Robot control method, robot system, and robot controller

Abstract

The invention provides a robot control method, a robot system and a robot controller which can switch control modes even in one operation and are high in convenience. The robot control method has, as a control mode for operating a robot: an internal control mode in which a robot controller connected to the robot operates the robot on the basis of an internal operation command generated by the robot controller; and an external control mode in which the robot controller operates the robot on the basis of an external operation command generated by an external control device connected to the robot via the robot controller. Wherein the robot controller switches to the other one of the internal control mode and the external control mode when a switching condition is satisfied while the robot is being operated in one of the internal control mode and the external control mode.

Description

Technical Field

[0001] The present invention relates to a robot control method, a robot system, and a robot controller. Background Art

[0002] In the control device of the robot described in Patent Document 1, it is possible to select an internal mode for controlling the robot based on an internal control program and an external mode for controlling the robot based on an external control program. With such a configuration, the control method of the robot can be diversified according to the user's needs.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-183820.

[0006] However, in the control device of the robot in Patent Document 1, no consideration is given to the case of switching between the internal mode and the external mode during the operation of the robot. Depending on the user's usage method, there are also times when it is desired to switch between the internal mode and the external mode during the operation of the robot. In such a case, the control device of the robot in Patent Document 1 cannot cope. Therefore, there is a problem that high convenience cannot be achieved. Summary of the Invention

[0007] The robot control method of the present invention has the following control modes as control modes for operating the robot:

[0008] An internal control mode in which the robot controller operates the robot based on an internal action instruction generated by the robot controller connected to the robot; and

[0009] An external control mode in which the robot controller operates the robot based on an external action instruction generated by an external control device connected to the robot via the robot controller,

[0010] During the process of operating the robot in one of the internal control mode and the external control mode, the robot controller switches to the other control mode when a switching condition is satisfied.

[0011] The robot system of the present invention includes:

[0012] A robot; and

[0013] A robot controller connected to the robot,

[0014] The robot controller has the following control modes as control modes for driving the robot:

[0015] An internal control mode, which causes the robot to act based on internal action instructions generated by the robot controller; and

[0016] An external control mode, which causes the robot to act based on external action instructions generated by an external control device connected to the robot via the robot controller,

[0017] During the process of causing the robot to act in one of the internal control mode and the external control mode, the robot controller switches to the other control mode when a switching condition is satisfied.

[0018] The robot controller of the present invention is a robot controller connected to a robot,

[0019] The robot controller has the following control modes as control modes for driving the robot:

[0020] An internal control mode, which causes the robot to act based on internal action instructions generated by the robot controller; and

[0021] An external control mode, which causes the robot to act based on external action instructions generated by an external control device connected to the robot via the robot controller,

[0022] During the process of causing the robot to act in one of the internal control mode and the external control mode, the robot controller switches to the other control mode when a switching condition is satisfied. Description of the Drawings

[0023] Figure 1 is an overall view of a robot system according to a preferred embodiment.

[0024] Figure 2 is a flowchart showing a control method of a robot.

[0025] Figure 3 is a flowchart showing a control method of a robot.

[0026] Symbol Explanation

[0027] 1. Robot system; 2. Robot; 21. Base; 22. Manipulator; 221. Arm; 222. Arm; 223. Arm; 224. Arm; 225. Arm; 226. Arm; 23. End effector; 3. Robot controller; 31. Control program generation unit; 311. State reception unit; 312. Path generation unit; 313. Internal motion instruction generation unit; 32. Monitoring unit; 33. Motor control unit; 4. External control device; 41. Control program generation unit; 411. State reception unit, 412. Path generation unit, 413. External motion instruction generation unit, J1. Joint, J2. Joint, J3. Joint, J4. Joint, J5. Joint, J6. Joint, S11. Step, S12. Step, S13. Step, S14. Step, S15. Step, S16. Step, S17. Step, S21. Step, S22. Step, S23. Step, S24. Step, S25. Step, S26. Step, S27. Step, Si. Internal motion instruction, So. External motion instruction. Detailed implementation mode

[0028] Hereinafter, the robot control method, robot system, and robot controller of the present invention will be described in detail based on the embodiments shown in the drawings.

[0029] Figure 1 It is an overall view of the robot system according to the preferred embodiment. Figure 2 and Figure 3 are respectively flowcharts showing the control method of the robot.

[0030] As Figure 1 shown, the robot system 1 includes a robot 2, a robot controller 3 connected to the robot 2, and an external control device 4 connected to the robot 2 via the robot controller 3.

[0031] The robot controller 3 has an internal control mode Mi and an external control mode Mo as control modes for driving the robot 2. Among them, the internal control mode Mi is a control mode for causing the robot 2 to operate based on the internal motion instruction Si generated by the robot controller 3, and the external control mode Mo is a control mode for causing the robot 2 to operate based on the external motion instruction So generated by the external control device 4. And, while the robot controller 3 is operating the robot 2 in one of the internal control mode Mi and the external control mode Mo, when the switching condition is satisfied, the control mode is switched to the other control mode. That is, if the switching condition is satisfied during the operation of the robot 2 in the internal control mode Mi by the robot controller 3, it is switched to the external control mode Mo, and if the switching condition is satisfied during the operation of the robot 2 in the external control mode Mo, it is switched to the internal control mode Mi.

[0032] In addition, typically, the robot controller 3 is a control device provided by the manufacturer of the robot 2, so-called "first party (original)". In contrast, the external control device 4 is a control device provided by a manufacturer other than the original, so-called "third party", and is, for example, a PLC (Programmable Logic Controller).

[0033] The robot controller 3 provided by the first party has the advantages of the robot controller 3, and the external control device 4 provided by the third party has the advantages of the external control device 4. For example, in the robot controller 3, since it is a dedicated design for the robot 2, it can control the robot 2 more precisely or can perform a richer variety of actions. In contrast, in the external control device 4, for a specific action, it can perform better control than the robot controller 3 or can uniformly control multiple robots 2 of different manufacturers.

[0034] Therefore, by adopting a structure that can select and switch between the internal control mode Mi in which the robot 2 operates based on the internal action instruction Si generated by the robot controller 3 and the external control mode Mo in which the robot 2 operates based on the external action instruction So generated by the external control device 4, the range of operations that can be executed in the robot system 1 can be expanded, or the action of the robot 2 can be made closer to the user's ideal. In particular, in the robot system 1, the internal control mode Mi and the external control mode Mo can be switched during a single action of the robot 2, so the above effects become significant, making the robot system 1 highly convenient.

[0035] Next, each part constituting the robot system 1 will be described in order.

[0036] ≪Robot 2≫

[0037] As Figure 1 shown, the robot 2 is a six-axis vertical articulated robot having six drive axes, and includes: a base 21 fixed to a mounting table, a floor, etc.; a robotic arm 22 rotatably connected to the base 21; and an end effector 23 mounted at the front end of the robotic arm 22.

[0038] The robotic arm 22 has a structure in which six arms 221, 222, 223, 224, 225, and 226 are rotatably connected in this order from the base 21 side, and is provided with six joints J1, J2, J3, J4, J5, and J6. Specifically, the arm 221 is rotatably connected to the base 21 via the joint J1, the arm 222 is rotatably connected to the arm 221 via the joint J2, the arm 223 is rotatably connected to the arm 222 via the joint J3, the arm 224 is rotatably connected to the arm 223 via the joint J4, the arm 225 is rotatably connected to the arm 224 via the joint J5, and the arm 226 is rotatably connected to the arm 225 via the joint J6.

[0039] In addition, among the joints J1 to J6, the joints J2, J3, and J5 are respectively bending joints, and the joints J1, J4, and J6 are respectively torsion joints. A drive mechanism is provided on each of the joints J1, J2, J3, J4, J5, and J6. The drive mechanism includes a motor, a speed reducer that decelerates the rotation of the motor and increases and outputs torque, and an encoder that detects the rotation amount of the joint. And, each of the joints J1, J2, J3, J4, J5, and J6 is moved independently according to the motion instruction (internal motion instruction Si or external motion instruction So) sent from the robot controller 3, whereby the robotic arm 22 can be moved to a desired position at a desired posture and speed.

[0040] The end effector 23 is attached to the front end of the robotic arm 22, that is, the arm 226. The end effector 23 is not particularly limited, and an end effector corresponding to the operation performed by the robot 2 is appropriately attached.

[0041] The above describes the robot 2, but the robot 2 is not particularly limited. For example, it can be a horizontal multi-joint robot (SCARA robot), or a dual-arm robot having two robotic arms 22.

[0042] 《External Control Device 4》

[0043] As Figure 1 shown, the external control device 4 is connected to the robot controller 3. Such an external control device 4 is constituted by, for example, a computer, and has a processor (CPU) that processes information, a memory that is communicably connected to the processor, and an external interface that makes a connection with an external device. Various programs that can be executed by the processor are stored in the memory, and the processor can read and execute the programs stored in the memory and the like.

[0044] In addition, the external control device 4 includes a control program generation unit 41. The control program generation unit 41 includes: a status reception unit 411 that receives the status of the robot 2 from the robot controller 3; a path generation unit 412 that generates a path for the robot 2 based on the status of the robot 2 received by the status reception unit 411; and an external action instruction generation unit 413 that generates an external action instruction So based on the path generated by the path generation unit 412. The external action instruction So generated by the external action instruction generation unit 413 is sent to the robot controller 3.

[0045] ≪Robot Controller 3≫

[0046] As Figure 1 shown, the robot controller 3 is connected to the robot 2. Such a robot controller 3 is constituted by, for example, a computer, and has a processor (CPU) for processing information, a memory connected to the processor in a communicable manner, and an external interface for making a connection with an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the programs stored in the memory and the like.

[0047] In addition, the robot controller 3 includes a control program generation unit 31, a monitoring unit 32, and a motor control unit 33.

[0048] The control program generation unit 31 includes: a status reception unit 311 that receives the status of the robot 2 from the external control device 4; a path generation unit 312 that generates a path for the robot 2 based on the status of the robot 2 received by the status reception unit 311; and an internal action instruction generation unit 313 that generates an internal action instruction Si based on the path generated by the path generation unit 312.

[0049] The monitoring unit 32 monitors the internal action instruction Si generated by the internal action instruction generation unit 313 and the external action instruction So generated by the external action instruction generation unit 413, and determines whether the status of the robot 2 satisfies the switching condition for switching between the internal control mode Mi and the external control mode Mo.

[0050] In addition, based on the determination result, the monitoring unit 32 switches the control mode of the robot 2 between the internal control mode Mi and the external control mode Mo. Specifically, in the state where the robot 2 is driven in the internal control mode Mi, that is, when the robot controller 3 has the control right of the robot 2, the monitoring unit 32 monitors the internal action instruction Si and determines whether the state of the robot 2 satisfies the switching condition for each control cycle. Then, when the state of the robot 2 satisfies the switching condition, the monitoring unit 32 switches the control right of the robot 2 from the robot controller 3 to the external control device 4, and makes the robot 2 operate in the external control mode Mo. On the contrary, in the state where the robot 2 is driven in the external control mode Mo, that is, when the external control device 4 has the control right of the robot 2, the monitoring unit 32 monitors the external action instruction So and determines whether the state of the robot 2 satisfies the switching condition for each control cycle. Then, when the state of the robot 2 satisfies the switching condition, the monitoring unit 32 switches the control right of the robot 2 from the external control device 4 to the robot controller 3, and makes the robot 2 operate in the internal control mode Mi.

[0051] In addition, the monitoring unit 32 sends the action instruction generated by the side having the control right of the robot 2 to the motor control unit 33. That is, when the robot controller 3 has the control right of the robot 2, the monitoring unit 32 sends the internal action instruction Si generated by the robot controller 3 to the motor control unit 33. On the contrary, when the external control device 4 has the control right of the robot 2, the monitoring unit 32 sends the external action instruction So generated by the external control device 4 to the motor control unit 33.

[0052] The motor control unit 33 generates a current to be applied to the motors provided in the respective joints J1 to J6 based on the action instruction received from the monitoring unit 32, and applies it to the motor. That is, the motor control unit 33 generates a current to be applied to the motors provided in the respective joints J1 to J6 based on the internal action instruction Si in the internal control mode Mi, and generates a current to be applied to the motors provided in the respective joints J1 to J6 based on the external action instruction So in the external control mode Mo.

[0053] Next, the switching conditions for the monitoring unit 32 to determine whether the internal control mode Mi and the external control mode Mo can be switched will be described. As the switching conditions, there is no particular limitation, and they also vary depending on the operation content executed by the robot system 1 and the like. For example, there are the following switching conditions.

[0054] For example, as the switching condition, a condition related to the position of the tip of the robotic arm 22, specifically, the TCP (Tool Center Point) set at the tip of the robotic arm 22, can be used.

[0055] In this case, the monitoring unit 32 determines that the switching condition is satisfied when the position of the tip of the robotic arm 22 is within a predetermined area. For example, a safe area where the possibility of interference with other devices is low, especially within the movable area of the robotic arm 22, is preset. When the tip of the robotic arm 22 is within this safe area, it is determined that the switching condition is satisfied, and when the tip of the robotic arm 22 is outside the safe area, it is determined that the switching condition is not satisfied. According to such a determination method, the switching of the control mode can be performed safely. In this way, by using the switching condition based on the position of the tip of the robotic arm 22, it is possible to simply determine whether the switching condition is satisfied. In addition, the position of the tip of the robotic arm 22 can be detected based on the motion instruction. Also, the position of the tip of the robotic arm 22 can be detected based on the outputs from the encoders provided in each of the joints J1 to J6.

[0056] For example, in the case of a single motion to move the tip of the robotic arm 22 to a target position, it is sometimes possible to achieve excellent efficiency and accuracy by controlling in the external control mode Mo until near the target position and controlling the movement from that point to the target position in the internal control mode Mi. As a representative example, there is a case where the internal control mode Mi can control the position of the tip of the robotic arm 22 with higher accuracy than the external control mode Mo, and the external control mode Mo can move the robotic arm 22 at a higher speed than the internal control mode Mi. In such a case, first, the robot 2 is made to move at high speed based on the external motion instruction So. When it reaches near the target position and the tip of the robotic arm 22 is within the safe area, the control mode is switched to the internal control mode Mi. After that, the robot 2 is made to move based on the internal motion instruction Si to move the tip of the robotic arm 22 to the target position. In this way, by switching the control mode in a single motion, the single motion can be performed effectively and with high accuracy.

[0057] In addition to this, as the switching condition, conditions related to, for example, the speed or acceleration of the tip of the robotic arm 22 can also be used.

[0058] In this case, the monitoring unit 32 determines that the switching condition is satisfied when the speed or acceleration of the tip of the robotic arm 22 is within a predetermined value range. In this way, by using the switching condition based on the speed or acceleration of the tip of the robotic arm 22, it is possible to simply determine whether the switching condition is satisfied. In addition, the speed of the tip of the robotic arm 22 can be detected based on the difference between the previous tip position of the robotic arm 22 and the current tip position of the robotic arm 22 and the time difference between the previous and current periods. Also, the acceleration of the tip of the robotic arm 22 can be detected by performing a time differentiation on the speed of the tip of the robotic arm 22 detected by the above method.

[0059] For example, in the case of an operation to move the front end of the robotic arm 22 to a target position, it is sometimes possible to achieve excellent efficiency and precision by controlling in the external control mode Mo until near the target position and controlling the movement from that point to the target position in the internal control mode Mi. As a representative example, there is a case where the internal control mode Mi can position the front end position of the robotic arm 22 with higher precision than the external control mode Mo, and the external control mode Mo can move the robotic arm 22 at a higher speed than the internal control mode Mi. In such a case, first, the robot 2 is made to operate at high speed based on the external operation instruction So, and when it reaches near the target position and the speed or acceleration of the front end of the robotic arm 22 is below a predetermined value, the control mode is switched to the internal control mode Mi. After that, the robot 2 is made to operate based on the internal operation instruction Si to move the front end of the robotic arm 22 to the target position. In this way, by switching the control mode in one operation, this one operation can be performed effectively and with high precision.

[0060] In addition to this, as a switching condition, it is also possible to use, for example, a condition related to the singular posture of the robotic arm 22. In addition, the singular posture is also called a singular point and refers to a posture that is difficult to control in the structure of the robot 2. Generally, in the field of robotics, in order to suppress abnormal movement of the robotic arm 22, the robotic arm 22 is made to operate in a way that avoids singular points. However, in recent years, it has also been possible to fully implement countermeasures against singular points and make the robotic arm 22 operate through singular points.

[0061] In this case, when the monitoring unit 32 determines that the trajectory of the robotic arm 22 deduced from the operation instruction received from the party with control authority among the robot controller 3 and the external control device 4 includes a singular posture, it is determined that the switching condition is satisfied. In this way, by using the switching condition based on the singular posture, it is possible to simply determine whether the switching condition is satisfied. In addition, the so-called "case where a singular posture is included" means that in addition to the case where the posture coincides with the singular posture, it also includes postures near the singular posture.

[0062] For example, in the case of an operation to move the front end of the robotic arm 22 to the target position via a singular posture, control is performed in the internal control mode Mi during the period near the singular posture, and in the external control mode Mo otherwise. Thereby, excellent efficiency and accuracy can sometimes be achieved. As a representative example, there can be cited a case where countermeasures are implemented to enable the internal control mode Mi to pass through the singular posture more smoothly than the external control mode Mo, and the external control mode Mo can move the robotic arm 22 at a higher speed than the internal control mode Mi. In such a case, first, based on the external action instruction So, the robot 2 is operated at a high speed. When approaching the singular posture, the control mode is switched to the internal control mode Mi, and when passing through the singular posture, the control mode is switched back to the external control mode Mo to move the front end of the robotic arm 22 to the target position. Thus, by switching the control mode in one operation, the one operation can be performed effectively and with high precision.

[0063] As described above, three switching conditions have been explained. However, as the switching conditions, there is no particular limitation, and they can be appropriately set according to the structure of the robot system 1, the content of the operation performed by the robot 2, and the like.

[0064] In addition to such switching conditions, when the speed or acceleration of the front end of the robotic arm 22 exceeds the allowable value during the operation of the robot 2 in the external control mode Mo, the monitoring unit 32 switches the control mode of the robot 2 from the external control mode Mo to the internal control mode Mi, and controls the drive of the robot 2 based on the control in the internal control mode Mi. As described above, since the robot controller 3 is provided by the first party and the external control device 4 is provided by the third party, the possibility of operating the robot 2 safely is higher when the robot 2 is operated based on the internal action instruction Si generated by the robot controller 3 than when it is operated based on the external action instruction So generated by the external control device 4. Therefore, according to such a structure, accidental operations such as out-of-control of the robot 2 can be effectively suppressed.

[0065] In particular, in the present embodiment, after switching to the internal control mode Mi, the robot controller 3 stops the robot 2 or reduces the speed or acceleration of the front end of the robotic arm 22 to a value below a predetermined value. Thereby, the safety of the robot 2 is increased.

[0066] In addition, in the robot system 1, when the monitoring unit 32 switches the control mode of the robot 2 from the internal control mode Mi to the external control mode Mo, it sends a stop notification to the robot controller 3 to stop the operation of the robot 2 based on the internal control mode Mi. In addition, the monitoring unit 32 sends a start notification to the external control device 4 to start the operation of the robot 2 based on the external control mode Mo, and sends the state of the robot 2 at the time of the control mode switch. In addition, the "state of the robot 2" represents, for example, the position and movement of the robot 2 such as the speed, acceleration, and position and posture of the tip of the robotic arm 22, and the information required for taking over control. In this way, by sending the current status of the robot 2 to the target of the control right switch, the control mode can be smoothly switched. When switching the control mode, the external control device 4 generates a path in the path generation unit 412 based on the state of the robot 2 received by the state reception unit 411, generates an external action instruction So in the external action instruction generation unit 413 based on the path generated by the path generation unit 412, and sends the generated external action instruction So to the robot controller 3. Then, the robot controller 3 monitors the external action instruction So using the monitoring unit 32 and operates the robot 2 based on the external action instruction So.

[0067] Similarly, in the robot system 1, when the monitoring unit 32 switches the control mode of the robot 2 from the external control mode Mo to the internal control mode Mi, it sends a stop notification to the external control device 4 to stop the operation of the robot 2 based on the external control mode Mo. In addition, the monitoring unit 32 sends a start notification to the robot controller 3 to start the operation of the robot 2 based on the internal control mode Mi, and sends the state of the robot 2 at the time of the control mode switch. In this way, by sending the current status of the robot 2 to the target of the control right switch, the control mode can be smoothly switched. When switching the control mode, the robot controller 3 generates a path in the path generation unit 312 based on the state of the robot 2 received by the state reception unit 311, generates an internal action instruction Si in the internal action instruction generation unit 313 based on the path generated by the path generation unit 312, and operates the robot 2 based on the generated internal action instruction Si.

[0068] In addition, in the present embodiment, the robot controller 3 generates the internal action instruction Si only when it has the control right, but it is not limited thereto, and it may also continue to generate the internal action instruction Si when it does not have the control right. Similarly, the external control device 4 generates the external action instruction So only when it has the control right, but it is not limited thereto, and it may also continue to generate the external action instruction So when it does not have the control right. That is, it is also possible to continuously generate the internal action instruction Si and the external action instruction So during the operation of the robot 2 and switch them at the timing when the switching conditions are met.

[0069] Above, the structure of the robot system 1 has been described. Next, based on Figure 2 and Figure 3 , a method for controlling the robot 2 by the robot system 1 will be described.

[0070] First, based on Figure 2 , a control method for switching from the internal control mode Mi to the external control mode Mo will be described. First, as step S11, the monitoring unit 32 causes the robot 2 to operate based on the internal motion instruction Si generated by the robot controller 3. Next, as step S12, during the operation of the robot 2, the monitoring unit 32 detects the state of the operating robot 2. Next, as step S13, the monitoring unit 32 determines whether the switching condition is satisfied based on the detection result in step S12. When the switching condition is not satisfied (step S13: No), the monitoring unit 32 does not switch the control mode and continues to control the robot 2 in the internal control mode Mi as it is. On the other hand, when the switching condition is satisfied (step S13: Yes), as step S14, the monitoring unit 32 sends a stop notice to stop the control in the internal control mode Mi to the robot controller 3. Next, as step S15, the monitoring unit 32 sends a start notice to start the control of the robot 2 in the external control mode Mo to the external control device 4, and as step S16, sends the state of the robot 2 to the external control device 4. Next, as step S17, the monitoring unit 32 causes the robot 2 to operate based on the external motion instruction So generated by the external control device 4.

[0071] Next, based on Figure 3, a control method for switching from the external control mode Mo to the internal control mode Mi will be described. First, as step S21, the monitoring unit 32 makes the robot 2 operate based on the external action instruction So generated by the external control device 4. Next, as step S22, during the operation of the robot 2, the monitoring unit 32 detects the state of the operating robot 2. Next, as step S23, the monitoring unit 32 determines whether the switching condition is satisfied based on the detection result in step S22. If the switching condition is not satisfied, the monitoring unit 32 does not switch the control mode and continues to control the robot 2 in the external control mode Mo as it is. On the other hand, if the switching condition is satisfied, as step S24, the monitoring unit 32 sends a stop notice to stop the control in the external control mode Mo to the external control device 4. Next, as step S25, the monitoring unit 32 sends a start notice to start the control of the robot 2 in the internal control mode Mi to the robot controller 3, and as step S26, sends the state of the robot 2 to the robot controller 3. Next, as step S27, the monitoring unit 32 makes the robot 2 operate based on the internal action instruction Si generated by the robot controller 3.

[0072] According to the above control method, it is possible to switch between the internal control mode Mi and the external control mode Mo during one operation of the robot 2. Therefore, it is possible to expand the range of operations that can be performed by the robot system 1, or to make the operation of the robot 2 closer to the user's ideal.

[0073] As described above, the robot system 1 has been described. As mentioned above, in such a robot system 1, the robot control method has the internal control mode Mi and the external control mode Mo as control modes for making the robot 2 operate. Among them, the internal control mode Mi is a control mode in which the robot controller 3 makes the robot 2 operate based on the internal action instruction Si generated by the robot controller 3 connected to the robot 2, and the external control mode Mo is a control mode in which the robot controller 3 makes the robot 2 operate based on the external action instruction So generated by the external control device 4 connected to the robot 2 via the robot controller 3. And, during the process of making the robot 2 operate in one of the control modes of the internal control mode Mi and the external control mode Mo, the robot controller 3 switches to the other control mode when the switching condition is satisfied. According to such a robot control method, it is possible to switch between the internal control mode Mi and the external control mode Mo during one operation of the robot 2. Therefore, it is possible to expand the range of operations that can be performed in the robot system 1, or to make the operation of the robot 2 closer to the user's ideal. Therefore, it is possible to provide a robot system 1 with excellent convenience.

[0074] In addition, as described above, when switching from the internal control mode Mi to the external control mode Mo in accordance with the switching conditions, a stop notice of the operation of the robot 2 based on the internal control mode Mi is sent to the robot controller 3, and the state of the robot 2 at the time of switching is sent to the external control device 4. In this way, by sending the current state of the robot 2 to the external control device 4, which is the target of the switching of the control authority, the control mode can be smoothly switched.

[0075] In addition, as described above, when switching from the external control mode Mo to the internal control mode Mi in accordance with the switching conditions, a stop notice of the operation of the robot 2 based on the external control mode Mo is sent to the external control device 4, and the state of the robot 2 at the time of switching is sent to the robot controller 3. In this way, by sending the current state of the robot 2 to the robot controller 3, which is the target of the switching of the control authority, the control mode can be smoothly switched.

[0076] In addition, as described above, the robot 2 has a robotic arm 22, and the switching conditions are satisfied when the position of the tip of the robotic arm 22 is within a predetermined area. In this way, by using the switching conditions based on the position of the tip of the robotic arm 22, it is possible to simply determine whether the switching conditions are satisfied.

[0077] In addition, as described above, the robot 2 has a robotic arm 22, and the switching conditions are satisfied when the speed or acceleration of the tip of the robotic arm 22 is within a predetermined value range. In this way, by using the switching conditions based on the speed or acceleration of the tip of the robotic arm 22, it is possible to simply determine whether the switching conditions are satisfied.

[0078] In addition, as described above, the robot 2 has a robotic arm 22, and the switching conditions are satisfied when it is estimated that the robotic arm 22 will become a singular posture during operation. Thereby, it is possible to smoothly pass through the singular posture.

[0079] In addition, as described above, the robot 2 has a robotic arm 22, and during the operation of the robot 2 in the external control mode Mo, the switching conditions are satisfied when the speed or acceleration of the tip of the robotic arm 22 exceeds the allowable value. Thereby, it is possible to effectively suppress unexpected operations such as the runaway of the robot 2.

[0080] In addition, as described above, after switching to the internal control mode Mi, the robot 2 is stopped, or the speed or acceleration of the tip of the robotic arm 22 is reduced. Thereby, the safety of the robot 2 is increased.

[0081] In addition, as described above, the robot system 1 includes a robot 2 and a robot controller 3 connected to the robot 2. Further, the robot controller 3 has an internal control mode Mi and an external control mode Mo as control modes for driving the robot 2. Among them, the internal control mode Mi is a control mode for causing the robot 2 to operate based on an internal motion instruction Si generated by the robot controller 3, and the external control mode Mo is a control mode for causing the robot 2 to operate based on an external motion instruction So generated by an external control device 4 connected to the robot 2 via the robot controller 3. And, while the robot controller 3 is causing the robot 2 to operate in one of the internal control mode Mi and the external control mode Mo, it switches to the other control mode when a switching condition is satisfied. According to such a robot system 1, in one operation of the robot 2, the internal control mode Mi and the external control mode Mo can be switched, so that the range of operations that can be performed in the robot system 1 can be expanded, or the operation of the robot 2 can be made closer to the user's ideal. Therefore, the robot system 1 has excellent convenience.

[0082] In addition, as described above, the robot controller 3 is a robot controller 3 connected to the robot 2, and has an internal control mode Mi and an external control mode Mo as control modes for driving the robot 2. Among them, the internal control mode Mi is a control mode for causing the robot 2 to operate based on an internal motion instruction Si generated by the robot controller 3, and the external control mode Mo is a control mode for causing the robot 2 to operate based on an external motion instruction So generated by an external control device 4 connected to the robot 2 via the robot controller 3. And, while the robot controller 3 is causing the robot 2 to operate in one of the internal control mode Mi and the external control mode Mo, it switches to the other control mode when a switching condition is satisfied. According to such a robot controller 3, in one operation of the robot 2, the internal control mode Mi and the external control mode Mo can be switched, so that the range of operations that can be performed in the robot system 1 can be expanded, or the operation of the robot 2 can be made closer to the user's ideal. Therefore, the robot system 1 with excellent convenience can be provided.

[0083] As described above, the robot control method, robot system, and robot controller of the present invention have been described based on the illustrated embodiments, but the present invention is not limited thereto, and the structures and processes of each part can be replaced with any structures and processes having the same functions. In addition, any other structures and processes can be added to the present invention. In addition, the embodiments can be appropriately combined.

Claims

1. A robot control method, characterized in that: The following control modes are provided as control modes for causing the robot to move: an internal control mode in which the robot controller causes the robot to move based on an internal motion instruction generated by a robot controller connected to the robot; and an external control mode in which the robot controller causes the robot to move based on an external motion command generated by an external control device connected to the robot via the robot controller, The robot controller switches the robot to the other control mode when a switching condition is satisfied while the robot is operating in one of the internal control mode and the external control mode.

2. The robot control method according to claim 1, characterized in that: When the switching condition is met and the internal control mode is switched to the external control mode, sending a stop notification of the action of the robot based on the internal control mode to the robot controller, The state of the robot at the time of the switching is transmitted to the external control device.

3. The robot control method according to claim 1, characterized in that: When the switching condition is met and the external control mode is switched to the internal control mode, sending a stop notification of the action of the robot based on the external control mode to the external control device, The state of the robot at the time of the switching is sent to the robot controller.

4. The robot control method according to claim 1, characterized in that: The robot has a mechanical arm, The switching condition is satisfied when the position of the front end of the robot arm is within a predetermined area.

5. The robot control method according to claim 1, characterized in that: The robot has a mechanical arm, The switching condition is satisfied when the speed or acceleration of the front end of the robot arm is within a range of predetermined values.

6. The robot control method according to claim 1, characterized in that: The robot has a mechanical arm, The switching condition is satisfied when it is estimated that the robot arm is in a strange posture during operation.

7. The robot control method according to claim 1, characterized in that: The robot has a mechanical arm, The switching condition is satisfied when the speed or acceleration of the tip of the robot arm exceeds a permissible value while the robot is being operated in the external control mode.

8. The robot control method according to claim 7, characterized in that: After switching to the internal control mode, the robot is stopped, or the speed or acceleration of the front end of the robot arm is reduced.

9. A robot system, characterized in that: have: Robots; and a robot controller connected to the robot, The robot controller has the following control modes as control modes for controlling the driving of the robot: an internal control mode for causing the robot to move based on internal motion instructions generated by the robot controller; and an external control mode in which the robot is caused to move based on an external motion command generated by an external control device connected to the robot via the robot controller, The robot controller switches the robot to the other control mode when a switching condition is satisfied while the robot is operating in one of the internal control mode and the external control mode.

10. A robot controller, characterized in that: Connect with the robot, The robot controller has the following control modes as control modes for controlling the driving of the robot: an internal control mode for causing the robot to move based on internal motion instructions generated by the robot controller; and an external control mode in which the robot is caused to move based on an external motion command generated by an external control device connected to the robot via the robot controller, The robot controller switches the robot to the other control mode when a switching condition is satisfied while the robot is operating in one of the internal control mode and the external control mode.

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