Robot control device

Abstract

A robot control device capable of continuing the operation of a robot when contact is detected is provided. This robot control device comprises: a program management unit that executes a robot program including a contact skip motion command, the contact skip motion command including an external force threshold for stopping the robot when the robot has detected an external force; and a contact motion execution unit that, when the external force detected by the robot exceeds the external force threshold during the movement of the robot, stops the movement of the robot in response to the contact skip motion command and executes the next command block of the robot program.This robot control device comprises: a program management unit that executes a robot program including a contact skip motion command, the contact skip motion command including an external force threshold for stopping the robot when the robot has detected an external force; and a contact motion execution unit that, when the external force detected by the robot exceeds the external force threshold during the movement of the robot, stops the movement of the robot in response to the contact skip motion command and executes the next command block of the robot program.

Description

Technical area

[0001] The present disclosure relates to a robot control device. Background technology

[0002] In the related arts, a technique related to a cooperative robot that detects contact with a person and stops operation has been disclosed.

[0003] For example, a technique for adjusting the payload information of a workpiece held to accurately measure a contact force of a cooperative robot was disclosed.

[0004] Furthermore, a technology related to a system for manipulating a robot from a machine tool to automate a machining site has been disclosed. For example, a technique for performing an operation of a robot using a numerical control command known to a machine tool user has been disclosed (see, for example, Patent Document 1). Citation listPatent document

[0005] Patent Document 1: Unexamined Japanese Patent Application, Publication No. 2014-241018 Disclosure of the invention Problems to be solved by the invention

[0006] If the robot detects contact with the object during movement, the robot controller may stop the robot's operation when the contact is detected and may be unable to resume the robot's operation. Therefore, a robot controller that can resume the robot's operation when contact is detected is desired. Means to solve the problems

[0007] According to one aspect of the present disclosure, a robot control device includes: a program management unit that executes a robot program including a contact skip operation command, the contact skip operation command including an external force threshold for stopping a robot when the robot detects an external force; and a contact operation execution unit that stops the movement of the robot according to the contact skip operation command and executes a next command block of the robot program when the external force detected by the robot exceeds the external force threshold during movement of the robot. Short description of the drawings Fig. 1 is a functional block diagram of a numerical control system according to an embodiment of the present invention, Fig. 2 is a functional block diagram of a numerical control device and a robot control device according to the present embodiment; Fig. 3 is a diagram showing an example of a robot program according to the present embodiment; and Fig. 4 is a diagram schematically showing an operation of the robot when the Fig. 3 shown robot program is executed. Preferred mode for carrying out the invention

[0008] Hereinafter, an example of an embodiment of the present disclosure will be described. Fig. 1 is a functional block diagram of a numerical control system 1 according to an embodiment of the present disclosure.

[0009] The numerical control system 1 includes a machine tool 2 that machines a workpiece (not shown), a numerical control device (CNC) 4 that controls the operation of the machine tool 2, a cooperative robot 3 provided near the machine tool 2, and a robot control device 5 that controls the operation of the cooperative robot 3. The numerical control system 1 controls the operations of the machine tool 2 and the cooperative robot 3 in conjunction with each other using the numerical control device 4 and the robot control device 5 that are communicatively connected to each other.

[0010] The machine tool 2 machines a workpiece (not shown) in response to a machine tool control signal transmitted from the numerical control device 4. Here, the machine tool 2 is, for example, a lathe, a ball mill, a milling machine, a grinder, a laser processing machine, or an injection molding machine, but is not limited thereto.

[0011] The cooperative robot 3 operates under the control of the robot control device 5 and performs, for example, a predetermined operation on a workpiece to be machined by the machine tool 2. The cooperative robot 3 is, for example, an articulated robot in which a tool 3b for gripping, machining, or inspecting a workpiece is attached to an arm tip portion 3a thereof. Hereinafter, a case where the cooperative robot 3 is a six-axis articulated robot will be described, but the present invention is not limited to this. In the following description, the cooperative robot 3 is a six-axis articulated robot, but the number of axes is not limited to this.

[0012] The cooperative robot 3 has functions such as a contact stop function, a retraction mode function, and a reverse operation function, and can safely cooperate with a person. The contact stop function is a function for stopping immediately when the cooperative robot 3 comes into contact with a person with a light force (e.g., 10 to 20 N (i.e., 1 to 2 kgf)). The reverse operation function is a function in which a person can retract the arm of the cooperative robot 3 in any axis by pushing the arm. The reverse operation function is a function for reducing pinching by immediately retracting the arm when the cooperative robot 3 comes into contact with a hard object. The cooperative robot 3 includes an external force detection unit 31 (see Fig. 2) that includes an external force detection sensor or the like for detecting an external force, such as contact with a person. The external force detection sensor is, for example, a torque sensor, a force sensor, or the like. That is, the cooperative robot 3 detects contact with a person through the external force detection sensor, and the robot controller 5 stops the operation of the cooperative robot 3 in response to the external force detected by the external force detection sensor. Accordingly, the cooperative robot 3 can safely operate in cooperation with a person.

[0013] Each of the numerical control device 4 and the robot control device 5 is a computer configured by hardware such as an arithmetic processing unit such as a CPU (Central Processing Unit), an auxiliary storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various computer programs, a main storage unit such as RAM (Random Access Memory) for temporarily storing data required by the arithmetic processing unit to execute a computer program, an operation unit such as a keyboard for an operator to perform various operations, and a display unit such as a display for displaying various information to the operator. The numerical control device 4 and the robot control device 5 can send and receive various signals to and from each other, for example, via Ethernet (registered trademark).

[0014] Fig. Fig. 2 is a functional block diagram of the numerical control device 4 and the robot control device 5 according to the present embodiment. First, a detailed configuration of the numerical control device 4 will be described. As shown in Fig. 2, the numerical control device 4 realizes various functions such as a function for controlling the operation of the machine tool 2 and a function for generating an operation path of a control axis of the cooperative robot 3 by the hardware configuration described above.

[0015] The numerical control device 4 controls the cooperative robot 3 via the robot control device 5 using the numerical control program. That is, the numerical control device 4 generates various commands for controlling the operations of the cooperative robot 3 and the tool 3b according to the numerical control program for the robot and transmits the commands to the robot control device 5. Specifically, the numerical control device 4 includes a program input unit 41, an analysis unit 42, an operation control unit 43, a storage unit 44, a robot command signal generation unit 45, and a data transmission / reception unit 46.

[0016] The program input unit 41 reads a numerical control program for a robot consisting of a plurality of robot command blocks from the storage unit 44 and sequentially inputs the numerical control program to the analysis unit 42.

[0017] The analysis unit 42 analyzes the command type based on the numerical control program input from the program input unit 41 for each command block and outputs the analysis result to the operation control unit 43 and the robot command generation unit 45. Specifically, when the command type of the command block is a machine tool numerical control command for the machine tool 2, the analysis unit 42 transmits the machine tool numerical control command to the operation control unit 43. When the command type of the command block is a robot numerical control command for the cooperative robot 3, the analysis unit 42 outputs the robot numerical control command (hereinafter also referred to as a robot control command) to the robot command signal generation unit 45.

[0018] The operation control unit 43 generates a machine tool control signal for controlling the operation of the machine tool 2 according to the analysis result transmitted from the analysis unit 42 and transmits the machine tool control signal to an actuator that drives various axes of the machine tool 2. The machine tool 2 operates in response to a machine tool control signal input from the operation control unit 43 to machine a workpiece (not shown).

[0019] The storage unit 44 stores, for example, a plurality of numerical control programs created based on an operator's operation. Specifically, the storage unit 44 stores a numerical control program including a plurality of command blocks for the machine tool 2 for controlling the operation of the machine tool 2, a plurality of command blocks for the cooperative robot 3 for controlling the operation of the cooperative robot 3, and the like. The numerical control program stored in the storage unit 44 is written in a known programming language such as G code or M code for controlling the operation of the machine tool 2.

[0020] In addition, the control unit 44 stores, for example, machine coordinate values ​​indicating the positions of various axes of the machine tool 2 operated under the numerical control program (i.e., positions of a tool column, a table, and the like of the machine tool 2). These machine coordinate values ​​are defined under a machine tool coordinate system with a reference point defined at any position of the machine tool 2 or near the machine tool 2 as an origin. The storage unit 44 is sequentially updated by processing (not shown) to store the latest values ​​of the machine coordinate values ​​that sequentially change under the numerical control program.

[0021] The storage unit 44 stores, for example, robot coordinate values ​​indicating the position and posture of a control point (e.g., the arm tip portion 3a of the cooperative robot 3) of the cooperative robot 3 operating under the control of the robot controller 5, in other words, the position of each control axis of the cooperative robot 3. These robot coordinate values ​​are defined under a robot coordinate system different from the machine tool coordinate system described above. The storage unit 44 is sequentially updated with the robot coordinate values ​​acquired by the robot controller 5 through processing (not shown) to store the latest values ​​of the robot coordinate values ​​that sequentially change under the numerical control program.

[0022] In addition, the storage unit 44 stores, for example, teaching positions input by the operator, such as a start point and an end point of the cooperative robot 3. Specifically, the storage unit 44 stores a teaching position of the cooperative robot 3 input from a teach pendant or the like, a teaching position input from a keyboard or the like, and the like. The teaching position of the cooperative robot 3 includes robot coordinate values ​​indicating the position of each control axis of the cooperative robot 3, and these robot coordinate values ​​are defined under a robot coordinate system different from the machine tool coordinate system.

[0023] The robot command signal generation unit 45 generates a robot command signal for each robot command block based on the analysis result for each robot command block input from the analysis unit 42, and writes the generated robot command signal to the data transmission / reception unit 46.

[0024] Specifically, the robot command signal generation unit 45 generates a robot command signal for each robot command block based on the robot numerical control command as an analysis result input from the analysis unit 42, and writes the generated robot command signal to the data transmission / reception unit 46.

[0025] The data transmission / reception unit 46 transmits and receives various data, such as commands and robot coordinate values, to and from the data transmission / reception unit 60 of the robot control device 5. Specifically, the data transmission / reception unit 46 transmits the signal generated by the robot command signal generation unit 45 to the data transmission / reception unit 60 of the robot control device 5.

[0026] Next, the configuration of the robot control device 5 will be described in detail. As shown in Fig. As shown in Figure 2, in the robot control device 5, various functions such as a storage unit 51, an analysis unit 52, a robot command generation unit 53, a program management unit 54, a path control unit 55, a kinematics control unit 56, a servo control unit 57, a payload setting selection unit 58, a dynamics control unit 59, a data transmission / reception unit 60, a contact operation execution unit 61, and a contact control unit 62 are realized through the hardware configuration. The robot control device 5 controls the operation of the cooperative robot 3 based on a command transmitted from the numerical control device 4 using these functional units.

[0027] The storage unit 51 stores a robot program for controlling the cooperative robot 3 and various types of information. Furthermore, the storage unit 51 stores payload settings of the cooperative robot 3. Although the storage unit 51 is provided in the robot control device 5 in the present embodiment, the storage unit 51 may be provided in the numerical control device 4 or in an electronic device, an external server, or the like outside the numerical control device 4 and the robot control device 5.

[0028] The data transmission / reception unit 60 receives the robot command signal transmitted from the data transmission / reception unit 46 of the numerical control device 4. Furthermore, the data transmission / reception unit 60 sequentially outputs the received robot command signal to the analysis unit 52.

[0029] The analysis unit 52 analyzes the robot command signal input from the data transmission / reception unit 60. Furthermore, the analysis unit 52 outputs the analysis result to the robot command generation unit 53.

[0030] The robot command generation unit 53 generates a robot command according to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 52. The robot command generation unit 53 outputs the generated robot command to the program management unit 54.

[0031] When the robot command is input from the robot command generation unit 53, the program management unit 54 sequentially executes the robot command to generate an operation plan of the cooperative robot 3 according to the robot command signal, and outputs the operation plan to the path control unit 55.

[0032] In a case where the robot command input from the robot command generation unit 53 is a block robot command, the program management unit 54 further adds the input block robot command to the robot program stored in the storage unit 51. As a result, a robot program corresponding to the robot command signal transmitted from the numerical control device 4 is generated and stored in the storage unit 51. The stored robot program is activated and reproduced when the program management unit 54 receives a robot program activation command as a robot command.

[0033] Furthermore, the program management unit 54 reads the robot program including the contact skip operation command from the storage unit 51 and executes it. Here, the contact skip operation command includes an external force threshold for stopping the cooperative robot 3 when the cooperative robot 3 detects an external force.

[0034] In addition, the contact skip operation indicates that the cooperative robot 3 stops the movement of the cooperative robot 3 and executes the next command block when the cooperative robot 3 detects an external force by a contact operation such as contacting an object during the movement of the cooperative robot 3.

[0035] When the operation plan is input from the program management unit 54, the path control unit 55 calculates time series data of the control points of the cooperative robot 3 and outputs the time series data to the kinematics control unit 56.

[0036] The kinematics control unit 56 calculates a target angle for each joint of the cooperative robot 3 from the input time series data and passes the target angle to the servo control unit 57.

[0037] The servo control unit 57 generates a robot control signal for the cooperative robot 3 by feedback-controlling each servomotor of the cooperative robot 3 to achieve the target angle input from the kinematics control unit 56, and transmits the robot control signal to the servomotor of the cooperative robot 3. Furthermore, the servo control unit 57 generates a robot command signal reflecting the torque calculated by the dynamics control unit 59 described later. Accordingly, the robot control device 5 can control the cooperative robot 3 based on the payload setting.

[0038] The payload setting selection unit 58 selects the payload setting stored in the storage unit 51 in response to the robot command signal analyzed by the analysis unit 52 and notifies the selected payload setting to the dynamics control unit 59.

[0039] The dynamics control unit 59 calculates the torque to be supplied to the cooperative robot 3 through an inverse dynamics calculation based on the payload setting selected by the payload setting selection unit 58. The dynamics control unit 59 outputs the torque obtained by the calculation to the servo control unit 57.

[0040] Here, the inverse dynamics calculation of the cooperative robot 3 is a method for calculating the input torque to each motor to realize such a response, taking into account the hand payload, gravity, and the weight applied to the cooperative robot 3, based on the desired motion (time series data of the position, velocity, and acceleration of each joint) calculated by the operation path plan of the cooperative robot 3. For example, a numerical calculation method such as a calculation torque method or a Newton-Euler method is disclosed as a method related to such inverse dynamics calculation (for example, Japanese Unexamined Patent Application Publication Nos. H8-118275 and 2015-58520).

[0041] In a case where the external force detected by the cooperative robot 3 exceeds the threshold value of an external force during the movement of the cooperative robot 3 according to the contact skip operation command in the robot program, the contact operation executing unit stops the movement of the cooperative robot 3 and executes the next command block of the robot program.

[0042] The contact control unit 62 controls the contact stop operation according to the detection result of the external force by the external force detection unit 31 in the cooperative robot 3. Here, the contact stop operation indicates that the cooperative robot 3 stops the operation of the cooperative robot 3 in response to an external contact force.

[0043] The contact skip operation command includes a threshold value of an external force for stopping the cooperative robot 3 when the cooperative robot 3 detects an external force, an operation type of the cooperative robot 3, a target position of the cooperative robot 3, a movement speed of the cooperative robot 3, a contact position at which the cooperative robot 3 contacts an object, and the like.

[0044] Furthermore, the contact skip operation command may include specifying a force component or a torque component when the cooperative robot 3 detects an external force according to the moving direction or the moving speed of the cooperative robot 3. For example, when the cooperative robot 3 moves in the +X direction, the contact skip operation command may specify a force component or a torque component in the +X direction when the external force detection unit 31 detects the external force.

[0045] Furthermore, the contact skip operation command may include that the external force threshold of the contact skip operation is smaller than the external force detection threshold of the contact stop operation at which the operation of the cooperative robot 3 is stopped by an external contact.

[0046] Furthermore, the next command block of the robot program may include detecting two positions where the cooperative robot 3 detects contact during the contact skip operation, and measuring the dimension of the object corresponding to the two detected positions. Here, the two positions may be, for example, a first position where contact is detected while the cooperative robot 3 is moving in the +X direction, and a second position where contact is detected while the cooperative robot 3 is moving in the -X direction. Accordingly, the robot controller 5 may measure the dimension of the object in the X direction based on the two positions.

[0047] Furthermore, the next command block of the robot program may include, for example, that the cooperative robot 3 grasps a workpiece with unknown dimensions, or that it grasps the workpiece at a position at which the cooperative robot 3 contacts the workpiece while searching for the position of the workpiece.

[0048] Next, the specific processing of the contact skip operation will be described. The program management unit 54 executes the robot program and notifies the contact operation execution unit 61 of the contact skip operation command if the contact skip operation command is present in the robot program.

[0049] When the external force detected by the cooperative robot 3 exceeds the external force threshold during the movement of the cooperative robot 3, the contact operation executing unit 61 notifies the contact control unit 62 of the external force threshold, and the contact control unit 62 starts monitoring the external force exceeding the external force threshold.

[0050] Furthermore, the contact operation execution unit 61 notifies the robot command generation unit 53 of the operation type, the movement amount, and the movement speed of the cooperative robot 3 in response to the contact skip operation signal, and the robot command generation unit 53 generates a robot command corresponding to the operation type, the movement amount, and the movement speed of the cooperative robot 3. Thereafter, the robot control device 5 of the robot performs the above-described control, and the cooperative robot 3 starts its movement.

[0051] In a case where the external force detected by the external force detection unit 31 exceeds the external force threshold, the contact control unit 62 notifies the servo control unit 57 to stop the movement and acquires the position information of the position where the external force detection unit 31 detects the external force exceeding the external force threshold.

[0052] The contact control unit 62 notifies the contact operation execution unit 61 of the acquired position information and an event that the cooperative robot 3 has stopped. The contact operation execution unit 61 notifies the program management unit 54 of the acquired position information and an event that the cooperative robot 3 has stopped.

[0053] Then, as described above, the program management unit 54 executes the next command block of the robot control command when it is notified by the contact operation execution unit 614 that the cooperative robot 3 has stopped its movement. Further, the program management unit 54 executes, for example, the next command block and measures the dimensions of the object based on the acquired position information of the object.

[0054] Fig. 3 is a diagram showing an example of a robot program according to the present embodiment. Fig. 4 is a diagram schematically showing the operation of the cooperative robot 3 when the Fig. 3 shown robot program is executed. In the Fig. 3, the cooperative robot 3 measures the dimensions of the workpiece as the object by using the contact skip operation command.

[0055] First, the command "User coordinate number = 1" is given, and the cooperative robot 3 selects the user coordinate system No. 1. Next, the command "Tool coordinate number = 1" is given, and the cooperative robot 3 selects the tool coordinate system No. 1.

[0056] Next, the command “Each axis position [1] 100% positioning” is given, and the robot controller 5 moves and positions the cooperative robot 3 to the initial position (position [1]) by each axis operation of the cooperative robot 3. Next, the command “Linear position [2] 500 mm / s positioning” is given, and the robot controller 5 moves and positions the cooperative robot 3 linearly at a speed of 500 mm / s to the workpiece dimension measurement starting point (position [2]).

[0057] Then, the command "Linear Skip Position [3] 10 mm / s 1.0 N Position Register [1]" is issued, and the cooperative robot 3 and the robot controller 5 start the contact skip operation. This command moves the cooperative robot 3 in the X direction with position [3] as a target and stops the movement of the cooperative robot 3 when the external force detection unit 31 detects an external force. Furthermore, the command sets the external force detection threshold to 1.0 N and sets the movement speed of the cooperative robot 3 to 10 mm / s.

[0058] In response to this command, the robot controller 5 causes the cooperative robot 3 to start moving at a speed of 10 mm / s in the -X direction by linear motion with the position [3] as the target. Then, the robot controller 5 stops the movement of the cooperative robot 3 when the external force exceeding 1.0 N is detected and stores the position information of the position where the external force was detected in the position register [1].

[0059] Next, the command “Each axis position [1] 100% positioning” is given, and the robot controller 5 moves and positions the cooperative robot 3 to the initial position (position [1]) by each axis operation of the cooperative robot 3.

[0060] Next, the command “Linear Position [3] 500 mm / s Positioning” is given, and the robot controller 5 moves and positions the cooperative robot 3 linearly at a speed of 500 mm / s to the workpiece dimension measurement start point (position [3]).

[0061] Next, the "Linear Skip Position [2] 10 mm / s 1.0 N Position Register [2]" command is issued, and the cooperative robot 3 and the robot controller 5 start the contact skip operation. This command moves the cooperative robot 3 in the +X direction with position [2] as a target and stops the movement of the cooperative robot 3 when the external force detection unit 31 detects the external force. Furthermore, the command sets the external force threshold for detecting the external force to 1.0 N and sets the movement speed of the cooperative robot 3 to 10 mm / s.

[0062] In response to this command, the robot controller 5 causes the cooperative robot 3 to start moving at a speed of 10 mm / s in the +X direction by linear motion with the position [2] as a target. Then, the robot controller 5 stops the movement of the cooperative robot 3 when the external force exceeding 1.0 N is detected and stores the position information of the position where the external force was detected in the position register [2].

[0063] Next, the command "Register [1] = Position Register [1,X] - Position Register [2,X]" is given, and the robot controller 5 measures the dimensions of the workpiece based on the position information of the position where the external force is detected. That is, the robot controller 5 subtracts the X coordinate value of position register [2] from the X coordinate value of position register [1] and stores the value in register [1].

[0064] Next, the command "Each axis position [1] 100% positioning" is given, and the robot controller 5 moves and positions the cooperative robot 3 to the initial position (position [1]) through each axis operation of the cooperative robot 3. Then, the command "[End]" is given, and the robot program ends. In this way, the robot program can measure the dimensions of the workpiece by performing the contact skipping operation from position [2] and position [3], in Fig.4 shown, from.

[0065] As described above, the robot control device 5 according to the present embodiment includes the program management unit 54 that executes a robot program including a contact skip operation command, the contact skip operation command including an external force threshold for stopping the cooperative robot 3 when the cooperative robot 3 detects an external force, and the contact operation execution unit 61 that, according to the contact skip operation command, when the external force detected by the cooperative robot 3 exceeds the external force threshold during movement of the cooperative robot 3, stops the movement of the cooperative robot 3 and executes a next command block of the robot program.

[0066] With such a configuration, the robot controller 5 sets the threshold of the external force applied to the cooperative robot 3 according to the command in the robot program, moves the cooperative robot 3, and stops the movement of the cooperative robot 3 when the cooperative robot 3 is moving and the external force is detected. This allows the robot controller 5 to detect contact with the object and execute the continuous robot program by executing the command of the next block after the contact is detected.

[0067] Furthermore, the next command block of the robot program may include detecting a position at which the cooperative robot 3 detects contact during the contact skipping operation and measuring the dimensions of the object according to the detected position. With such a configuration, it is possible for the robot controller 5 to measure the dimensions of an object, e.g., a workpiece machined by the machine tool 2.

[0068] Furthermore, the contact skip operation command may include determining a force component or a torque component according to the movement direction or movement speed of the cooperative robot 3 when the external force detection unit 31 of the cooperative robot 3 detects the external force. With such a configuration, it is possible for the robot controller 5 to measure the dimensions of the target object for the determined component.

[0069] Furthermore, the contact skip operation command may include setting the external force threshold of the contact skip operation to be smaller than the external force detection threshold of the contact stop operation, at which the operation of the cooperative robot 3 is stopped due to external contact. With such a configuration, it is possible for the numerical control device 4 to measure the dimensions of the object without stopping the operation when the cooperative robot 3 comes into contact with the object.

[0070] Although embodiments of the present invention have been described above, the numerical control system 1 can be implemented by hardware, software, or a combination thereof. The control method performed by the numerical control system 1 can also be implemented by hardware, software, or a combination thereof. Here, "implemented by software" indicates implementation by a computer that reads and executes a program.

[0071] The program can be stored on and made available to the computer using various types of non-transitory computer-readable media (non-transitory computer-readable media). Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., a hard disk drive), magneto-optical recording media (e.g., a magneto-optical disc), CD-ROMs (read-only memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROM, programmable ROM (PROM), erasable PROM (EPROM), flash ROM, and random access memory (RAM)).

[0072] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, and the like can be made to these embodiments without departing from the gist of the present disclosure or the gist of the present disclosure derived from the contents described in the claims and the equivalents thereof. These embodiments can also be implemented in combination. In the embodiments described above, for example, the order of each operation and the order of each process are shown as an example and are not limited thereto. The same applies to the case where numerical values ​​or numerical expressions are used in the description of the embodiment described above.

[0073] The following supplementary notes are further disclosed in addition to the embodiments and modifications described above. (Supplementary Note 1)

[0074] The robot control device (5) includes: the program management unit (54) that executes a robot program including a contact skip operation command, the contact skip operation command including an external force threshold for stopping a robot when the robot detects an external force; and the contact operation execution unit (61) that stops the movement of the robot according to the contact skip operation command and executes a next command block of the robot program when the external force detected by the robot exceeds the external force threshold during movement of the robot. (Supplementary Note 2)

[0075] In the robot control device as described in Supplementary Note 1, the next command block of the robot program includes detecting a position at which the robot detects a contact during a contact skip operation and measuring a dimension of an object corresponding to the detected position. (Supplementary Note 3)

[0076] In the robot control device as described in Supplementary Note 1, the contact skip operation command includes determining a force component or a torque component according to a moving direction or a moving speed of the robot when the robot detects an external force. (Supplementary Note 4)

[0077] In the robot control device as described in Supplementary Note 1, the robot is a cooperative robot that stops an operation when detecting contact with a person, and the contact skip operation command includes setting an external force threshold of the contact skip operation to be smaller than an external force detection threshold of a contact stop operation at which the cooperative robot stops an operation due to external contact. Explanation of reference symbols 1 Numerical control system 2 machine tools 3 Cooperative robot 4 Numerical control device 5 Robot control unit 31 Detection unit of an external force 41 Program input unit 42 Analysis Unit 43 Operating control unit 44 storage unit 45 Robot command signal generation unit 46 Data transmission / reception unit 51 storage unit 52 Analysis Unit 53 Robot command generation unit 54 Program Management Unit 55 Path control unit 56 Kinematics control unit 57 Servo control unit 58 Payload setting selection unit 59 Dynamic control unit 60 Data transmission / reception unit 61 Contact operation execution unit 62 contact control unit QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2014-241018

[0005] JP 8-118275

[0040] JP 2015-58520

[0040]

Claims

[1] A robot control device comprising: a program management unit that executes a robot program that includes a contact skip operation command, the contact skip operation command including an external force threshold for stopping a robot when the robot detects an external force; and a contact operation executing unit that stops the movement of the robot according to the contact skip operation command and executes a next command block of the robot program when the external force detected by the robot exceeds the external force threshold during movement of the robot. [2] The robot control device according to claim 1, wherein the next command block of the robot program includes detecting a position at which the robot detects a contact during a contact skip operation and measuring a dimension of an object corresponding to the detected position. [3] The robot control device according to claim 1, wherein the contact skip operation command includes determining a force component or a torque component according to a moving direction or a moving speed of the robot when the robot detects an external force. [4] The robot control device according to claim 1, wherein the robot is a cooperative robot that stops an operation when it detects contact with a person, and the contact skip operation command includes setting an external force threshold of the contact skip operation to be smaller than an external force detection threshold of a contact stop operation at which the cooperative robot stops an operation due to external contact.

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