Robot and its control method

Abstract

To provide a robot capable of handling a core.SOLUTION: A robot (11) comprises: a gripping mechanism (111); a tactile sensor (112) that detects a force acting on the gripping mechanism (111) from a core; and a control part (115) that controls the gripping mechanism (111) so as to grip the core, with reference to pre-created teaching data and a signal acquired from the tactile sensor (112), in an autonomous operation mode.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a robot for automating a core placement process and a control method thereof. [Background technology]

[0002] In the foundry industry, advances in robotics technology have led to the automation of various processes. For example, Patent Document 1 discloses an automatic pouring device, which is a robot that automates the pouring process. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 3-268861 Summary of the Invention [Problem to be solved by the invention]

[0004] However, automation using robots has not progressed much in the core placement process, where fragile cores are placed into fragile molds. This requires delicate and accurate handling of the cores by robots, a requirement that conventional robots have difficulty meeting.

[0005] One aspect of the present invention has been made in view of the above problems, and its object is to realize a robot capable of handling a core. [Means for solving the problem]

[0006] A robot according to one aspect of the present invention is a robot that handles a core, and is equipped with a gripping mechanism, a tactile sensor that detects the force acting from the core on the gripping mechanism, and a control unit that, in an autonomous operation mode, controls the gripping mechanism to grip the core by referring to pre-created teaching data and signals obtained from the tactile sensor.

[0007] A robot control method according to one embodiment of the present invention is a method for controlling a robot that handles a core, the robot having a gripping mechanism and a tactile sensor that detects the force acting from the core on the gripping mechanism, and includes a control step of controlling the gripping mechanism to grip the core in an autonomous operation mode by referring to pre-created teaching data and a signal obtained from the tactile sensor. [Effects of the Invention]

[0008] According to one aspect of the present invention, a robot capable of handling a core can be realized. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing the configuration of a robot according to an embodiment of the present invention and a robot system including the robot; DETAILED DESCRIPTION OF THE INVENTION

[0010] (Robot configuration) The configuration of a robot 11 according to one embodiment of the present invention and a robot system 1 including the robot 11 will be described with reference to Fig. 1. Fig. 1 is a schematic diagram showing the configuration of the robot 11 and the robot system 1.

[0011] The robot system 1 is a system for automating the core placement process among various processes involved in casting. The robot system 1 includes a robot 11, a state detection device 12, a position detection device 13, and a control unit 115.

[0012] The robot 11 is a robot for handling cores. The robot 11 includes a gripping mechanism 111, a tactile sensor 112, a moving mechanism 113, a force sensor 114, and a control unit 115. In this embodiment, the robot 11 is operated by one instructor T and includes two sets (one pair) of the gripping mechanism 111, the tactile sensor 112, the moving mechanism 113, and the force sensor 114. However, the robot 11 is not limited to this. The gripping mechanism 111, the tactile sensor 112, the moving mechanism 113, and the force sensor 114 included in the robot 11 may be one set, or three or more sets. As an example, a robot 11 may be operated by two instructors T and include four sets (two pairs) of the gripping mechanism 111, the tactile sensor 112, the moving mechanism 113, and the force sensor 114.

[0013] The gripping mechanism 111 is a mechanism for gripping the core. In this embodiment, a multi-fingered, multi-jointed hand is used as the gripping mechanism 111. The multi-fingered, multi-jointed hand has L fingers, and each finger of the multi-fingered, multi-jointed hand has M joints. Here, L and M are any natural numbers equal to or greater than 2 (FIG. 1 shows an example in which L=5 and M=3). The operation of the multi-fingered, multi-jointed hand is achieved by bending each joint of each finger with an actuator.

[0014] The gripping mechanism 111 has a built-in encoder that detects the state of the gripping mechanism 111. If the gripping mechanism 111 is a multi-fingered, multi-jointed hand, this encoder detects the position of each actuator that constitutes the gripping mechanism 111, i.e., the bending angle {θlm} of each joint of each finger, as the state of the gripping mechanism 111. Here, l is a natural number greater than or equal to 1 and less than or equal to L, and m is a natural number greater than or equal to 1 and less than or equal to M. The gripping mechanism 111 provides a signal Sa1 that represents the state {θlm} of the gripping mechanism 111 to the tactile sensor 112 and the control unit 115.

[0015] The tactile sensor 112 is a sensor for detecting a force Fa acting from the core on the gripping mechanism 111. In this embodiment, the tactile sensor 112 is a calculation device (e.g., an integrated circuit) that calculates the force Fa acting from the core on the gripping mechanism 111 from the position of each actuator constituting the gripping mechanism 111 by referring to a signal Sa1 acquired from the gripping mechanism 111. The tactile sensor 112 provides the control unit 115 with a signal Sa2 representing the force Fa acting on the gripping mechanism 111. Note that instead of calculating the force Fa acting on the gripping mechanism 111 from the position of each actuator constituting the gripping mechanism 111, the tactile sensor 112 may calculate the force Fa acting on the gripping mechanism 111 from the current flowing through those actuators or the torque acting on those actuators. Alternatively, an electrical resistance type, capacitance type, piezoelectric type, or optical type tactile sensor attached to the surface of each finger of the gripping mechanism 111 may be used as the tactile sensor 112.

[0016] The moving mechanism 113 is a mechanism for moving the gripping mechanism 111. In this embodiment, a vertical multi-joint arm is used as the moving mechanism 113. The vertical multi-joint arm has N arms (links), where N is an arbitrary natural number equal to or greater than 2 (FIG. 1 illustrates the case where N=6). The operation of the vertical multi-joint arm is achieved by rotating each arm with an actuator.

[0017] The moving mechanism 113 has a built-in encoder that detects the state of the moving mechanism 113. If the moving mechanism 113 is a vertical articulated arm, this encoder detects the position of each actuator that constitutes the moving mechanism 113, i.e., the rotation angle {φn} of each arm, as the state of the moving mechanism 113. Here, n is a natural number between 1 and N. The moving mechanism 113 provides the control unit 115 with a signal Sb1 that indicates the state {φn} of the moving mechanism 113.

[0018] The force sensor 114 is a sensor for detecting a force Fb acting on the moving mechanism 113 from the gripping mechanism 111. The gripping mechanism 111 is fixed to the moving mechanism 113 via the force sensor 114. In this embodiment, a six-axis force sensor is used as the force sensor 114. In this case, the force sensor 114 detects a moment Mb acting on the moving mechanism 113 from the gripping mechanism 111 in addition to the force Fb acting on the moving mechanism 113 from the gripping mechanism 111. The force sensor 114 provides a signal Sb2 representing the force Fb and moment Mb acting on the moving mechanism 113 to the control unit 115. Note that instead of the six-axis force sensor, a calculation device (e.g., an integrated circuit) that calculates the force Fb acting on the moving mechanism 113 from the position of each actuator constituting the moving mechanism 113, the current flowing through each actuator, or the torque acting on each actuator may be used as the force sensor 114.

[0019] The control unit 115 is a device for carrying out a control process for controlling the gripping mechanism 111 and the moving mechanism 113. In this embodiment, a PC (Personal Computer) is used as the control unit 115. The content of the control process carried out by the control unit 115 will be described later.

[0020] The state detection device 12 is a device for detecting the state of the hand of the instructor T who remotely operates the robot 11. The state detection device 12 provides a signal Sa representing the detected state to the control unit 115. In this embodiment, a sensor glove is used as the state detection device 12. This sensor glove includes an actuator, an encoder that reads the position of the actuator, and a calculation unit that calculates the state of the instructor T's hand, i.e., the flexion angle {θ'lm} of each finger and each joint, from the position read by the encoder. The calculation unit of the state detection device 12 may have a function to calculate the force acting from the instructor T's hand on the state detection device 12, i.e., the force F'a acting from the state detection device 12 on the instructor T's hand, from the position read by the encoder. The actuator of the state detection device 12 is also used to feed back the force Fa acting from the core on the gripping mechanism 111 to the instructor T. Note that instead of calculating the force F'a acting on the state detection device 12 from the position of the actuator, a configuration may be adopted in which it is calculated from the current flowing through the actuator or the torque acting on the actuator. Also, a configuration may be adopted in which an electrical resistance type, capacitance type, piezoelectric type, or optical type contact sensor is attached to the state detection device 12 and this contact sensor is used to measure the force F'a acting on the state detection device 12 from the hand of the instructor T.

[0021] The position detection device 13 is a device for detecting the position of the hand of the instructor T who remotely controls the robot 11. The position detection device 13 supplies a signal Sb representing the detected position to the control unit 115. In this embodiment, a sensor arm is used as the position detection device 13. This sensor arm includes an actuator, an encoder that reads the position of the actuator, and a calculation unit that calculates the position (X', Y', Z') of the instructor T's hand from the position read by the encoder. The calculation unit of the position detection device 13 may have a function to calculate the force acting from the instructor T's wrist to the position detection device 13, i.e., the force F'b and moment M'b acting from the position detection device 13 to the instructor T, from the position read by the encoder. The actuator of the position detection device 13 is also used to feed back the force Fb and moment Mb acting from the gripping mechanism 111 to the movement mechanism 113 to the instructor T. Note that instead of calculating the force F'b and moment M'b acting on the position detection device 13 from the wrist of the instructor T from the position of the actuator, a configuration may be adopted in which they are calculated from the current flowing through the actuator or the torque acting on the actuator. Also, a configuration may be adopted in which a force sensor is attached to the position detection device 13 and the force F'b and moment M'b acting on the position detection device 13 from the wrist of the instructor T are measured using this force sensor.

[0022] (Contents of the control process) The robot 11 has a heteronomic operation mode and an autonomous operation mode. The heteronomic operation mode is a mode in which the robot 11 operates based on the operation of an instructor T. The autonomous operation mode is a mode in which the robot 11 operates based on teaching data Ta and Tb. Below, the functions of the control unit 115 in each of the heteronomic operation mode and the autonomous operation mode will be described.

[0023] <Function of the control unit in heteronomous operation mode> In the heteronomous operation mode, the control unit 115 controls the gripping mechanism 111 by referring to the signal Sa1 acquired from the gripping mechanism 111 and the signal Sa acquired from the state detection device 12. Specifically, the control unit 115 controls the gripping mechanism 111 so that the state {θlm} of the gripping mechanism 111 of the robot 11 approaches (preferably matches) the state {θ'lm} of the hand of the instructor T.

[0024] Moreover, in the heteronomous operation mode, the control unit 115 controls the moving mechanism 113 by referring to the signal Sb1 acquired from the moving mechanism 113 and the signal Sb acquired from the position detection device 13. Specifically, the control unit 115 calculates the position (X, Y, Z) of the gripping mechanism 111 from the state {φn} of the moving mechanism 113, and then controls the moving mechanism 113 so that the position (X, Y, Z) of the gripping mechanism 111 approaches (preferably coincides with) the position (X', Y', Z') of the instructor T's hand.

[0025] Furthermore, in the heteronomous operation mode, the control unit 115 creates teaching data Ta representing the state {θlm} of the gripping mechanism 111 and the time series of the force Fa acting on the gripping mechanism 111 by referring to the signal Sa1 acquired from the gripping mechanism 111 and the signal Sa2 acquired from the tactile sensor 112.

[0026] In addition, in the heteronomous operation mode, the control unit 115 creates teaching data Tb representing the state {φn} of the moving mechanism 113 and the time series of the force Fb and moment Mb acting on the moving mechanism 113 by referring to the signal Sb1 obtained from the moving mechanism 113 and the signal Sb2 obtained from the force sensor 114.

[0027] Furthermore, in the heteronomous operation mode, the control unit 115 controls the state detection device 12 by referring to the signal Sa2 acquired from the tactile sensor 112 so that a force proportional to the force Fa acting from the core on the gripping mechanism 111 is fed back to the hand of the instructor T.

[0028] In addition, in the heteronomous operation mode, the control unit 115 controls the position detection device 13 by referring to the signal Sb2 obtained from the force sensor 114 so that a force and moment proportional to the force Fb and moment Mb acting on the moving mechanism 113 from the gripping mechanism 111 are fed back to the wrist of the instructor T.

[0029] Hereinafter, the state of the gripping mechanism 111 recorded as teaching data Ta will be referred to as {θ″lm}, the force acting on the gripping mechanism 111 recorded as teaching data Ta will be referred to as F″a, the state of the moving mechanism 113 recorded as teaching data Tb will be referred to as {φ″n}, the force acting on the moving mechanism 113 recorded as teaching data Tb will be referred to as F″b, and the moment acting on the moving mechanism 113 recorded as teaching data Tb will be referred to as M″b.

[0030] In the present embodiment, the control unit 115 controls the gripping mechanism 111 with reference to the signals Sa and Sa1 (hereinafter also referred to as "state control") so that the state {θlm} of the gripping mechanism 111 approaches the state {θ'lm} of the instructor's hand. However, the present invention is not limited to this. That is, a configuration can also be adopted in which the control unit 115 controls the gripping mechanism 111 with reference to the signals Sa and Sa2 (hereinafter also referred to as "force control") so that the force Fa acting on the gripping mechanism 111 from the core approaches the force F'a acting on the instructor T's hand from the state detection device 12. In this case, the control unit 115 may provide feedback to the state detection device 12 so that the state {θ'lm} of the instructor T's hand approaches the state {θlm} of the gripping mechanism 111. Furthermore, only state control may be performed, only force control may be performed, or both state control and force control may be performed.

[0031] Furthermore, in the present embodiment, a configuration has been described in which the control unit 115 controls the moving mechanism 113 with reference to the signals Sb and Sb1 (hereinafter also referred to as "state control") so that the position (X, Y, Z) of the gripping mechanism 111 approaches the position (X', Y', Z') of the instructor T's hand. However, the present invention is not limited to this. That is, a configuration can also be adopted in which the control unit 115 controls the moving mechanism 113 with reference to the signals Sb and Sb2 (hereinafter also referred to as "force control") so that the force Fb acting on the moving mechanism 113 from the gripping mechanism 111 approaches the force F'b acting on the wrist of the instructor T from the position detection device 13. In this case, the control unit 115 may provide feedback to the position detection device 13 so that the hand position (X', Y', Z') of the instructor T approaches the position (X, Y, Z) of the gripping mechanism 111. Furthermore, only state control may be performed, only force control may be performed, or both state control and force control may be performed.

[0032] <Functions of the control unit in autonomous operation mode> In the autonomous operation mode, the control unit 115 controls the gripping mechanism 111 by referring to the signal Sa1 acquired from the encoder of the gripping mechanism 111, the signal Sa2 acquired from the tactile sensor 112, and the teaching data Ta. Specifically, the control unit 115 controls the gripping mechanism 111 so that the state {θlm} of the gripping mechanism 111 approaches (preferably matches) the state {θ″lm} recorded as teaching data, and so that the force Fa acting on the gripping mechanism 111 approaches (preferably matches) the force F″a recorded as teaching data.

[0033] Furthermore, in the autonomous operation mode, the control unit 115 controls the moving mechanism 113 by referring to the signal Sb1 acquired from the encoder of the moving mechanism 113, the signal Sb2 acquired from the force sensor 114, and the teaching data Tb. Specifically, the control unit 115 controls the moving mechanism 113 so that the state {φn} of the moving mechanism 113 approaches (preferably coincides with) the state {φ"n} recorded as teaching data, and so that the force Fb and moment Mb acting on the moving mechanism 113 approaches (preferably coincides with) the force F"b and moment M"b recorded as teaching data.

[0034] (Robot effect) As described above, in the heteronomous operation mode, the control unit 115 controls the gripping mechanism 111 by referring to the signal Sa acquired from the state detection device 12, and creates the teaching data Ta by referring to the signal Sa2 acquired from the tactile sensor 112. Furthermore, in the autonomous operation mode, the control unit 115 controls the gripping mechanism 111 by referring to the teaching data Ta and the signal Sa2 acquired from the tactile sensor 112.

[0035] According to the above configuration, in the heteronomic operation mode, it is possible to create teaching data Ta that represents the force F"a acting from the core on the gripping mechanism 111. Furthermore, according to the above configuration, in the autonomous operation mode, it is possible to control the gripping mechanism 111 so that the force Fa acting from the core on the gripping mechanism 111 (the force represented by the signal Sa2 acquired from the tactile sensor 112) approaches the force F"a acting from the core on the gripping mechanism 111 in the heteronomic operation mode (the force represented by the teaching data Ta). Therefore, the operation of the gripping mechanism 111 in the heteronomic operation mode can be accurately reproduced in the autonomous operation mode.

[0036] Furthermore, in the heteronomous operation mode, the control unit 115 controls the moving mechanism 113 by referring to the signal Sb acquired from the position detection device 13, and creates teaching data Tb by referring to the signal Sb2 acquired from the force sensor 114. Furthermore, in the autonomous operation mode, the control unit 115 controls the moving mechanism 113 by referring to the teaching data Tb and the signal Sb2 acquired from the force sensor 114.

[0037] According to the above configuration, in the heteronomic operation mode, it is possible to create teaching data Tb that represents the force F"b and moment M"b acting from the gripping mechanism 111 to the moving mechanism 113. Furthermore, according to the above configuration, it is possible to control the moving mechanism 113 in the autonomous operation mode so that the force Fb and moment Mb acting from the gripping mechanism 111 to the moving mechanism 113 (the force and moment represented by the signal Sb2 acquired from the force sensor 114) approach the force F"b and moment M"b acting from the gripping mechanism 111 to the moving mechanism 113 in the heteronomic operation mode (the force and moment represented by the teaching data Tb). Therefore, it is possible to accurately reproduce the operation of the moving mechanism 113 in the heteronomic operation mode in the autonomous operation mode.

[0038] Furthermore, in the heteronomous operation mode, the control unit 115 refers to the signal Sa2 acquired from the tactile sensor 112 and controls the state detection device 12 to feed back the force Fa acting from the core on the gripping mechanism 111 to the instructor T. Furthermore, in the heteronomous operation mode, the control unit 115 refers to the signal Sb2 acquired from the force sensor 114 and controls the position detection device 13 to feed back the force Fb acting from the gripping mechanism 111 to the moving mechanism 113 to the instructor T. Note that the control unit 115 may also refer to the signal Sb acquired from the force sensor 114 and control the position detection device 13 to feed back the moment Mb acting from the gripping mechanism 111 to the moving mechanism 113 to the instructor T in the heteronomous operation mode.

[0039] According to the above configuration, in the heteronomic operation mode, the instructor T can be given the sensation of handling a core. This allows the instructor T to more accurately teach the robot 11 the operation of handling a core in the heteronomic operation mode.

[0040] (Modification of the robot system) The teaching data Ta and Tb may be created for each type of core or each type of mold that will house the core. In this case, the control unit 115 may have a function to refer to the teaching data Ta and Tb corresponding to the type of core being handled or the type of mold that will house the core in autonomous control mode. In this case, the control unit 115 may also have a function to automatically identify the type of core being handled or the type of mold based on an image obtained by capturing the type of core being handled or the mold that will house the core being handled. This makes it possible to automate core handling in a production line that handles different types of cores or different types of molds.

[0041] In the heteronomous operation mode, the instructor T may remotely control the robot 11 while visually observing the robot 11, or may remotely control the robot 11 while visually observing an image obtained by capturing an image of the robot 11. In this case, the display that displays the image may be a stationary type or a head-mounted type. When remotely controlling the robot 11 while visually observing an image, the instructor T can provide instruction from a location other than the production line, for example, from an office.

[0042] Furthermore, teaching in the heteronomous operation mode may be realized by having the instructor T wearing the sensor glove directly handle the core.

[0043] Furthermore, when teaching in the heteronomous operation mode, when the space is divided into two by the line through which the mold flows, the instructor T may be located in the half space on the side where the robot 11 is placed, or in the half space opposite to the side where the robot 11 is placed.

[0044] Furthermore, the sensor arm functioning as the position detection device 13 may be fixed to the floor, the ceiling, or the wall. Furthermore, instead of detecting the position of the instructor T's hand with a sensor arm, the position of the instructor T's hand may be detected in a non-contact manner. An example of a non-contact position detection method is a method of identifying the position of the instructor T's hand based on an image that includes the instructor T as a subject. The image may be a range image generated by a 3D camera, a TOF (Time Of Flight) camera, or a LiDAR (Light Detection And Ranging) sensor.

[0045] Furthermore, the force fed back to the hand of the instructor T using the state detection device 12 may be the force detected by the tactile sensor 112 itself, or may be the force detected by the tactile sensor 112 multiplied by a proportionality coefficient. In this case, the proportionality coefficient may be greater than or less than 1. Furthermore, the force fed back to the hand of the instructor T using the state detection device 12 may be the force detected by the tactile sensor 112 scaled or scaled using a nonlinear function. The same can be said for the force fed back to the wrist of the instructor T using the position detection device 13.

[0046] Furthermore, the amount of change in the position of the moving mechanism 113 may be the amount of change in the position detected by the position detection device 13 itself, or may be the amount of change in the position detected by the position detection device 13 multiplied by a proportionality coefficient. In this case, the proportionality coefficient may be greater than or less than 1. Furthermore, the amount of change in the position of the moving mechanism 113 may be the amount of change in the position detected by the position detection device 13 scaled up or scaled down using a nonlinear function. The same can be said for the amount of change in the bending angle of the gripping mechanism 111.

[0047] Furthermore, the control unit 115 may have a function to stop the operation of the robot 11 when the force detected by the tactile sensor 112 exceeds a predetermined threshold value, thereby preventing damage to the core or mold.

[0048] (Additional notes) The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means included in the above-described embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0049] 1. Robot System 11. Robot 111 Gripping mechanism 112 Tactile Sensor 113 Moving mechanism 114 Force Sensor 115 Control Unit 12. Status detection device 13 Position detection device

Claims

1. A robot that handles a core, A gripping mechanism; a tactile sensor that detects a force acting on the gripping mechanism from the core; a control unit that, in an autonomous operation mode, refers to pre-created teaching data and a signal acquired from the tactile sensor, and controls the gripping mechanism to grip the core, In the heteronomous operation mode, the control unit refers to a signal obtained from a state detection device that detects the state of the teacher's hand, controls the gripping mechanism, and also refers to a signal obtained from the tactile sensor, and creates the teaching data. A robot characterized by:

2. the control unit controls the state detection device so as to refer to the signal acquired from the tactile sensor in the heteronomous operation mode and provide feedback of the force acting on the gripping mechanism to the instructor.

2. The robot according to claim 1 .

3. The gripping mechanism is a multi-fingered, multi-jointed hand.

3. The robot according to claim 1 or 2.

4. the tactile sensor detects a force acting on the gripping mechanism by referring to a signal acquired from an encoder that detects a state of the gripping mechanism; The robot according to any one of claims 1 to 3.

5. a moving mechanism for moving the gripping mechanism; the gripping mechanism is fixed to the moving mechanism via a force sensor, the control unit, in an autonomous operation mode, refers to the teaching data, the signal acquired from the tactile sensor, and the signal acquired from the force sensor, and controls the gripping mechanism and the moving mechanism to handle the core. The robot according to any one of claims 1 to 4.

6. 6. The robot according to claim 5, wherein, in a heteronomous operation mode, the control unit controls the gripping mechanism and the moving mechanism by referring to a signal obtained from a state detection device that detects a state of a teacher's hand and a signal obtained from a position detection device that detects a position of the teacher's hand, and creates the teaching data by referring to a signal obtained from the tactile sensor and a signal obtained from the force sensor.

7. the control unit controls the position detection device so as to refer to the signal acquired from the force sensor in the heteronomous operation mode and provide feedback of the force acting on the movement mechanism to the instructor.

7. The robot according to claim 6.

8. The moving mechanism is a vertical articulated arm. The robot according to any one of claims 5 to 7.

9. The force sensor is a six-axis force sensor. The robot according to any one of claims 5 to 8.

10. A method for controlling a robot that handles a core, the robot comprising: a gripping mechanism; and a tactile sensor that detects a force acting on the gripping mechanism from the core, the method comprising: a control step of controlling the gripping mechanism to grip the core by referring to pre-created teaching data and a signal acquired from the tactile sensor in an autonomous operation mode; and a generating step of controlling the gripping mechanism by referring to a signal acquired from a state detection device that detects the state of the teacher's hand in a heteronomous operation mode, and generating the teaching data by referring to a signal acquired from the tactile sensor. A robot control method comprising:

11. A robot for handling a core, A gripping mechanism; a tactile sensor that detects a force acting on the gripping mechanism from the core; a control unit that controls the gripping mechanism to grip the core by referring to pre-created teaching data and a signal acquired from the tactile sensor in an autonomous operation mode; a moving mechanism for moving the gripping mechanism, the gripping mechanism is fixed to the moving mechanism via a force sensor, the control unit, in the autonomous operation mode, refers to the teaching data, the signal acquired from the tactile sensor, and the signal acquired from the force sensor, and controls the gripping mechanism and the moving mechanism to handle the core. A robot characterized by:

12. A method for controlling a robot that grips and handles a core, the robot comprising a gripping mechanism fixed to a moving mechanism via a force sensor and a tactile sensor that detects a force acting from the core on the gripping mechanism, comprising: a control step of controlling the gripping mechanism and the moving mechanism to grip and handle the core in an autonomous operation mode by referring to pre-created teaching data, the signal acquired from the tactile sensor, and the signal acquired from the force sensor; Contains, A robot control method comprising:

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