot control device, the robot control method, and the robot control program according to the present application will be described in detail based on the preferred embodiment shown in the accompanying drawings.

[0033] Figure 1 is a perspective view showing the overall configuration of a robot system according to the preferred embodiment. Figure 2 is a graph showing a table. Figure 3 is a graph showing the speed of a control parameter. Figure 4 is a graph showing the instruction tracking of a control parameter. Figure 5 is a graph showing the action end determination reference of a control parameter. Figure 6 is a graph showing the action end determination reference of a control parameter.

[0034] Figure 1The illustrated robot system 1 has a robot 2, and a robot control device 3 that controls driving of the robot 2.

[0035] Robot 2

[0036] 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 electronic components and the like workpieces. However, the use of the robot 2 is not particularly limited. In addition, the robot 2 is not limited to a horizontal multi-joint robot, and may, for example, be a 6-axis vertical multi-joint robot.

[0037] The robot 2 has a base 21 fixed to the ground, and a robot arm 22 connected to the base 21. In addition, 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 J1, 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 J1. In addition, a work head 24 is provided at a front end portion of the second arm 222.

[0038] 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 J1 and the second axis J2.

[0039] 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 according to the work content, but in the present embodiment, a gripper that sucks and holds an object W is used.

[0040] In addition, an inertial sensor 27 is arranged in the payload 26, and can detect acceleration and angular velocity applied to the front end of the robot arm 22.

[0041] In addition, a driving device 231 that can rotate the first arm 221 with respect to the base 21 about the first axis J1 is provided in the base 21. In addition, a driving device 232 that rotates the second arm 222 with respect to the first arm 221 about the second axis J2, a driving device 233 that rotates the spline nut 241 and rotates the spline shaft 243 about the third axis J3, and a driving 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.

[0042] Each drive unit 231, 232, 233, and 234 has a motor M as a drive source, a controller C for controlling the drive of the motor M, and an encoder E for detecting the rotation amount of the motor M. The motor M is driven by servo control that feeds back the output of the encoder E.

[0043] Robot control device 3

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] like Figure 2 As shown, Table T includes the conveying operation of object W and the assembly operation of object W as the work content. It should be noted that there is no particular limitation on the assembly operation, but for example, operations such as assembling object W to other parts by means of thread fixing, screw engagement, fitting, etc., operations of forming holes in object W by means of drill bit, etc., operations of deforming object W by means of pressing, bending, etc.

[0049] Further, in the table T, with respect to the conveyance work and the assembly, there are control parameters suitable for the work, respectively. Further, as the control parameters, the table T includes a speed, an instruction tracking property, 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 work content and the level of the control parameter 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.

[0050] 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 At1 from the current position P0 to the arrival at the destination position P1 of the robot arm 22 is. Note that the speed includes at least one of an absolute speed, an acceleration, a deceleration, an angular acceleration, and an angular deceleration.

[0051] Further, the instruction tracking property indicates a tracking property of the robot 2 with respect to the position instruction Sd, as shown in Figure 4 The higher the level is, the higher the tracking property of the robot 2 with respect to the position instruction Sd is. Therefore, the higher the level of the instruction tracking property 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 P1 is, and the shorter the time At1 from the current position P0 to the arrival at the destination position P1 of the robot arm 22 is.

[0052] 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 P1 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 P1 to the determination of the end of the action is.

[0053] 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.

[0054] Thus, 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 the time of reaching the target position Pl, and the time Δt2 from the time of reaching the target position Pl to the time of determining that the motion is completed. That is, Δt = Δtl + Δt2. Note that the faster the speed, the higher the level of command followability, and thus the faster the robot 2, so the time Δtl becomes shorter, while on the other hand, because 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 followability, and thus the slower the robot 2, so the time Δtl becomes longer, while on the other hand, because the residual vibration becomes smaller, there is a tendency for the time Δt2 to become shorter.

[0055] Note that the motion completion determination reference is not limited to the amplitude of the residual vibration described above, but can also be determined to have completed the motion in the case where the difference Δp between the target position Pl and the actual position is equal to or less than 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. Figure 6

[0056] Depending on the operation content, there are cases where the operation time Δt is prioritized over the position accuracy, in which case it is preferable to increase the level of the speed and the command followability and 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, in which case it is preferable to decrease the level of the speed and the command followability and increase the level of the motion completion determination reference. Thus, the preferable control parameters differ depending on the operation content.

[0057] In the conveyance operation, a high operation speed is required. Therefore, it is effective to increase the level of the speed and the command followability, respectively. Thereby, it is possible to shorten the operation time Δt, and it is possible to repeatedly perform the conveyance operation a plurality of times at short time intervals. Further, in the conveyance operation, a high position accuracy is required when gripping the object W and when placing the gripped object W. Therefore, it is effective to increase the level of the motion completion determination reference to some extent while avoiding an excessively long operation time Δt. By the above processing, as shown in FIG. 7, in the control parameters of the conveyance operation, the speed is set to "high", the command followability is set to "medium", and the motion completion determination reference is set to "medium". Figure 2

[0058] ​​On the other hand, in the assembly work, a positional deviation directly leads to a decrease in assembly accuracy, and thus high command tracking is required. Therefore, increasing the level of command tracking is effective. Thus, the difference Δp between the position command Sd and the actual position becomes small, and the assembly work can be performed with excellent accuracy. Further, in the assembly work, it is effective to decrease the level of speed for the purpose of improving assembly accuracy, and to cause the robot 2 to move slowly. Further, in the assembly work, it is effective to increase the level of the motion end determination reference for the purpose of improving assembly accuracy, and to cause the robot 2 to perform the next motion in a state in which residual vibration is less. Through the above processing, as shown in FIG. 8, in the control parameters of the assembly work, the speed is set to "low", the command tracking is set to "high", and the motion end determination reference is set to "high". Figure 2

[0059] The level of speed of the conveyance work is higher than the level of speed of the assembly work, the level of command tracking of the conveyance work is lower than the level of command tracking of the assembly work, and the level of the motion end determination reference of the conveyance work is lower than the level of the motion end determination reference of the assembly work. Thus, the conveyance work and the assembly work can be performed with appropriate control parameters, respectively.

[0060] However, the levels of the respective items of the control parameters of the conveyance work are not particularly limited as long as the relationship of the level of speed is conveyance work > assembly work, the level of command tracking is conveyance work < assembly work, and the level of the motion end determination reference is conveyance work < assembly work is satisfied. For example, there is a case in which the level of speed is set to "medium" and the level of command tracking is set to "low" to achieve a reduction in the work time Δt according to the conveyance distance of the object W. In this case, the level of speed can be set to "medium" and the level of command tracking can be set to "low". Further, in a case in which positional accuracy is not required and it is desired to further reduce the work time Δt, the level of the motion end determination reference can be set to "low".

[0061] Similarly, the levels of the respective items of the control parameters of the assembly work are not particularly limited as long as the relationship of the level of speed is conveyance work > assembly work, the level of command tracking is conveyance work < assembly work, and the level of the motion end determination reference is conveyance work < assembly work is satisfied. For example, sometimes it is difficult to generate residual vibration due to the moving distance of the robot 2, the mass, the material, the shape, and the like of the object W. In this case, the speed can be set to "medium" to achieve a reduction in the work time Δt. Further, in a case in which the requirement for positional accuracy is not very high, the motion end determination reference can be set to "medium".

[0062] ​The above describes the table T. The robot control device 3 determines the control parameters based on such a table T. Typically, the table T is compared with the work content received from the operator to determine the control parameters. The robot control device 3 displays a graphical interface on a display device such as a monitor, through which the operator selects the work content. In a case where the work content is received from the operator through the graphical interface, the robot control device 3 sets the control parameters of the selected work content as the control parameters of the robot 2. However, the method of determining the control parameters is not particularly limited. For example, the robot control device 3 can also select the work content based on a motion program created by the operator, and set the control parameters of the selected work content as the control parameters of the robot 2.

[0063] According to such a robot control device 3, it is possible to set the control parameters that conform to each work content. Therefore, each work can be efficiently performed. Further, by simply selecting the target work content or a work content close to the target work content from among the plurality of work contents set in advance, the control parameters suitable for the work can be automatically set, and therefore even an operator who lacks knowledge about robot control can easily set the control parameters suitable for the work content.

[0064] Further, the robot control device 3 can change each item of the control parameters stored in the table T, i.e., the speed, the command tracking property, and the level of the work end determination criterion, respectively, according to a request from the operator. The operator can request to change the control parameters set in the table T, for example, through a graphical interface represented by 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 parameters that are specified according to the work content of the operator.

[0065] In particular, in the present embodiment, each item of the control parameters 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 parameters. Note that the change of the control parameters can also be performed automatically by the robot control device 3 based on the work result of the robot 2.

[0066] 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 transport object W transport work and the assembly work of the assembly object W are included, and as the control parameter, the speed of the robot 2, the instruction tracking property that indicates the tracking property of the robot 2 to the position instruction, and the motion end determination reference that indicates the reference to determine the end of the motion of the robot 2 are included with respect to the transport work and the assembly work, respectively. Further, the level of the speed of the transport work is higher than the level of the speed of the assembly work, the level of the instruction tracking property of the transport work is lower than the level of the instruction tracking property of the assembly work, and the level of the motion end determination reference of the transport work is lower than the level of the motion end determination reference of the assembly work.

[0067] Thus, the transport work and the assembly work 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 transport work and the assembly work, the control parameter appropriate for the work can be automatically set, and thus even a worker who lacks knowledge about robot control can easily set the control parameter appropriate for the work content.

[0068] 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 transport work and the assembly work can be performed according to appropriate control parameters, respectively.

[0069] 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 transport work and the assembly work can be performed according to appropriate control parameters, respectively.

[0070] Further, as described above, the level of the speed can be changed according to the request from the worker. Thus, the level of the instruction tracking property specific to the work content of the worker can be set. In particular, in the present embodiment, the speed 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 tracking property.

[0071] Further, as described above, the level of the instruction traceability can be changed according to a request from the worker. Thereby, the level of the instruction traceability specific to the work content of the worker can be set. In particular, in the present embodiment, the instruction traceability is selected from 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 traceability.

[0072] Further, as described above, the level of the action end determination reference can be changed according to a request from the worker. Thereby, the level of the action end determination reference specific to the work content of the worker can be set. In particular, in the present embodiment, the action end determination reference is selected from 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 action end determination reference.

[0073] 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 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, a transport work of transporting the object W and an assembly work of assembling the object W are included, and as the control parameter, with respect to the transport work and the assembly work, a speed of the robot 2, an instruction traceability indicating the traceability of the robot 2 to a position instruction, and an action end determination reference indicating the reference for determining the end of the action of the robot 2 are included, respectively. In addition, the level of the speed of the transport work is higher than the level of the speed of the assembly work, the level of the instruction traceability of the transport work is lower than the level of the instruction traceability of the assembly work, and the level of the action end determination reference of the transport work is lower than the level of the action end determination reference of the assembly work.

[0074] Thereby, the transport work and the assembly work can be performed according to appropriate control parameters, respectively. Further, for example, by selecting a target work content or a work content close to the target work content from among the transport work and the assembly work, a control parameter appropriate for the work can be automatically set, and thus even a worker who lacks knowledge about robot control can easily set a control parameter appropriate for a work content.

[0075] Further, as described above, the robot control program Pt determines the control parameter based on the table T that defines the correspondence relation of the contents of the work to be performed by the robot 2 and the levels of the control parameters of the robot 2. Further, in the table T, as the contents of the work, there are included the transport work of transporting the object W and the assembly work of assembling the object W, and as the control parameters, there are included the speed of the robot 2, the instruction tracking property indicating the tracking property of the robot 2 to the position instruction, and the action end determination reference indicating the reference for determining the end of the action of the robot 2, with respect to the transport work and the assembly work. In addition, the level of the speed of the transport work is higher than the level of the speed of the assembly work, the level of the instruction tracking property of the transport work is lower than the level of the instruction tracking property of the assembly work, and the level of the action end determination reference of the transport work is lower than the level of the action end determination reference of the assembly work.

[0076] Thus, the transport work and the assembly work can be performed according to the 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 the transport work and the assembly work, the control parameter appropriate for the work can be automatically set, and therefore, even a worker who lacks knowledge about the robot control can easily set the control parameter appropriate for the work content.

[0077] 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 parts can be replaced with any configurations having the same functions. Further, any other configurations can be added to the present application.

Claims

1. A robot control device, characterized in that, The robot control device has a control unit that enables the robot to perform operations. The control unit determines the control parameters based on a table that specifies the correspondence between the task content of the robot and the levels of the robot's control parameters. In the table, the work content includes the conveying operation of the object and the assembly operation of the object. The control parameters, for the conveying operation and the assembly operation, respectively include the robot's speed, command tracking performance representing the robot's tracking ability in response to position commands, and an action end determination criterion representing the criterion for determining the end of the robot's action. The speed level of the conveying operation is higher than the speed level of the assembly operation. The level of instruction traceability for the conveying operation is lower than that for the assembly operation. The level of the action completion determination criterion for the conveying operation is lower than the level of the action completion determination criterion for the assembly operation.

2. The robot control device according to claim 1, characterized in that, The criteria for determining the end of the action are based on the difference between the target position according to the position command and the actual position. The higher the level of the action termination determination benchmark, the smaller the difference.

3. The robot control device according to claim 1, characterized in that, The criteria for determining the end of the action are based on the amplitude of the residual vibration. The higher the level of the action end determination criterion, the smaller the amplitude.

4. The robot control device according to any one of claims 1 to 3, characterized in that, The speed level can be changed upon request from the operator.

5. The robot control device according to any one of claims 1 to 3, characterized in that, The level of instruction traceability can be changed based on a request from the operator.

6. The robot control device according to any one of claims 1 to 3, characterized in that, The level of the action termination determination criterion can be changed upon request from the operator.

7. A robot control method, characterized in that, The control parameters are determined based on a table that specifies the correspondence between the tasks performed by the robot and the levels of the robot's control parameters. In the table, the work content includes the conveying operation of the object and the assembly operation of the object. The control parameters, for the conveying operation and the assembly operation, respectively include the robot's speed, command tracking performance representing the robot's tracking ability in response to position commands, and an action end determination criterion representing the criterion for determining the end of the robot's action. The speed level of the conveying operation is higher than the speed level of the assembly operation. The level of instruction traceability for the conveying operation is lower than that for the assembly operation. The level of the action completion determination criterion for the conveying operation is lower than the level of the action completion determination criterion for the assembly operation.

8. A storage medium, characterized in that, Store robot control program, The robot control program determines the control parameters based on a table that specifies the correspondence between the tasks performed by the robot and the levels of the robot's control parameters. In the table, the work content includes the conveying operation of the object and the assembly operation of the object. The control parameters, for the conveying operation and the assembly operation, respectively include the robot's speed, command tracking performance representing the robot's tracking ability in response to position commands, and an action end determination criterion representing the criterion for determining the end of the robot's action. The speed level of the conveying operation is higher than the speed level of the assembly operation. The level of instruction traceability for the conveying operation is lower than that for the assembly operation. The level of the action completion determination criterion for the conveying operation is lower than the level of the action completion determination criterion for the assembly operation.

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