Robot control system

Abstract

To position a hand unit with respect to a target with high accuracy when a robot holds the target in the hand unit.SOLUTION: A robot control system 1 includes: a hand unit 11 having an electromagnet 11a; a robot 12 that moves the hand unit 11; and a control unit 13 that moves the hand unit 11 by controlling the robot 12. The control unit 13 switches the robot 12 to an external-force following mode while keeping the hand unit 11 moved near a target 20 having a magnetic attraction target 21, which is a target to be magnetically attracted by the electromagnet 11a; and after the magnetic attraction target 21 is magnetically attracted by the electromagnet 11a, the control unit switches the robot 12 to a position control mode to move the hand unit 11.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot control system for holding a target by a hand unit. [Background technology]

[0002] For a robot to perform a highly accurate task, it is necessary to position the robot with high accuracy. For example, in a robot that can be transported by an automatic guided vehicle, the robot is positioned with high accuracy by inserting a positioning pin into a hole provided in the floor surface (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-082233 A Summary of the Invention [Problem to be solved by the invention]

[0004] The method described in Patent Document 1 makes it possible to position the robot with high precision. However, there is a problem in that if the robot is not accurately positioned relative to a target that the robot is to transport or perform other tasks, the precision of the task decreases.

[0005] The present invention has been made to solve the above-mentioned problems, and aims to provide a robot control system that can position a hand unit relative to a target with high precision when the robot holds a target with the hand unit. [Means for solving the problem]

[0006] In order to achieve the above-mentioned objective, a robot control system according to one embodiment of the present invention comprises a hand unit having an electromagnet, a robot for moving the hand unit, and a control unit for moving the hand unit by controlling the robot, wherein the control unit switches the robot to an external force following mode while the hand unit is moved near a target having a magnetized object to which the electromagnet is magnetized, and switches the robot to a position control mode after the electromagnet is magnetized to the magnetized object and moves the hand unit. Effect of the Invention

[0007] According to a robot control system of one aspect of the present invention, in a robot in an external force following mode, the electromagnet in the hand section and a magnetic object on the target can be magnetically attracted to each other, so that when the hand section holds the target, the two can be placed in a predetermined positional relationship, and the hand section can be positioned relative to the target with high precision. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a configuration of a robot control system according to an embodiment of the present invention; [Diagram 2] A flowchart showing the operation of the robot control system according to the embodiment. [Diagram 3] FIG. 2 is a perspective view showing an example of a robot according to the embodiment; [Figure 4A] FIG. 13 is a diagram showing an example of an electromagnet provided in the hand unit in the embodiment; [Figure 4B] FIG. 13 is a diagram showing an example of a magnetic target of a target according to the embodiment; [Diagram 5] FIG. 2 is a diagram showing an example of a robot having a force sensor according to the embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The robot control system according to the present invention will be described below using an embodiment. In the following embodiments, components and steps with the same reference numerals are the same or equivalent, and repeated description may be omitted. The robot control system according to this embodiment is capable of highly accurately positioning the hand unit and the target in a robot in an external force following mode by magnetically attracting an electromagnet in the hand unit and a magnetic target in the target.

[0010] 1 is a schematic diagram showing the configuration of a robot control system 1 according to the present embodiment. The robot control system 1 according to the present embodiment includes a hand unit 11, a robot 12 for moving the hand unit 11, and a control unit 13 for controlling the robot 12.

[0011] The hand unit 11 has an electromagnet 11a. As an example, the electromagnet 11a may be provided on a surface that comes into contact with the target 20 when the hand unit 11 holds the target 20. Alternatively, for example, the hand unit 11 may be the electromagnet 11a itself. The on / off control of the electromagnet 11a may be performed by the control unit 13. As an example, the electromagnet 11a may be strong enough to hold the target 20.

[0012] The target 20 is an object to be held by the hand unit 11, and may be, for example, an object to be transported by the robot 12, or may be a part to be assembled by the robot 12. Note that while Fig. 1 shows a case in which the target 20 is placed on the floor, the target 20 may be placed on, for example, a shelf or a stand.

[0013] The target 20 has a magnetic target 21 that is an object to be magnetically attracted by the electromagnet 11a. The magnetic target 21 may be, for example, an electromagnet, a permanent magnet, or a ferromagnetic body. When the magnetic target 21 is a ferromagnetic body, it is preferable that no ferromagnetic body other than the magnetic target 21 is present around the magnetic target 21 of the target 20. In this embodiment, the magnetic target 21 is a permanent magnet. As an example, the magnetic target 21 may be provided on a surface of the target 20 that contacts the hand unit 11 when the hand unit 11 holds the target 20. When the magnetic target 21 is an electromagnet, the electromagnet may be turned on and off manually, for example, or may be turned on and off by wireless communication by the robot control system 1. In the latter case, the electromagnet that is the magnetic target 21 may be turned on only when it is desired to apply a magnetic force between the electromagnet 11a and the magnetic target 21.

[0014] The robot 12 moves the hand unit 11. The hand unit 11 may be attached to the tip of the robot 12 as shown in FIG. 1. The robot 12 may be, for example, a robot having a plurality of arms connected by joints driven by a motor. This robot may be, for example, a vertical multi-joint robot or a horizontal multi-joint robot. The robot 12 may also be, for example, an orthogonal robot having a plurality of linear axes combined at right angles. The robot 12 may be, for example, a robot for transporting the target 20, a robot for performing assembly work using the target 20, or a robot for holding the target 20 for other purposes. The base end side of the robot 12 may be, for example, fixed to a structure such as a floor or a wall, a base, or a movable mobile carriage. The mobile carriage may be, for example, moved manually, or may have a moving mechanism such as a running means. In the latter case, the mobile carriage may move, for example, autonomously, or may move in response to an instruction from a user or the like. In this embodiment, a case will be mainly described in which the base end side of the robot 12 is fixed to a structure such as a floor or a base.

[0015] The control unit 13 moves the hand unit 11 by controlling the robot 12. For example, the control unit 13 may control the robot 12 so that the hand unit 11 approaches the target 20 in order to hold the target 20 by the hand unit 11. Furthermore, the control unit 13 may control the robot 12 to move the target 20 to a desired position when the target 20 is held by the hand unit 11. Furthermore, the control unit 13 may switch the electromagnet 11a included in the hand unit 11 between on and off by switching between energization and de-energization of the electromagnet 11a.

[0016] The control unit 13 may also switch the operation mode of the robot 12 between an external force tracking mode and a position control mode. The external force tracking mode is an operation mode in which the hand unit 11 is moved by an external force. This external force may be, for example, a force generated by the robot being pushed by a hand, or a force of attraction by a magnetic force. This external force may be, for example, an attractive force due to a magnetic force acting between the electromagnet 11a of the hand unit 11 and the magnetic target 21 of the target 20. For example, when controlling the robot 12 in the external force tracking mode, the control unit 13 may cause a motor driving each axis of the robot 12 to generate a torque so as to cancel out friction of each axis. Also, as an example, when controlling the robot 12 in the external force tracking mode, the control unit 13 may control each axis of the robot 12 so as to generate a force that corrects gravity acting on each axis of the robot 12, a reaction generated by the operation of the front and rear axes, and a Coriolis force. In this way, when an external force is applied to the hand unit 11, the hand unit 11 moves in response to the external force even if the external force is small. This external force tracking mode is a known mode used, for example, in lead-through teaching of a robot, and a detailed description thereof will be omitted. The position control mode is an operation mode for moving the hand unit 11 attached to the robot 12 to an arbitrary position by driving each axis with the motor of the robot 12. For example, when controlling the robot 12 in the position control mode, the control unit 13 may move the hand unit 11 to a desired position by calculating the angle of each joint from a desired position of the hand unit 11 by inverse kinematics and controlling the motor so that each joint has the calculated angle. This position control mode is a known mode used, for example, when performing work such as transportation and assembly using a robot, and a detailed description thereof will be omitted.

[0017] When the target 20 is held by the hand unit 11, the control unit 13 may switch the robot 12 to the external force following mode in a state where the hand unit 11 has been moved to the vicinity of the target 20 having the magnetic target 21. The accuracy of the movement of the hand unit 11 to the vicinity of the target 20 is not important. The electromagnet 11a may be turned on before or after the switching to the external force following mode. The position near the target 20 to which the hand unit 11 is moved may be, for example, a predetermined position. It is preferable that this position is near the magnetic target 21. It is also preferable that, when the hand unit 11 is present at that position, an attractive force due to the magnetic force of the electromagnet 11a acts between the electromagnet 11a of the hand unit 11 and the magnetic target 21 of the target 20. In other words, the vicinity of the magnetic target 21 may be a position close to the magnetic target 21 to such an extent that an attractive force due to the magnetic force acts between the electromagnet 11a and the magnetic target 21. When the hand unit 11 of the robot 12, which has been switched to the external force following mode, is positioned near the target 20 and the electromagnet 11a of the hand unit 11 is turned on, an attractive force acts between the electromagnet 11a of the hand unit 11 and the magnetic target 21 of the target 20. As a result, the hand unit 11 moves toward the magnetic target 21 due to this attractive force, and the electromagnet 11a and the magnetic target 21 are magnetically attracted to each other. In other words, the electromagnet 11a of the hand unit 11 and the magnetic target 21 are magnetically attracted to each other. In this way, the positioning of the hand unit 11 and the target 20 is performed with high precision.

[0018] In addition, when the magnetic target 21 is a permanent magnet, it is preferable that the polarity of the side of the electromagnet 11a facing the target 20 and the polarity of the side of the magnetic target 21 facing the hand unit 11 are opposite when the electromagnet 11a is energized. For example, when one is a north pole, it is preferable that the other is a south pole. This is so that an attractive force acts between the two. In addition, when the magnetic target 21 is an electromagnet, it is preferable that the electromagnet 11a of the hand unit 11 and the side facing the electromagnet that is the magnetic target 21 of the target 20 are energized so that the polarities are opposite to each other.

[0019] The control unit 13 may switch the robot 12 to a position control mode and move the hand unit 11 after the electromagnet 11a has been magnetically attached to the magnetic attachment target 21. By moving the hand unit 11 in this manner, the target 20 held by the hand unit 11 by the electromagnet 11a is also moved together with the electromagnet 11. This movement of the target 20 may be performed for the purpose of, for example, transportation or assembly. In addition, the control unit 13 may detect that the electromagnet 11a has been magnetically attached to the magnetic attachment target 21 by, for example, each axis of the robot 12 being stopped.

[0020] Furthermore, the control unit 13 may, for example, turn off the electromagnet 11a when releasing the holding of the target 20, or, if the magnetically attracted object 21 is a permanent magnet, may reverse the polarity of the electromagnet 11a from when the target 20 is being held. If the magnetically attracted object 21 is also an electromagnet, the electromagnet that is the magnetically attracted object 21 may, for example, be turned on when the target 20 is held by the hand unit 11, and may be turned off when the holding is released. The electromagnet that is the magnetically attracted object 21 may be turned on and off by, for example, wireless communication between the control unit 13 and the target 20.

[0021] Next, the operation of the robot control system 1 will be described with reference to the flowchart of Fig. 2. In the flowchart of Fig. 2, a case will be described in which the target 20 is transported using the robot control system 1. Also, it is assumed that the magnetically attracted object 21 of the target 20 is a permanent magnet.

[0022] (Step S101) The control unit 13 determines whether or not to transport the target 20. If the target 20 is to be transported, the process proceeds to step S102, and if not, the process of step S101 is repeated until it is determined that the target 20 is to be transported. The control unit 13 may determine that the target 20 is to be transported, for example, when an instruction to transport the target 20 is received.

[0023] (Step S102) The control unit 13 controls the robot 12 to move the hand unit 11 to the vicinity of the target 20. Note that the position of the target 20 may be, for example, predetermined or may be a position input from outside.

[0024] (Step S103) The control unit 13 switches the robot 12 to the external force following mode. That is, after this switching, the control unit 13 controls the robot 12 in the external force following mode.

[0025] (Step S104) The control unit 13 turns on the electromagnet 11a of the hand unit 11. When the electromagnet 11a is turned on, an attractive force acts between the electromagnet 11a and the magnetic object 21 of the target 20, and the hand unit 11 moves toward the magnetic object 21.

[0026] (Step S105) The control unit 13 determines whether the hand unit 11 has stopped. If the hand unit 11 has stopped, the process proceeds to step S106. If the hand unit 11 has not stopped, the control unit 13 repeats the process of step S105 until the hand unit 11 has stopped. Note that the control unit 13 may determine that the hand unit 11 has stopped, for example, when each axis of the robot 12 stops changing. Also, when the hand unit 11 has stopped, for example, the hand unit 11 may be in a state where it is holding the target 20 by the magnetic force acting between the electromagnet 11a and the magnetic target 21.

[0027] (Step S106) The control unit 13 switches the robot 12 to the position control mode. That is, after this switching, the control unit 13 controls the robot 12 in the position control mode.

[0028] (Step S107) The control unit 13 transports the target 20 to a destination position. This destination position may be, for example, a position that is determined in advance, or may be a position that is input from the outside.

[0029] (Step S108) When the transport of the target 20 to the destination position is completed, the control unit 13 turns off the electromagnet 11a of the hand unit 11, thereby releasing the hand unit 11 from holding the target 20 (step S108).

[0030] (Step S109) The control unit 13 moves the hand unit 11 in a direction away from the target 20. Note that the hand unit 11 may be moved to, for example, the initial position. Then, the process returns to step S101.

[0031] The order of the steps in the flowchart of Fig. 2 is an example, and the order of the steps may be changed as long as the same results can be obtained. As an example, the electromagnet 11a may be turned on at the start of the transfer, that is, after the determination of Yes in step S101. Also, in the flowchart of Fig. 2, the process ends when the power is turned off or an interrupt is issued to end the process.

[0032] Next, the operation of the robot control system 1 according to this embodiment will be described using a specific example. In this specific example, it is assumed that the magnetically attracted object 21 of the target 20 is a permanent magnet. It is also assumed that the magnetically attracted object 21 is disposed on the upper surface of the target 20. It is also assumed in this specific example that the robot 12 is a three-axis Cartesian robot shown in FIG. 3.

[0033] In FIG. 3, the robot 12, which is an orthogonal robot, may include a first moving unit 121, which is a slide shaft for moving the hand unit 11 in a first direction (here, the x-axis direction in the xyz orthogonal coordinate system) in a horizontal plane, a second moving unit 122, which is a slide shaft for moving the first moving unit 121 in a second direction (here, the y-axis direction in the xyz orthogonal coordinate system) in a horizontal plane perpendicular to the first direction, and a third moving unit 123, which is a slide shaft for moving the second moving unit 122 in a vertical direction (here, the z-axis direction in the xyz orthogonal coordinate system). The base end side of the third moving unit 123, i.e., the lower end side in FIG. 3, may be fixed to, for example, a base or a floor. For example, the first moving unit 121 may move the upper surface of the hand unit 11 in the x-axis direction. For example, the second moving unit 122 may move one end of the first moving unit 121 in the x-axis direction in the y-axis direction. Moreover, as one example, the third moving section 123 may move one end side of the second moving section 122 in the z-axis direction.

[0034] In this specific example, the target 20 is transported from a first position to a second position by the robot control system 1. After the target 20 is placed at the first position, when an instruction to transport the target 20 is input to the robot control system 1, the control unit 13 moves the hand unit 11 to the vicinity of the target 20 in response to the instruction (steps S101 and S102). Note that the control unit 13 may move the hand unit 11 to a position above the target 20, which is a predetermined position, so that the electromagnet 11a faces downward.

[0035] Next, the control unit 13 switches the robot 12 to an external force following mode and turns on the electromagnet 11a (steps S103 and S104). In the external force following mode, for example, the first moving unit 121 may set the force Fx in the x-axis direction to 0, the second moving unit 122 may set the force Fy in the y-axis direction to 0, and the third moving unit 123 may set the force Fz in the z-axis direction to M. M may be the total weight of the first moving unit 121, the second moving unit 122, and the hand unit 11.

[0036] In the external force following mode, the magnetic force between the electromagnet 11a and the permanent magnet which is the magnetically attracted object 21 of the target 20 causes the hand unit 11 to move in a direction approaching the magnetically attracted object 21, and the electromagnet 11a is eventually magnetically attracted to the magnetically attracted object 21. In this way, the hand unit 11 can hold the target 20 located at the first position in a predetermined relative positional relationship. Therefore, high accuracy is not required when placing the target 20 at the first position.

[0037] When the control unit 13 detects that the electromagnet 11a has been magnetically attracted to the magnetic target 21 due to the hand unit 11 being stopped, the control unit 13 switches the robot 12 to a position control mode (steps S105 and S106). Then, the control unit 13 transports the target 20 held by the hand unit 11 by the magnetic force of the electromagnet 11a to a predetermined second position (step S107). When the transport of the target 20 to the second position is completed, the control unit 13 turns off the electromagnet 11a to release the attraction of the target 20 and return the hand unit 11 to the predetermined initial position (steps S108 and S109). In this way, a series of processes for transporting the target 20 from the first position to the second position is completed.

[0038] As described above, according to the robot control system 1 of the present embodiment, in the robot 12 in the external force following mode, the electromagnet 11a of the hand unit 11 and the magnetically attracted object 21 of the target 20 are attracted by the magnetic force of the electromagnet 11a, so that when the hand unit 11 holds the target 20, the electromagnet 11a and the magnetically attracted object 21 can be placed in a predetermined positional relationship with a simple configuration. Therefore, for example, when the electromagnet 11a magnetically attracts the magnetically attracted object 21, even if the relative positional relationship between the robot 12 and the target 20 is unknown, the positioning of the hand unit 11 with respect to the target 20 can be performed with high accuracy. As a result, for example, the target 20 can be picked up by the hand unit 11 with high accuracy, and the target 20 can be transported to a desired position with high accuracy.

[0039] In the present embodiment, the case where the hand unit 11 holds the target 20 by the magnetic force of the electromagnet 11a has been mainly described, but this is not necessarily the case. The hand unit 11 may further have a holding means for holding the target 20 after the electromagnet 11a has magnetically attracted the target 20 to the magnetic attraction object 21. The holding means may be, for example, a clamping means for clamping the target 20, or a vacuum suction means for attracting the target 20. In this case, the electromagnet 11a may be turned off after the target 20 is held by the holding means. Also, in this case, the electromagnet 11a may be one that generates a magnetic force that is not strong enough to hold the target 20.

[0040] In the present embodiment, the control unit 13 may control the electromagnet 11a so that the magnetic force of the electromagnet 11a is weakened as the hand unit 11 approaches the magnetic target 21. By performing such control, it is possible to reduce the impact when the hand unit 11 and the target 20 come into contact with each other. For example, when the control unit 13 sets the robot 12 to the external force following mode and turns on the electromagnet 11a, the control unit 13 may gradually reduce the power supplied to the electromagnet 11a so that the magnetic force generated by the electromagnet 11a is weakened after detecting that the hand unit 11 has started moving due to an external force. Note that, after the hand unit 11 has started moving due to the magnetic force generated by the electromagnet 11a, the power supplied to the electromagnet 11a may be 0 until the electromagnet 11a and the target 20 come into contact with each other, or the electromagnet 11a may be energized even when the two come into contact with each other. In either case, by controlling the magnetic force of the electromagnet 11a to be weakened as the hand unit 11 approaches the magnetic target 21, it is possible to mitigate the impact when the two come into contact with each other, and for example, to reduce the possibility that at least one of them will be damaged by the impact when the two come into contact with each other. Note that, for example, when the hand unit 11 holds the target 20 with the electromagnet 11a, the electromagnet 11a may be turned on again after the hand unit 11 comes into contact with the target 20.

[0041] In addition, in the present embodiment, the case where the hand unit 11 has one electromagnet 11a and the target 20 has one magnetic target 21 has been mainly described, but this is not necessarily the case. The hand unit 11 may have, for example, two or more electromagnets. Also, the target 20 may have, for example, two or more magnetic targets. In this case, the target 20 may have, for example, at least two magnetic targets with different polarities. The two magnetic targets with different polarities may be, for example, a magnetic target whose surface facing the electromagnet of the hand unit 11 is an N pole and a magnetic target whose surface is an S pole. It is preferable that each of the two or more magnetic targets is an electromagnet or a permanent magnet.

[0042] In this case, for example, the hand unit 11 may have two electromagnets 11b and 11c as shown in Fig. 4A, and the target 20 may have two permanent magnets, ie, magnetized targets 21b and 21c, as shown in Fig. 4B. Figs. 4A and 4B are views of the hand unit 11 and the target 20 as viewed in a direction perpendicular to the arrangement surface on which the electromagnets 11b and 11c and the magnetized targets 21b and 21c are arranged. As an example, when the electromagnets 11b and 11c are magnetically attracted to the magnetized targets 21b and 21c, the magnetized targets 21b and 21c may have N and S poles on the sides facing the electromagnets 11b and 11c, respectively, and the electromagnets 11b and 11c may have N and S poles on the sides facing the magnetized targets 21b and 21c when turned on. In addition, it is preferable that the electromagnets 11b and 11c in the hand unit 11 and the magnetic targets 21b and 21c in the target 20 are arranged such that, when viewed from a direction perpendicular to the plane on which they are arranged, the electromagnets 11b and 11c overlap with each other and the electromagnets 11c and 21c overlap with each other in a state where they are both magnetically attracted to each other. As an example, on the plane on which they are arranged, the distance between the electromagnets 11b and 11c and the distance between the magnetic targets 21b and 21c may be the same.

[0043] In this way, when the hand portion 11 has two or more electromagnets 11b, 11c and the target 20 has two magnetized objects 21b, 21c with different polarities, the electromagnet 11b can be magnetically attracted to the magnetized object 21b, and the electromagnet 11c can be magnetically attracted to the magnetized object 21c, making it possible to position the hand portion 11 and the target 20 with greater precision.

[0044] In this embodiment, as shown in FIG. 5, the robot 12 may further include a force sensor 14 for measuring a force applied to the hand unit 11. The force sensor 14 may be, for example, a three-axis force sensor or a six-axis force sensor. In this case, when controlling the robot 12 in the external force tracking mode, the control unit 13 may control the robot 12 so that the external force measured by the force sensor 14 becomes zero. The external force measured by the force sensor 14 may be, for example, an external force other than gravity applied to the hand unit 11. The control unit 13 can specify an external force other than gravity applied to the hand unit 11 by using, for example, a force acquired by the force sensor 14 when the electromagnet 11a is turned off and a force acquired by the force sensor 14 when the electromagnet 11a is turned on. Then, when controlling the robot 12 in the external force tracking mode, the control unit 13 may move the hand unit 11 in the direction of the external force. Furthermore, when the external force tracking mode is continued, the control unit 13 may repeat the movement of the hand unit 11 in the direction of the external force and the identification of the external force.

[0045] In addition, in the above embodiments, each process or function may be realized by centralized processing in a single device or a single system, or may be realized by distributed processing in multiple devices or multiple systems.

[0046] In the above embodiment, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component may be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. During execution, the program execution unit may execute the program while accessing a storage unit or a recording medium. The program may be executed by being downloaded from a server or the like, or may be executed by reading a program recorded on a predetermined recording medium (for example, an optical disk, a magnetic disk, a semiconductor memory, etc.). The program may be used as a program constituting a program product. The computer that executes the program may be single or multiple. That is, centralized processing may be performed, or distributed processing may be performed.

[0047] The above-mentioned embodiments are merely examples for specifically implementing the present invention, and are not intended to limit the technical scope of the present invention. The technical scope of the present invention is indicated by the claims, not by the description of the embodiments, and is intended to include modifications within the literal scope of the claims and the scope of equivalent meanings. [Explanation of symbols]

[0048] 1 robot control system, 11 hand unit, 11a, 11b, 11c electromagnet, 12 robot, 13 control unit, 14 force sensor, 20 target, 21, 21b, 21c magnetic target

Claims

1. A hand unit having an electromagnet; A robot for moving the hand unit; a control unit that controls the robot to move the hand unit, The control unit switches the robot to an external force following mode while moving the hand unit near a target having a magnetized object to be magnetized by the electromagnet, and switches the robot to a position control mode and moves the hand unit after the electromagnet has been magnetized to the magnetized object.

2. 2. The robot control system according to claim 1, wherein the hand portion further comprises a holding means for holding the target after the electromagnet has been magnetically attracted to the magnetic object.

3. 2. The robot control system according to claim 1, wherein the magnetic object is any one of an electromagnet, a permanent magnet, and a ferromagnetic material.

4. The robot control system according to claim 1 , wherein the control unit controls the electromagnet so that the magnetic force of the electromagnet is weakened as the hand unit approaches the magnetic target.

5. the robot further includes a force sensor for measuring a force applied to the hand unit; The robot control system according to claim 1 , wherein the control unit controls the robot in an external force following mode so that the external force measured by the force sensor becomes zero.

6. The hand unit has two or more electromagnets, 6. The robot control system according to claim 1, wherein the target has at least two magnetic targets having different polarities.

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