Assistive devices and robotic systems

Abstract

This assistance device assists in creating settings data relating to control of a robot provided with a robot arm having a plurality of arm elements and a plurality of joint parts that connect the plurality of arm elements so as to enable turning about a turning axis. The assistance device comprises a display unit and a control unit that controls the display unit. The control unit performs an acquisition process and a display process. In the acquisition process, the control unit acquires data pertaining to a joint applied force indicating a force applied to each of the plurality of joint parts, and data pertaining to a specific point applied force indicating a force applied to a specific point at the distal end of the robot arm. In the display process, the control unit controls the display unit so as to display a joint applied force waveform showing changes over time in each joint applied force, and a specific point applied force waveform showing changes over time in the specific point applied force.

Description

[Technical Field]

[0001] The present invention relates to a support device that supports the creation of setting data related to the control of a robot, and a robot system equipped with the same. [Background technology]

[0002] Conventionally, robots have been known that have a robot arm rotatably connected to multiple joints. In such robots, parameters related to the control of the robot are set so that the robot arm performs desired movements.

[0003] Patent Document 1 discloses a technology for supporting parameter setting related to robot control. In the technology disclosed in Patent Document 1, a force detector detects an acting force acting on a specific point (tool center point; TCP) at the tip of a robot arm to which an end effector is attached. Then, a detected waveform showing the temporal change in the detected value detected by the force detector and a stored waveform related to the acting force stored in advance in a storage medium are displayed on a display unit, and parameter settings are received by a receiving unit.

[0004] In the technology disclosed in Patent Document 1, only the temporal change in the force acting on a specific point at the tip of the robot arm, based on the detected waveform and stored waveform displayed on the display unit, is used as an indicator for setting parameters, so there is a risk that parameters related to robot control cannot be set in detail. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6582483 Summary of the Invention

[0006] An object of the present invention is to provide an assistance device and a robot system that enable detailed setting of parameters related to the control of a robot.

[0007] According to one aspect of the present invention, an assistance device for assisting in setting parameters for controlling a robot including a robot arm having a plurality of arm elements and a plurality of joints rotatably connecting the plurality of arm elements about a rotation axis includes a display unit and a control unit for controlling the display unit. The control unit performs an acquisition process for acquiring joint acting force data indicating forces acting on each of the plurality of joints and specific point acting force data indicating forces acting on a specific point at the tip of the robot arm, and a display process for controlling the display unit to display joint acting force waveforms indicating temporal changes of each of the joint acting forces and specific point acting force waveforms indicating temporal changes of the specific point acting forces.

[0008] A robot system according to another aspect of the present invention includes a robot having a robot arm having a plurality of arm elements and a plurality of joints that connect the plurality of arm elements rotatably around a rotation axis, and the above-described assistance device that assists in creating setting data for controlling the robot.

[0009] The objects, features and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram of a robot system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view of a robot included in the robot system. [Figure 3] FIG. 2 is a cross-sectional view of a joint in a robot arm of a robot. [Figure 4] 10A and 10B are diagrams illustrating data acquired in an acquisition process by a control unit of a support device provided in a robot system. [Figure 5]10A and 10B are diagrams illustrating a display screen that a control unit of the support device causes to be displayed on a display unit in a display process. [Figure 6] 10A and 10B are diagrams illustrating a recognition process performed by a control unit of the assistance device. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an assistance device and a robot system according to an embodiment of the present invention will be described with reference to the drawings.

[0012] As shown in FIG. 1, a robot system 100 according to this embodiment includes a robot 5, a control device 6, and an assistance device 7. In the robot system 100, the assistance device 7 assists in setting parameters related to the control of the robot 5. An operator of the robot system 100 can set parameters related to the control of the robot 5 using the assistance device 7. The control device 6 controls the operation of the robot 5 by transmitting to the robot 5 control signals according to a control program CP that records setting data SD created in accordance with the parameter settings.

[0013] [Robot configuration] The robot 5 will be described with reference to FIGS. 2 and 3 in addition to FIG. 1. As shown in FIG. 2, the robot 5 is, for example, a vertically articulated seven-axis robot. The robot 5 includes a robot arm 3 having seven rotation axes, namely, a first axis J1, a second axis J2, a third axis J3, a fourth axis J4, a fifth axis J5, a sixth axis J6, and a seventh axis J7. The robot arm 3 includes a base 11, a trunk 12, a first arm 13, a second arm 14, a third arm 15, and a head 16 as a plurality of arm elements 1. The robot arm 3 also includes a first joint 21, a second joint 22, a third joint 23, a fourth joint 24, a fifth joint 25, a sixth joint 26, and a seventh joint 27 as a plurality of joints 2.

[0014] The base 11 is a housing that is fixedly installed on a floor, a pedestal, or the like. The trunk 12 is connected to the upper surface of the base 11 via a first joint 21. The first joint 21 allows the trunk 12 to rotate in both forward and reverse directions around a first axis J1 that extends vertically. The first arm 13 has a predetermined length, and its base end is connected to the trunk 12 via a second joint 22. The second joint 22 allows the first arm 13 to swing around a second axis J2 that extends horizontally. The first arm 13 has a third joint 23 in its middle. The third joint 23 allows the tip piece of the first arm 13 to rotate around a third axis J3 that extends in the arm axial direction.

[0015] The second arm 14 is an arm connected to the downstream side of the first arm 13, and its base end is connected to the distal end of the first arm 13 via a fourth joint 24. The second arm 14 is capable of swinging around a fourth axis J4 extending horizontally via the fourth joint 24. The second arm 14 has a fifth joint 25 in its middle. The distal piece of the second arm 14 is capable of rotating around a fifth axis J5 extending in the arm axial direction via the fifth joint 25. The third arm 15 is an arm connected to the downstream side of the second arm 14, and its base end is connected to the distal end of the second arm 14 via a sixth joint 26. The third arm 15 is capable of swinging around a sixth axis J6 extending horizontally via the sixth joint 26.

[0016] The head unit 16 is connected to the tip of the third arm 15 via a seventh joint 27. The seventh joint 27 allows the head unit 16 to rotate around a seventh axis J7 extending in the vertical direction. The head unit 16 constitutes the tip of the robot arm 3, and an end effector 17 is attached to the head unit 16. The end effector 17 is a tool such as a screwdriver, gripper, or grinder. The end effector 17 performs various tasks such as screwing, gripping, and processing.

[0017] A specific point (tool center point) TCP that serves as a reference for the position of the end effector 17 is set on the head unit 16, which is the tip of the robot arm 3. The position of the specific point TCP on the head unit 16 can be set to any position, and for example, it can be set on the axis of the seventh axis J7, which is the rotation axis of the head unit 16.

[0018] In the robot arm 3, the first joint 21, the third joint 23, the fifth joint 25, and the seventh joint 27 have a substantially cylindrical housing shape that extends vertically, while the second joint 22, the fourth joint 24, and the sixth joint 26 have a substantially cylindrical housing shape that extends horizontally.

[0019] In the following description, the base portion 11, the body portion 12, the first arm 13, the second arm 14, the third arm 15 and the head portion 16 may be collectively referred to as the "arm elements 1", and the first joint portion 21, the second joint portion 22, the third joint portion 23, the fourth joint portion 24, the fifth joint portion 25, the sixth joint portion 26 and the seventh joint portion 27 may be collectively referred to as the "joint portion 2".

[0020] 3, the robot arm 3 has a housing section 2S for housing a drive mechanism 4 of the robot arm 3, which has substantially the same structure, at each of the multiple joint sections 2. The drive mechanism 4 housed in the housing section 2S of each joint section 2 includes a motor 41, a reducer 42, a brake 43, a torque sensor 44, and a control board 45.

[0021] The motor 41 is a servo motor that serves as a drive source for rotating the arm element 1 around the axis of the rotation shaft, and includes a motor shaft 41S that generates a rotational force. The reducer 42 reduces the rotation speed of the motor shaft 41S at a predetermined reduction ratio and transmits the rotation to the rotation mechanism. The brake 43 applies a brake to the rotation of the motor shaft 41S.

[0022] The torque sensor 44 detects the rotation torque that the motor 41 applies to the arm element 1. In other words, the torque sensor 44 detects the torque around the rotation axis of the arm element 1 connected to the joint portion 2.

[0023] The control board 45 controls the drive of the motor 41 based on a control signal transmitted from the control device 6 and in accordance with the control program CP in which the setting data SD is recorded. This controls the operation of the robot arm 3. The setting data SD recorded in the control program CP is a data group of setting values ​​for parameters related to the control of the robot 5. The parameters related to the control of the robot 5 include the speed at which each arm element 1 in the robot arm 3 rotates around the axis of the rotation shaft, the torque of each arm element 1 around the rotation shaft, etc. The control board 45 executes a plurality of operation modes for the drive control of the motor 41, including a first operation mode, a second operation mode, and a third operation mode.

[0024] The first operation mode is an operation mode that assumes that an operator working in cooperation with the robot 5 performs work by approaching the operating range of the robot arm 3. When the first operation mode is executed, the control board 45 controls the drive of the motor 41 in accordance with a control signal corresponding to the setting data SD recorded in the control program CP so that the robot arm 3 operates continuously at a predetermined first speed indicated by the setting data SD.

[0025] The second operation mode is an operation mode that is set on the assumption that an operator working with the robot 5 will not approach the operating range of the robot arm 3. When the second operation mode is executed, the control board 45 controls the drive of the motor 41 in accordance with a control signal corresponding to the setting data SD recorded in the control program CP so that the robot arm 3 continuously operates at a second speed that is faster than the first speed indicated by the setting data SD.

[0026] The third operation mode is an operation mode in which it is assumed that an operator will directly apply force to the robot arm 3 to guide it and teach it how to operate. When the third operation mode is executed, the control board 45 controls the drive of the motor 41 in accordance with a control signal corresponding to the setting data SD recorded in the control program CP so as to prevent the robot arm 3 from operating at a speed exceeding a predetermined third speed indicated by the setting data SD.

[0027] [Configuration of support device] As described above, the support device 7 is a device for supporting the setting of parameters related to the control of the robot 5. The operator can use the support device 7 to set parameters related to the control of the robot 5. The support device 7 will be described with reference to Figs. 4 to 6 in addition to Fig. 1.

[0028] The support device 7 is configured by, for example, a personal computer, and includes an operation unit 71, a display unit 72, and a control unit 73, as shown in FIG.

[0029] The display unit 72 is configured by, for example, a liquid crystal display or the like. The display operation of the display unit 72 is controlled by the control unit 73. The operation unit 71 is configured by a keyboard, a mouse, or a touch panel provided on the display unit 72. The operation unit 71 accepts input operations of various commands related to the display form of the display unit 72 by the operator.

[0030] The control unit 73 is composed of a CPU (Central Processing Unit), a storage area such as an HDD (Hard Disk Drive) or flash memory that stores an assistance control program, a RAM (Random Access Memory) used as a work area for the CPU, etc. The control unit 73 performs various processes such as an acquisition process S1 shown in Fig. 4, a display process S2 shown in Fig. 5, and a recognition process S3 shown in Fig. 6 by the CPU executing the assistance control program stored in the HDD or flash memory.

[0031] (Acquisition process) 4 in the acquisition process S1. The control unit 73 acquires the joint action force data D1 and the specific point action force data D2 shown in Fig. 4. The joint action force data D1 is a data group of joint action forces F1 that indicate forces acting on each of the multiple joints 2 in the robot arm 3. The specific point action force data D2 is a data group of specific point action forces F2 that indicate forces acting on a specific point TCP in the head unit 16 that is the tip of the robot arm 3.

[0032] In this embodiment, the control unit 73 acquires the torque around the rotation axis of each arm element 1 connected to each joint 2 as each joint action force F1 corresponding to each joint 2. Specifically, the control unit 73 acquires the detection value of torque detected by each torque sensor 44 corresponding to each joint 2 as each joint action force F1 corresponding to each joint 2. In other words, the joint action force data D1 acquired by the control unit 73 includes each data of the detection value of torque detected by each torque sensor 44 corresponding to each joint 2.

[0033] Furthermore, the control unit 73 calculates the specific point acting force F2 acting on the specific point TCP based on each joint acting force F1 corresponding to each joint 2. As a result, the control unit 73 acquires specific point acting force data D2 indicating a data group of the specific point acting force F2. The control unit 73 acquires, as the data of the specific point acting force F2, components in each axial direction of the specific point acting force F2 corresponding to the three axes, the X-axis, the Y-axis, and the Z-axis, in an XYZ Cartesian coordinate system (three-dimensional Cartesian coordinate system) related to the specific point TCP, and torques around each axis. In other words, the specific point acting force data D2 acquired by the control unit 73 includes, for the specific point acting force F2 acting on the specific point TCP, an X component F2X indicating the component in the X-axis direction, a Y component F2Y indicating the component in the Y-axis direction, a Z component F2Z indicating the component in the Z-axis direction, a Roll component F2RX indicating the torque around the X-axis, a Pitch component F2PY indicating the torque around the Y-axis, and a Yaw component F2YZ indicating the torque around the Z-axis.

[0034] A force sensor, which is a force detector that detects a force acting on a specific point TCP at the tip of the robot arm 3, may be attached to the robot 5. The force sensor measures forces acting on the specific point TCP along three detection axes X, Y, and Z, and torques about the three detection axes X, Y, and Z, in a sensor coordinate system that is an XYZ Cartesian coordinate system. When such a force sensor is attached to the robot 5, the control unit 73 acquires specific point acting force data D2, including an X component F2X, a Y component F2Y, a Z component F2Z, a roll component F2RX, a pitch component F2PY, and a yaw component F2YZ, for the specific point acting force F2 acting on the specific point TCP, based on the measurement values ​​measured by the force sensor.

[0035] (Display processing) 5, in a display process S2, the control unit 73 controls the display unit 72 so that information for assisting in setting parameters related to the control of the robot 5 is displayed on the display screen DS of the display unit 72. The control unit 73 controls the display unit 72 so that joint action force waveforms F1W indicating the temporal change of each joint action force F1 corresponding to the plurality of joints 2 and specific point action force waveforms F2W indicating the temporal change of the specific point action force F2 are displayed on the display screen DS based on the joint action force data D1 and the specific point action force data D2.

[0036] A display process S2 of the control unit 73 displays, on the display screen DS of the display unit 72, a joint action force waveform F1W indicating a change over time in the joint action force F1 acting on each joint 2 of the robot arm 3 and a specific point action force waveform F2W indicating a change over time in the specific point action force F2 acting on the specific point TCP at the tip of the robot arm 3. By checking the joint action force waveforms F1W and F2W displayed on the display screen DS of the display unit 72, the operator can compare the change over time in each joint action force F1 acting on each joint 2 with the change over time in the specific point action force F2 acting on the specific point TCP at the tip of the robot arm 3. As a result, the change over time in each joint action force F1 in addition to the change over time in the specific point action force F2 serves as an indicator for setting parameters related to control of the robot 5, allowing the operator to set parameters related to control of the robot 5 in detail.

[0037] In this embodiment, the control unit 73 controls the display unit 72 to display, as each joint action force waveform F1W, each torque waveform indicating a change over time in torque about the rotation axis of each arm element 1 connected to each joint 2 of the robot arm 3. In this case, the joint action force waveform F1W includes a first torque waveform corresponding to the first joint 21, a second torque waveform corresponding to the second joint 22, a third torque waveform corresponding to the third joint 23, a fourth torque waveform corresponding to the fourth joint 24, a fifth torque waveform corresponding to the fifth joint 25, a sixth torque waveform corresponding to the sixth joint 26, and a seventh torque waveform corresponding to the seventh joint 27. The control unit 73 also controls the display unit 72 to display, as the specific point action force waveform F2W, each component waveform indicating a change over time in the X component F2X, the Y component F2Y, the Z component F2Z, the roll component F2RX, the pitch component F2PY, and the yaw component F2YZ of the specific point action force F2 acting on the specific point TCP of the robot arm 3. In this case, the specific point acting force waveform F2W includes an X component waveform, a Y component waveform, a Z component waveform, a Roll component waveform, a Pitch component waveform, and a Yaw component waveform, corresponding to each component of the specific point acting force F2.

[0038] In this embodiment, each joint action force waveform F1W as a torque waveform showing a change over time in torque about the rotation axis of each arm element 1 corresponding to each joint 2 of the robot arm 3, and a specific point action force waveform F2W as a component waveform showing a change over time in each component of the specific point action force F2 in an XYZ Cartesian coordinate system relative to a specific point TCP of the robot arm 3 are displayed on the display screen DS of the display unit 72. In the example of FIG. 5 , a first torque waveform F1W1 corresponding to the first joint 21 and a fourth torque waveform F1W4 corresponding to the fourth joint 24 are displayed on the display unit 72 as joint action force waveforms F1W, and a Z component waveform F2WZ and a Yaw component waveform F2WYZ are displayed on the display unit 72 as specific point action force waveforms F2W. The operator checks each joint action force waveform F1W as a torque waveform corresponding to each joint 2 and the specific point action force waveform F2W as a component waveform corresponding to each component of the specific point action force F2 displayed on the display screen DS of the display unit 72. This allows the operator to compare the change over time in the torque acting on each joint 2 with the change over time in each component of the specific point acting force F2 acting on the specific point TCP at the tip of the robot arm 3.

[0039] In the display process S2, the control unit 73 may control the display unit 72 to display each joint action force waveform F1W corresponding to each joint 2 and the specific point action force waveform F2W on the same time axis. In this case, each joint action force waveform F1W and the specific point action force waveform F2W are displayed on the same time axis on the display screen DS of the display unit 72. This allows the operator to easily compare the change over time of each joint action force F1 acting on each joint 2 with the change over time of the specific point action force F2 acting on the specific point TCP at the tip of the robot arm 3. This allows the operator to efficiently set parameters related to the control of the robot 5.

[0040] In the display process S2, the control unit 73 may control the display unit 72 to display joint action force numerical data F1D indicating the numerical data of each joint action force F1 on each joint action force waveform F1W and specific point action force numerical data F2D indicating the numerical data of the specific point action force F2 on the specific point action force waveform F2W on the same display screen DS as each joint action force waveform F1W and the specific point action force waveform F2W. The joint action force numerical data F1D includes numerical data of each torque about the rotation axis of each arm element 1 connected to each joint 2 of the robot arm 3. In addition, the specific point action force numerical data F2D includes numerical data of an X component F2X, a Y component F2Y, a Z component F2Z, a Roll component F2RX, a Pitch component F2PY, and a Yaw component F2YZ indicating each component of the specific point action force F2 in an XYZ Cartesian coordinate system with respect to the specific point TCP of the robot arm 3.

[0041] When comparing the temporal change of each joint action force F1 with the temporal change of the specific point action force F2 based on each joint action force waveform F1W and the specific point action force waveform F2W displayed on the display screen DS of the display unit 72, the operator can check the joint action force numerical data F1D and the specific point action force numerical data F2D. This allows the operator to more efficiently set parameters related to the control of the robot 5.

[0042] Furthermore, in the display process S2, the control unit 73 may control the display unit 72 to display, as the joint action force numerical data F1D, at least one of the maximum value, minimum value, and average value for each joint action force F1 on each joint action force waveform F1W during a predetermined period T12 between the first time point T1 and the second time point T2 on the time axis. Similarly, the control unit 73 may control the display unit 72 to display, as the specific point action force numerical data F2D, at least one of the maximum value, minimum value, and average value for each specific point action force F2 on the specific point action force waveform F2W during a predetermined period T12 between the first time point T1 and the second time point T2 on the time axis. In this case, the operator can confirm the maximum value, minimum value, and average value for each joint action force F1 during the predetermined period T12 as the joint action force numerical data F1D, and can also confirm the maximum value, minimum value, and average value for the specific point action force F2 during the predetermined period T12 as the specific point action force numerical data F2D.

[0043] In the present embodiment, the operation unit 71 of the assist device 7 may receive a command to select an acting force waveform to be displayed on the display unit 72 from the first to seventh torque waveforms included in the joint acting force waveform F1W and the X component waveform, Y component waveform, Z component waveform, Roll component waveform, Pitch component waveform, and Yaw component waveform included in the specific point acting force waveform F2W. In this case, the control unit 73 controls the display unit 72 in the display process S2 to display the acting force waveform corresponding to the command input to the operation unit 71.

[0044] 5, on the display screen DS of the display unit 72, a first waveform display distinction region DS1 is provided adjacent to the display region of the joint action force numerical data F1D, and a second waveform display distinction region DS2 is provided adjacent to the display region of the specific point action force numerical data F2D. The first waveform display distinction region DS1 is a region for distinguishing the first to seventh torque waveforms included in the joint action force waveform F1W into waveforms to be displayed on the display unit 72 and waveforms not to be displayed on the display unit 72, in accordance with a selection command input to the operation unit 71. The second waveform display distinction region DS2 is a region for distinguishing the X component waveform, Y component waveform, Z component waveform, Roll component waveform, Pitch component waveform, and Yaw component waveform included in the specific point action force waveform F2W into waveforms to be displayed on the display unit 72 and waveforms not to be displayed on the display unit 72, in accordance with a selection command input to the operation unit 71.

[0045] FIG. 5 illustrates an example in which a command is input to the operation unit 71 to select the first torque waveform F1W1 and the fourth torque waveform F1W4 of the joint action force waveform F1W and the Z component waveform F2WZ and the Yaw component waveform F2WYZ of the specific point action force waveform F2W as the action force waveforms to be displayed on the display unit 72. The operator can input a command to select the action force waveforms to be displayed on the display screen DS of the display unit 72 via the operation unit 71. The operator can then compare the temporal changes in the joint action force F1 and the specific point action force F2 by paying attention to the first torque waveform F1W1 and the fourth torque waveform F1W4 of the joint action force waveform F1W and the Z component waveform F2WZ and the Yaw component waveform F2WYZ of the specific point action force waveform F2W displayed on the display unit 72 in response to the selection command. This allows the operator to efficiently set parameters related to the control of the robot 5.

[0046] (Recognition processing) As shown in Fig. 6, in an XYZ Cartesian coordinate system of a specific point TCP at the tip of the robot arm 3, the specific point acting force F2 may be dispersed in the axial directions of two axes, and the magnitude of the axial component of the remaining axis may be less than a predetermined threshold. Fig. 6 shows an example in which the specific point acting force F2 is dispersed in the axial directions of two axes, the X-axis and the Z-axis, in the XYZ Cartesian coordinate system of the specific point TCP, and the specific point acting force F2 includes an X-component F2X and a Z-component F2Z as axial components. In this case, of the first to seventh torques corresponding to the first to seventh joints 21 to 27 of the robot arm 3, the torque that may be an influencing factor of the dispersion of the specific point acting force F2 (the fourth torque corresponding to the fourth joint 24 in Fig. 6) is an important index for setting parameters related to the control of the robot 5.

[0047] Therefore, in the recognition process S3, when the control unit 73 determines that the specific point acting force F2 is dispersed in the axial direction of two axes in the XYZ Cartesian coordinate system of the specific point TCP, it recognizes the fourth torque corresponding to the fourth joint unit 24, among the first to seventh torques corresponding to the first to seventh joint units 21 to 27, which may be an influencing factor for the dispersion of the specific point acting force F2, and outputs the recognition result.

[0048] 6, the control unit 73 recognizes the fourth torque corresponding to the fourth joint 24, which may be an influencing factor for the variance of the specific-point acting force F2, by comparing the temporal changes in the X-component F2X and the Z-component F2Z, which are the axial components of the specific-point acting force F2, with the temporal changes in the first to seventh torques corresponding to the first to seventh joints 21 to 27. Specifically, the control unit 73 recognizes the fourth torque, which may be an influencing factor for the variance of the specific-point acting force F2, by comparing the rise start time, rise speed, maximum value in a predetermined period T12, and the like, for the temporal changes in the X-component F2X and the Z-component F2Z of the specific-point acting force F2 with the temporal changes in the first to seventh torques corresponding to the first to seventh joints 21 to 27.

[0049] When the control unit 73 recognizes the fourth torque corresponding to the fourth joint unit 24 that may be an influencing factor of the variance of the specific-point acting force F2, the control unit 73 outputs the recognition result. For example, the control unit 73 may control the display unit 72 based on the recognition result. Specifically, the control unit 73 controls the display unit 72 to display on the display screen DS a fourth torque waveform F1W4 that indicates a temporal change in the fourth torque corresponding to the fourth joint unit 24 that may be an influencing factor of the variance of the specific-point acting force F2. When the specific-point acting force F2 is dispersed in the axial directions of two axes, the operator can set parameters related to the control of the robot 5 based on the recognition result in the recognition process S3 of the control unit 73, while paying attention to the torque that may be an influencing factor of the variance of the specific-point acting force F2.

[0050] As described above, the robot system 100 includes the support device 7 that can set detailed parameters related to the control of the robot 5. In the robot system 100, the control device 6 can control the operation of the robot 5 by transmitting to the robot 5 a control signal in accordance with the control program CP that records setting data SD for the parameters related to the control of the robot 5 that have been set in detail.

[0051] The specific embodiments described above mainly include inventions having the following configurations.

[0052] According to one aspect of the present invention, an assistance device for assisting in setting parameters for controlling a robot including a robot arm having a plurality of arm elements and a plurality of joints rotatably connecting the plurality of arm elements about a rotation axis includes a display unit and a control unit for controlling the display unit. The control unit performs an acquisition process for acquiring joint acting force data indicating forces acting on each of the plurality of joints and specific point acting force data indicating forces acting on a specific point at the tip of the robot arm, and a display process for controlling the display unit to display joint acting force waveforms indicating temporal changes of each of the joint acting forces and specific point acting force waveforms indicating temporal changes of the specific point acting forces.

[0053] According to this assistance device, a joint action force waveform showing a change over time in a joint action force acting on each joint of the robot arm, and a specific point action force waveform showing a change over time in a specific point action force acting on a specific point at the tip of the robot arm, are displayed on the display unit. By checking the joint action force waveforms and the specific point action force waveforms displayed on the display unit, the operator can compare the change over time in each joint action force acting on each joint with the change over time in a specific point action force acting on a specific point at the tip of the robot arm. As a result, the change over time in each joint action force, in addition to the change over time in the specific point action force, serves as an indicator for setting parameters related to robot control, allowing the operator to set parameters related to robot control in detail.

[0054] In the above-described assistance device, the control unit may control the display unit in the display process so as to display the joint acting force waveforms and the specific point acting force waveform on the same time axis.

[0055] In this embodiment, the waveform of the force acting on each joint and the waveform of the force acting at a specific point are displayed on the same time axis on the display unit. This allows the operator to easily compare the change over time of the force acting on each joint with the change over time of the force acting at a specific point at the tip of the robot arm. This allows the operator to efficiently set parameters related to the control of the robot.

[0056] In the above-described assistance device, the control unit may control the display unit in the display process so as to display numerical data of each of the joint action forces on each of the joint action force waveforms and the specific point action force on the specific point action force waveform on the same screen as each of the joint action force waveforms and the specific point action force waveform.

[0057] In this aspect, when comparing the temporal change of each joint action force with the temporal change of the specific point action force based on the joint action force waveforms and specific point action force waveforms displayed on the display unit, the operator can check the numerical data of each joint action force and specific point action force, which allows the operator to more efficiently set parameters related to the control of the robot.

[0058] In the above-described assistance device, the control unit may control the display unit in the display process to display, as the numerical data, at least any one of a maximum value, a minimum value, and an average value of each joint acting force on each joint acting force waveform and the specific point acting force on the specific point acting force waveform during a predetermined period between a first time point and a second time point on the time axis.

[0059] In this embodiment, the operator can check the maximum, minimum and average values ​​of the joint acting forces and specific point acting forces over a predetermined period as numerical data.

[0060] The assist device may further include an operation unit to which a command is input to select a waveform to be displayed on the display unit from among the joint acting force waveforms and the specific point acting force waveforms. In this case, the control unit controls the display unit to display a waveform corresponding to the command input to the operation unit in the display process.

[0061] In this embodiment, the operator can input a command to select the acting force waveform to be displayed on the display unit via the operation unit. Then, the operator can compare the temporal change of the joint acting force with the temporal change of the specific point acting force by focusing only on the acting force waveform displayed on the display unit in response to the selection command. This allows the operator to efficiently set parameters related to the control of the robot.

[0062] In the above assist device, the control unit may, in the acquisition process, acquire torques around the rotation axes of the arm elements connected to the plurality of joints as data of the joint acting forces, and acquire data of components of the specific point acting force in each axial direction corresponding to three axes in a three-dimensional Cartesian coordinate system related to the specific point. Further, in the display process, the control unit may control the display unit to display temporal changes in the torques corresponding to the plurality of joints as the joint acting force waveforms, and to display temporal changes in the components of the specific point acting force in each axial direction as the specific point acting force waveforms.

[0063] In this embodiment, the display unit displays each torque waveform showing the change over time in the torque around the rotation axis of each arm element corresponding to each joint of the robot arm, and each component waveform showing the change over time in each axial component of the specific-point acting force in a three-dimensional Cartesian coordinate system related to the specific point. By checking the torque waveform corresponding to each joint and the component waveform corresponding to the axial component of the specific-point acting force displayed on the display unit, the operator can compare the change over time in the torque acting on each joint with the change over time in each component of the specific-point acting force acting on the specific point at the tip of the robot arm.

[0064] In the above-mentioned assistance device, when the control unit determines that the specific point acting force is dispersed in the axial directions of two axes in the three-dimensional Cartesian coordinate system of the specific point based on the magnitude of each of the components of the specific point acting force in each axial direction, the control unit may perform a recognition process to recognize torques that correspond to the plurality of joints respectively and that may be influencing factors of the dispersion of the specific point acting force, and output the recognition result.

[0065] When a specific-point acting force is distributed along two axes in a three-dimensional Cartesian coordinate system of a specific point at the tip of a robot arm, torques around the rotation axes of each arm element corresponding to each joint of the robot arm that can influence the distribution of the specific-point acting force are important indicators for setting parameters related to robot control. Therefore, the control unit recognizes torques that can influence the distribution of the specific-point acting force through a recognition process and outputs the recognition results. For example, the control unit recognizes torques that can influence the distribution of the specific-point acting force by comparing the temporal changes in the components of the specific-point acting force along the two axes with the temporal changes in each torque corresponding to each joint. Specifically, the control unit recognizes torques that can influence the distribution of the specific-point acting force by comparing the rise start time, rise rate, maximum value over a predetermined period, etc., of the temporal changes in each component of the specific-point acting force and each torque corresponding to each joint. When a specific-point acting force is distributed along two axes, an operator can set parameters related to robot control while paying attention to torques that can influence the distribution of the specific-point acting force based on the recognition results of the control unit's recognition process.

[0066] A robot system according to another aspect of the present invention includes a robot having a robot arm having a plurality of arm elements and a plurality of joints that connect the plurality of arm elements rotatably around a rotation axis, and the above-described assistance device that assists in creating setting data for controlling the robot.

[0067] This robot system includes an assistance device that allows detailed settings of parameters related to the control of the robot, and the robot system can control the operation of the robot arm based on the setting values ​​of the parameters related to the control of the robot that have been set in detail.

[0068] As described above, according to the present invention, it is possible to provide an assistance device and a robot system that allow detailed setting of parameters related to control of a robot.

Claims

1. 1. An assistance device for assisting in setting parameters for controlling a robot including a robot arm having a plurality of arm elements and a plurality of joints connecting the plurality of arm elements rotatably about a rotation axis, the parameters including torque of each of the arm elements about the rotation axis, A display unit; a control unit that controls the display unit, The control unit an acquisition process of acquiring the torque of each of the arm elements around the rotation axis as joint action force data indicating a force acting on each of the plurality of joints, and calculating a specific point action force indicating a force acting on a specific point at the tip of the robot arm based on each of the joint action forces, thereby acquiring the specific point action force data; and displaying a time change of each of the torques corresponding to the plurality of joints as a joint action force waveform showing a time change of each of the joint action forces, and controlling the display unit to display a specific point action force waveform showing a time change of the specific point action force.

2. The assistance device according to claim 1 , wherein the control unit controls the display unit in the display process so as to display the joint acting force waveforms and the specific point acting force waveform on the same time axis.

3. 3. The assistance device according to claim 2, wherein the control unit controls the display unit so that, in the display processing, numerical data of each of the joint action forces on each of the joint action force waveforms and the specific-point action force on the specific-point action force waveform are displayed on the same screen as each of the joint action force waveforms and the specific-point action force waveform.

4. 4. The assistance device according to claim 3, wherein the control unit controls the display unit so that, in the display process, at least one of a maximum value, a minimum value, and an average value of each joint action force on each joint action force waveform and the specific point action force on the specific point action force waveform during a predetermined period between a first time point and a second time point on the time axis is displayed as the numerical data.

5. an operation unit to which a command is input to select a waveform to be displayed on the display unit from among the joint acting force waveforms and the specific point acting force waveforms, The assistance device according to claim 1 , wherein the control unit controls the display unit to display a waveform corresponding to a command input to the operation unit in the display process.

6. The control unit In the acquisition process, data on components of the specific point acting force in each axial direction corresponding to three axes in a three-dimensional orthogonal coordinate system related to the specific point is acquired, The support device according to claim 1 , wherein the display processing controls the display unit so as to display the temporal changes of the components of the specific-point acting force in each axial direction as the specific-point acting force waveform.

7. 7. The assistance device according to claim 6, wherein, when it is determined that the specific-point acting force is dispersed in the axial directions of two axes in the three-dimensional Cartesian coordinate system of the specific point based on the magnitudes of the respective axial components of the specific-point acting force, the control unit performs a recognition process to recognize torques that may be influencing factors of the dispersion of the specific-point acting force among the torques corresponding to the plurality of joints, and to output the recognition result.

8. a robot including a robot arm having a plurality of arm elements and a plurality of joints that connect the plurality of arm elements rotatably around a rotation axis; and the support device according to any one of claims 1 to 7, which supports setting of parameters relating to control of the robot, including torques of each of the arm elements about the rotation axes.

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