Robot control method, robot system, and robot controller

Abstract

To provide a robot control method, a robot system, and a robot controller that can switch a control mode even during one operation and have high convenience.SOLUTION: A robot control method includes: as control modes for operating a robot, an internal control mode in which a robot controller operates the robot on the basis of an internal operation command generated by the robot controller connected to the robot; and an external operation command 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 through the robot controller. The robot controller switches to the other control mode when a switching condition is satisfied while operating the robot in the one control mode of the internal control mode and the external control mode.SELECTED DRAWING: Figure 2

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 robot control device described in Patent Document 1, it is possible to select an internal mode in which the robot is controlled based on an internal control program and an external mode in which the robot is controlled based on an external control program. By adopting such a configuration, it is possible to diversify the control form of the robot according to the needs of the user.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the robot control device of Patent Document 1 does not consider at all 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 may be a case where the user wants to switch between the internal mode and the external mode during the operation of the robot, and in such a case, the robot control device of Patent Document 1 cannot handle it. Therefore, there is a problem that high convenience cannot be exhibited.

Means for Solving the Problems

[0005] The robot control method of the present invention includes, as a control mode for operating the robot, an internal control mode in which the robot controller operates the robot based on an internal operation command generated by the robot controller connected to the robot, and An external control mode in which the robot controller operates the robot based on an external operation command generated by an external control device connected to the robot via the robot controller, and while the robot controller is operating the robot in one of the internal control mode and the external control mode, when a switching condition is satisfied, the robot controller switches to the other control mode.

[0006] The robot system of the present invention includes a robot and a robot controller connected to the robot, and as a control mode for controlling the driving of the robot, the robot controller has an internal control mode in which the robot is operated based on an internal operation command generated by the robot controller, and an external control mode in which the robot is operated based on an external operation command generated by an external control device connected to the robot via the robot controller, and while the robot controller is operating the robot in one of the internal control mode and the external control mode, when a switching condition is satisfied, the robot controller switches to the other control mode.

[0007] The robot controller of the present invention is a robot controller connected to a robot, and as a control mode for controlling the driving of the robot, the robot controller has an internal control mode in which the robot is operated based on an internal operation command generated by the robot controller, and an external control mode in which the robot is operated based on an external operation command generated by an external control device connected to the robot via the robot controller, and while the robot is being operated in one of the internal control mode and the external control mode, when a switching condition is satisfied, the robot controller switches to the other control mode.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0009] 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 accompanying drawings.

[0010] FIG. 1 is an overall view of a robot system according to a preferred embodiment. FIGS. 2 and 3 are flowcharts showing a method for controlling a robot, respectively.

[0011] As shown in FIG. 1, 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.

[0012] The robot controller 3 has an internal control mode Mi for operating the robot 2 based on an internal operation command Si generated by the robot controller 3 and an external control mode Mo for operating the robot 2 based on an external operation command So generated by the external control device 4 as control modes for controlling the drive of the robot 2. And, when the switching condition is satisfied while the robot controller 3 is operating the robot 2 in one of the internal control mode Mi and the external control mode Mo, the robot controller 3 switches the control mode to the other control mode. That is, if the switching condition is satisfied while the robot controller 3 is operating the robot 2 in the internal control mode Mi, it switches to the external control mode Mo, and if the switching condition is satisfied while the robot controller 3 is operating the robot 2 in the external control mode Mo, it switches to the internal control mode Mi.

[0013] Note that, typically, the robot controller 3 is a control device provided by the manufacturer of the robot 2, a so-called "first party (genuine)". In contrast, the external control device 4 is a control device provided by a manufacturer other than the genuine one, a so-called "third party", and is, for example, a PLC (Programmable Logic Controller).

[0014] The robot controller 3 provided by the first party has its advantages, and the external control device 4 provided by the third party has its advantages. For example, in the robot controller 3, since it is a dedicated design for the robot 2, more precise control of the robot 2 can be achieved, or a richer variety of operations can be performed. In contrast, in the external control device 4, better control than the robot controller 3 can be performed for a specific operation, or a plurality of robots 2 of different manufacturers can be integrally controlled.

[0015] Therefore, by adopting a configuration that can select and switch between the internal control mode Mi in which the robot 2 is operated based on the internal operation command Si generated by the robot controller 3 and the external control mode Mo in which the robot 2 is operated based on the external operation command So generated by the external control device 4, the range of work that can be executed by the robot system 1 can be expanded, or the operation of the robot 2 can be made closer to the user's ideal. In particular, in the robot system 1, since the internal control mode Mi and the external control mode Mo can be switched during one operation of the robot 2, the above-described effects become remarkable, and the robot system 1 has excellent convenience.

[0016] Hereinafter, each part constituting the robot system 1 will be described in order.

[0017] ≪Robot 2≫ As shown in FIG. 1, 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 robot arm 22 rotatably connected to the base 21, and an end effector 23 mounted at the tip of the robot arm 22.

[0018] The robot arm 22 is configured such that six arms 221, 222, 223, 224, 225, and 226 are rotatably connected in this order from the base 21 side, and includes 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.

[0019] Among the joints J1 to J6, the joints J2, J3, and J5 are bending joints, respectively, and the joints J1, J4, and J6 are torsion joints, respectively. A drive mechanism including a motor, a speed reducer that decelerates the rotation of the motor to increase torque and outputs it, and an encoder that detects the amount of rotation of the joint is installed at each of the joints J1, J2, J3, J4, J5, and J6. Then, by independently moving each of the joints J1, J2, J3, J4, J5, and J6 based on an operation command (internal operation command Si or external operation command So) transmitted from the robot controller 3, the robot arm 22 can be moved to a desired position at a desired posture and speed.

[0020] The end effector 23 is mounted at the tip of the robot arm 22, that is, on the arm 226. The end effector 23 is not particularly limited, and one suitable for the work to be executed by the robot 2 is appropriately mounted.

[0021] The above description has been about the robot 2, but the robot 2 is not particularly limited. For example, it may be a horizontal articulated robot (scalar robot), or it may be a dual-arm robot equipped with two robot arms 22.

[0022] ≪External control device 4≫ As shown in FIG. 1, the external control device 4 is connected to the robot controller 3. Such an external control device 4 is composed of, for example, a computer and has a processor (CPU) that processes information, a memory communicably connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the programs and the like stored in the memory.

[0023] In addition, the external control device 4 has a control program generation unit 41. The control program generation unit 41 includes a state reception unit 411 that receives the state of the robot 2 from the robot controller 3, a path generation unit 412 that generates a path of the robot 2 based on the state of the robot 2 received by the state reception unit 411, and an external operation command generation unit 413 that generates an external operation command So based on the path generated by the path generation unit 412. The external operation command So generated by the external operation command generation unit 413 is transmitted to the robot controller 3.

[0024] ≪Robot controller 3≫ As shown in FIG. 1, the robot controller 3 is connected to the robot 2. Such a robot controller 3 is composed of, for example, a computer and has a processor (CPU) that processes information, a memory communicably connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the programs and the like stored in the memory.

[0025] In addition, the robot controller 3 includes a control program generation unit 31, a monitoring unit 32, and a motor control unit 33.

[0026] The control program generation unit 31 includes a state reception unit 311 that receives the state of the robot 2 from the external control device 4, a path generation unit 312 that generates the path of the robot 2 based on the state of the robot 2 received by the state reception unit 311, and an internal operation command generation unit 313 that generates an internal operation command Si based on the path generated by the path generation unit 312.

[0027] The monitoring unit 32 monitors the internal operation command Si generated by the internal operation command generation unit 313 and the external operation command So generated by the external operation command generation unit 413, and determines whether the state of the robot 2 satisfies the switching condition that can switch between the internal control mode Mi and the external control mode Mo.

[0028] In addition, the monitoring unit 32 switches the control mode of the robot 2 between the internal control mode Mi and the external control mode Mo based on the determination result. Specifically, when the robot 2 is being 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 operation command Si and determines whether the state of the robot 2 satisfies the switching condition for each control cycle. 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 operates the robot 2 in the external control mode Mo. Conversely, when the robot 2 is being 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 operation command So and determines whether the state of the robot 2 satisfies the switching condition for each control cycle. 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 operates the robot 2 in the internal control mode Mi.

[0029] In addition, the monitoring unit 32 transmits the operation command 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 transmits the internal operation command Si generated by the robot controller 3 to the motor control unit 33. Conversely, when the external control device 4 has the control right of the robot 2, the monitoring unit 32 transmits the external operation command So generated by the external control device 4 to the motor control unit 33.

[0030] 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 operation command received from the monitoring unit 32, and applies the current to the motors. That is, in the internal control mode Mi, 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 operation command Si, and in the external control mode Mo, 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 external operation command So.

[0031] Next, the switching conditions for the monitoring unit 32 to determine whether it is possible to switch between the internal control mode Mi and the external control mode Mo will be described. The switching conditions are not particularly limited and vary depending on the work content executed by the robot system 1 and the like. For example, there are the following switching conditions.

[0032] For example, as a switching condition, a condition regarding the position of the tip of the robot arm 22, specifically, the TCP (Tool Center Point) set at the tip of the robot arm 22 can be used.

[0033] In this case, the monitoring unit 32 determines that the switching condition is satisfied when the position of the tip of the robot arm 22 is within a predetermined area. For example, even within the movable area of the robot arm 22, a safety area with a particularly low risk of interference with other devices is set in advance. When the tip of the robot arm 22 is located within the safety area, it is determined that the switching condition is satisfied, and when the tip of the robot arm 22 is located outside the safety area, it is determined that the switching condition is not satisfied. According to such a determination method, the control mode can be switched safely. In this way, by using the switching condition based on the position of the tip of the robot arm 22, it is possible to easily determine whether the switching condition is satisfied. Note that the position of the tip of the robot arm 22 can be detected based on an operation command. Also, the position of the tip of the robot arm 22 can be detected based on the output from the encoders provided for each of the joints J1 to J6.

[0034] For example, in the case of an operation to move the tip of the robot arm 22 to a target position, it may be possible to exhibit excellent efficiency and accuracy by controlling in the external control mode Mo up to the vicinity of the target position and controlling the movement from that point to the target position in the internal control mode Mi. As a typical example, the internal control mode Mi can control the tip position of the robot arm 22 with higher accuracy than the external control mode Mo, and the external control mode Mo can move the robot arm 22 at a higher speed than the internal control mode Mi. In such a case, first, the robot 2 is operated at high speed based on the external operation command So, reaches the vicinity of the target position, and switches to the internal control mode Mi at the timing when the tip of the robot arm 22 is located within the safety area. Then, the robot 2 is operated based on the internal operation command Si to move the tip of the robot arm 22 to the target position. In this way, by switching the control mode during one operation, the one operation can be performed efficiently and accurately.

[0035] In addition, as another switching condition, for example, a condition related to the speed or acceleration of the tip of the robot arm 22 can be used.

[0036] In this case, the monitoring unit 32 determines that the switching condition is satisfied when the speed or acceleration of the tip of the robot arm 22 is within a predetermined value range. Thus, by using the switching condition based on the speed or acceleration of the tip of the robot arm 22, it is possible to easily determine whether or not the switching condition is satisfied. Note that the speed of the tip of the robot arm 22 can be detected based on the difference between the tip position of the robot arm 22 in the previous period and the tip position of the robot arm 22 in the current period, and the time difference between the previous period and the current period. Also, the acceleration of the tip of the robot arm 22 can be detected by differentiating the speed of the tip of the robot arm 22 detected by the above-described method with respect to time.

[0037] For example, in the case of one operation of moving the tip of the robot arm 22 to a target position, it may be possible to exhibit 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 typical example, the internal control mode Mi can position the tip position of the robot arm 22 with higher accuracy than the external control mode Mo, and the external control mode Mo can move the robot arm 22 at a higher speed than the internal control mode Mi. In such a case, first, the robot 2 is operated at high speed based on the external operation command So, reaches near the target position, and switches to the internal control mode Mi at the timing when the speed or acceleration of the tip of the robot arm 22 becomes a predetermined value or less. Then, the robot 2 is operated based on the internal operation command Si to move the tip of the robot arm 22 to the target position. Thus, by switching the control mode during one operation, the one operation can be performed efficiently and accurately.

[0038] In addition, as another switching condition, for example, a condition related to a specific posture of the robot arm 22 can be used. Note that the specific posture, also called a singular point, refers to a posture in which it is difficult to control the structure of the robot 2. Generally, in the field of robotics, the robot arm 22 is operated to avoid singular points in order to suppress abnormal movements of the robot arm 22. In recent years, however, sufficient countermeasures against singular points have been taken, and it has become possible to operate the robot arm 22 by passing through singular points.

[0039] In this case, when the monitoring unit 32 determines that a specific posture is included in the trajectory of the robot arm 22 estimated from the operation command received from the party having the control authority of the robot controller 3 and the external control device 4, it determines that the switching condition is satisfied. In this way, by using the switching condition based on the specific posture, it is possible to easily determine whether or not the switching condition is satisfied. Note that the phrase "when a specific posture is included" means not only when a posture that coincides with the specific posture is included, but also when postures near the specific posture are included.

[0040] For example, in the case of an operation of moving the tip of the robot arm 22 to a target position via a specific posture, by controlling in the internal control mode Mi while passing near the specific posture and controlling in the external control mode Mo otherwise, it may be possible to exhibit excellent efficiency and accuracy. As a typical example, the internal control mode Mi has measures to pass through the specific posture more smoothly than the external control mode Mo, and the external control mode Mo can move the robot arm 22 at a higher speed than the internal control mode Mi. In such a case, first, the robot 2 is operated at a high speed based on the external operation command So, switched to the internal control mode Mi at the timing of reaching the vicinity of the specific posture, and switched back to the external control mode Mo at the timing of passing through the specific posture to move the tip of the robot arm 22 to the target position. In this way, by switching the control mode during one operation, the one operation can be performed efficiently and accurately.

[0041] Although the above three switching conditions have been described, the switching conditions are not particularly limited and can be appropriately set according to the configuration of the robot system 1, the content of the work to be executed by the robot 2, and the like.

[0042] Apart from such switching conditions, when the speed or acceleration of the tip of the robot arm 22 exceeds the allowable value while the robot 2 is operating 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 by 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, operating the robot 2 based on the internal operation command Si generated by the robot controller 3 is more likely to operate the robot 2 safely than operating the robot 2 based on the external operation command So generated by the external control device 4. Therefore, according to such a configuration, unintended operations such as a runaway of the robot 2 can be effectively suppressed.

[0043] In particular, in this 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 tip of the robot arm 22 to a predetermined value or less. Thereby, the safety of the robot 2 is increased.

[0044] 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, the monitoring unit 32 sends a stop notification to the robot controller 3 to stop the operation of the robot 2 based on the internal control mode Mi. Further, 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 control mode switching. Note that 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 orientation of the tip of the robot arm 22, and is information necessary for taking over control. In this way, by sending the current situation of the robot 2 to the control right switching destination, the control mode can be smoothly switched. When the control mode is switched, 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 operation command So in the external operation command generation unit 413 based on the path generated by the path generation unit 412, and sends the generated external operation command So to the robot controller 3. Then, the robot controller 3 operates the robot 2 based on the external operation command So while monitoring the external operation command So in the monitoring unit 32.

[0045] 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, the monitoring unit 32 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. Further, 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 control mode switching. In this way, by sending the current situation of the robot 2 to the control right switching destination, the control mode can be smoothly switched. When the control mode is switched, 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 operation command Si in the internal operation command generation unit 313 based on the path generated by the path generation unit 312, and operates the robot 2 based on the generated internal operation command Si.

[0046] In this embodiment, the robot controller 3 generates the internal operation command Si only when it has the control right. However, the present invention is not limited to this, and the internal operation command Si may continue to be generated even when it does not have the control right. Similarly, the external control device 4 generates the external operation command So only when it has the control right. However, the present invention is not limited to this, and the external operation command So may continue to be generated even when it does not have the control right. That is, during the operation of the robot 2, the internal operation command Si and the external operation command So may always be continuously generated and switched at the timing that satisfies the switching condition.

[0047] The configuration of the robot system 1 has been described above. Next, a method for controlling the robot 2 by the robot system 1 will be described with reference to FIGS. 2 and 3.

[0048] First, a control method for switching from the internal control mode Mi to the external control mode Mo will be described with reference to FIG. 2. First, as step S11, the monitoring unit 32 operates the robot 2 based on the internal operation command Si generated by the robot controller 3. Next, as step S12, while the robot 2 is operating, the monitoring unit 32 detects the state of the operating robot 2. Next, as step S13, the monitoring unit 32 determines whether or not the switching condition is satisfied based on the detection result in step S12. If the switching condition is not satisfied (step S13: No), the monitoring unit 32 continues to control the robot 2 in the internal control mode Mi without switching the control mode. On the other hand, if the switching condition is satisfied (step S13: Yes), as step S14, the monitoring unit 32 sends a stop notice to the robot controller 3 to stop the control in the internal control mode Mi. Next, as step S15, the monitoring unit 32 sends a start notice to the external control device 4 to start the control of the robot 2 in the external control mode Mo, and as step S16, the monitoring unit 32 sends the state of the robot 2 to the external control device 4. Next, as step S17, the monitoring unit 32 operates the robot 2 based on the external operation command So generated by the external control device 4.

[0049] Next, based on FIG. 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 operates the robot 2 based on the external operation command 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 or not the switching condition is satisfied based on the detection result in step S22. If the switching condition is not satisfied, the monitoring unit 32 continues to control the robot 2 in the external control mode Mo without switching the control mode. On the other hand, if the switching condition is satisfied, as step S24, the monitoring unit 32 sends a stop notification to the external control device 4 to stop the control in the external control mode Mo. Next, as step S25, the monitoring unit 32 sends a start notification to the robot controller 3 to start the control of the robot 2 in the internal control mode Mi, and as step S26, the monitoring unit 32 sends the state of the robot 2 to the robot controller 3. Next, as step S27, the monitoring unit 32 operates the robot 2 based on the internal operation command Si generated by the robot controller 3.

[0050] According to the control method as described above, during one operation of the robot 2, it is possible to switch between the internal control mode Mi and the external control mode Mo, so that the range of work that can be executed in the robot system 1 can be expanded, or the operation of the robot 2 can be made closer to the user's ideal.

[0051] The robot system 1 has been described above. As described above, the robot control method performed by such a robot system 1 includes, as control modes for operating the robot 2, an internal control mode Mi in which the robot controller 3 operates the robot 2 based on an internal operation command Si generated by the robot controller 3 connected to the robot 2, and an external control mode Mo in which the robot controller 3 operates the robot 2 based on an external operation command So generated by an external control device 4 connected to the robot 2 via the robot controller 3. And, when the switching condition is satisfied during the operation of the robot 2 in one of the internal control mode Mi and the external control mode Mo, the robot controller 3 switches to the other control mode. According to such a robot control method, since the internal control mode Mi and the external control mode Mo can be switched during one operation of the robot 2, the range of work that can be executed by the robot system 1 can be widened, or the operation of the robot 2 can be made closer to the user's ideal. Therefore, a robot system 1 having excellent convenience can be provided.

[0052] Also, as described above, when the switching condition is satisfied and switching from the internal control mode Mi to the external control mode Mo, the robot controller 3 sends a stop notification of the operation of the robot 2 based on the internal control mode Mi to the external control device 4, and sends the state of the robot 2 at the time of switching to the external control device 4. By sending the current situation of the robot 2 to the external control device 4 which is the switching destination of the control right in this way, the control mode can be switched smoothly.

[0053] Also, as described above, when the switching condition is satisfied and switching from the external control mode Mo to the internal control mode Mi, the external control device 4 sends a stop notification of the operation of the robot 2 based on the external control mode Mo to the robot controller 3, and sends the state of the robot 2 at the time of switching to the robot controller 3. By sending the current situation of the robot 2 to the robot controller 3 which is the switching destination of the control right in this way, the control mode can be switched smoothly.

[0054] Also, as described above, the robot 2 has a robot arm 22, and satisfies a switching condition when the position of the tip of the robot arm 22 is within a predetermined region. In this way, by using the switching condition based on the position of the tip of the robot arm 22, it is possible to easily determine whether or not the switching condition is satisfied.

[0055] Also, as described above, the robot 2 has a robot arm 22, and satisfies a switching condition when the speed or acceleration of the tip of the robot 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 robot arm 22, it is possible to easily determine whether or not the switching condition is satisfied.

[0056] Also, as described above, the robot 2 has a robot arm 22, and satisfies a switching condition when it is estimated that the robot arm 22 will assume a specific posture during operation. Thereby, it is possible to smoothly pass through the specific posture.

[0057] Also, as described above, the robot 2 has a robot arm 22, and satisfies a switching condition when the speed or acceleration of the tip of the robot arm 22 exceeds an allowable value while the robot 2 is operating in the external control mode Mo. Thereby, it is possible to effectively suppress an unintended operation such as a runaway of the robot 2.

[0058] Also, as described above, after switching to the internal control mode Mi, stop the robot 2 or reduce the speed or acceleration of the tip of the robot arm 22. Thereby, the safety of the robot 2 is increased.

[0059] Also, as described above, the robot system 1 includes a robot 2 and a robot controller 3 connected to the robot 2. The robot controller 3 has, as control modes for controlling the drive of the robot 2, an internal control mode Mi for operating the robot 2 based on an internal operation command Si generated by the robot controller 3, and an external control mode Mo for operating the robot 2 based on an external operation command 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 operating the robot 2 in one of the control modes, i.e., the internal control mode Mi or the external control mode Mo, when a switching condition is satisfied, it switches to the other control mode. According to such a robot system 1, during 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 executed by the robot system 1 can be widened, or the operation of the robot 2 can be made closer to the user's ideal. Therefore, the robot system 1 has excellent convenience.

[0060] Also, as described above, the robot controller 3 is a robot controller 3 connected to the robot 2, and has, as control modes for controlling the drive of the robot 2, an internal control mode Mi for operating the robot 2 based on an internal operation command Si generated by the robot controller 3, and an external control mode Mo for operating the robot 2 based on an external operation command 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 operating the robot 2 in one of the control modes, i.e., the internal control mode Mi or the external control mode Mo, when a switching condition is satisfied, it switches to the other control mode. According to such a robot controller 3, during 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 executed by the robot system 1 can be widened, or the operation of the robot 2 can be made closer to the user's ideal. Therefore, it is possible to provide a robot system 1 having excellent convenience.

[0061] The robot control method, robot system, and robot controller of the present invention have been described with reference to the illustrated embodiments. However, the present invention is not limited thereto, and the configuration and process of each part can be replaced with any configuration and process having the same function. Further, any other arbitrary configuration and process may be added to the present invention. Also, the embodiments may be combined as appropriate.

Explanation of Reference Numerals

[0062] 1... Robot system, 2... Robot, 21... Base, 22... Robot arm, 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 operation command 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 operation command 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 operation command, So... External operation command

Claims

1. As control modes for operating a robot, an internal control mode in which the robot controller operates the robot based on an internal operation command generated by the robot controller connected to the robot, and an external control mode in which the robot controller operates the robot based on an external operation command generated by an external control device connected to the robot via the robot controller, and the robot controller has, when the robot is being operated in one of the internal control mode and the external control mode, and a switching condition is satisfied, the robot controller switches to the other control mode. A robot control method characterized by this.

2. When the switching condition is satisfied and switching from the internal control mode to the external control mode, the robot controller transmits a stop notification of the operation of the robot based on the internal control mode, and transmits the state of the robot at the time of switching to the external control device. The robot control method according to claim 1.

3. When the switching condition is satisfied and switching from the external control mode to the internal control mode, the external control device transmits a stop notification of the operation of the robot based on the external control mode, and transmits the state of the robot at the time of switching to the robot controller. The robot control method according to claim 1.

4. The robot has a robot arm, The robot control method according to claim 1, wherein the switching condition is satisfied when the position of the tip of the robot arm is located within a predetermined area.

5. The robot has a robot arm, The robot control method according to claim 1, wherein the switching condition is satisfied when the speed or acceleration of the tip of the robot arm is within a predetermined value range.

6. The robot has a robot arm, The robot control method according to claim 1, wherein the switching condition is satisfied when it is estimated that the robot arm will assume a special posture during operation.

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

8. The robot control method according to claim 7, wherein after switching to the internal control mode, the robot is stopped or the speed or acceleration of the tip of the robot arm is decreased.

9. A robot, and a robot controller connected to the robot, wherein the robot controller has, as a control mode for controlling the drive of the robot, an internal control mode in which the robot is operated based on an internal operation command generated by the robot controller, and an external control mode in which the robot is operated based on an external operation command generated by an external control device connected to the robot via the robot controller, and the robot controller is characterized in that when a switching condition is satisfied while the robot is being operated in one of the internal control mode and the external control mode, the robot controller switches to the other control mode.

10. A robot controller connected to a robot, wherein the robot controller has, as a control mode for controlling the drive of the robot, an internal control mode in which the robot is operated based on an internal operation command generated by the robot controller, and an external control mode in which the robot is operated based on an external operation command generated by an external control device connected to the robot via the robot controller, and the robot controller is characterized in that when a switching condition is satisfied while the robot is being operated in one of the internal control mode and the external control mode, the robot controller switches to the other control mode.

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