Robot device and parameter adjustment method

Abstract

This robot device comprises: a robot capable of executing a predetermined action; and a control unit which accepts direct teaching whereby a user manually teaches an action target of the robot, and which controls the actions of the robot. The control unit is capable of executing adjustment control for controlling a parameter determining an operational feel of the direct teaching, wherein, in the adjustment control, the control unit: acquires the operational feel parameter and a predetermined evaluation index on the basis of a result obtained by causing the user to execute a specific task action manually with respect to the robot; derives a score, which is a mechanical evaluation value for the task action, on the basis of the evaluation index, and presents the score to the user; and changes the parameter in accordance with a subjective evaluation by the user in relation to the operational feel.

Description

[Technical Field]

[0001] The present invention relates to a robot device capable of adjusting parameters that determine the operational feel of direct teach, and a method for adjusting the parameters. [Background technology]

[0002] When applying a robotic device equipped with a multi-joint robot arm or the like to a work site, a teaching operation is required to instruct the robotic arm on the operation targets when performing a required task. As a function for accepting this teaching operation, a robotic device equipped with a direct teaching function that accepts manual teaching of the operation targets of the robotic arm is known.

[0003] In direct teaching tasks, it is desirable for the user to feel comfortable operating the robot. An operation feel that is too heavy tends to tire the user, while an operation feel that is too light tends to make it difficult to position the robot. Patent Document 1 discloses a robot device that allows the user to manually execute a specific task operation on the robot and adjust parameters that determine the operation feel of direct teaching. This robot device reads the user's operation feel from the execution state of the task operation and modifies the parameters to suit the user's needs.

[0004] The comfort of direct teaching is not determined solely by the robot's characteristics, such as the robot's structure, weight, and installation state, but is also significantly influenced by the user's characteristics and subjectivity, such as the power available for direct teaching, the posture and gripping method for holding the teaching handle, and the user's preference for the ease of operation. Therefore, there is a concern that simply mechanically adjusting the parameters, as in the robot device of Patent Document 1, may not allow each user to perform a comfortable direct teaching task. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-74788 Summary of the Invention

[0006] An object of the present invention is to provide a robot device and a parameter adjustment method that allow a user to perform comfortable direct teaching.

[0007] A robot device according to one aspect of the present invention includes a robot capable of executing predetermined operations, and a control unit that receives direct teaches by a user manually instructing the robot on operation targets and controls the robot's operations. The control unit is capable of executing adjustment control to adjust parameters that determine the operational feel of the direct teach, and in the adjustment control, acquires the operational feel parameters and predetermined evaluation indices based on the results of the user manually performing a specific task operation on the robot, derives a score that is a mechanical evaluation value for the task operation based on the evaluation indices and presents it to the user, and changes the parameters in response to the user's subjective evaluation of the operational feel.

[0008] Another aspect of the present invention relates to a parameter adjustment method for a robot device capable of performing direct teach, in which a user manually instructs a robot on a target movement, and adjusts parameters that determine the operational feel of the direct teach. The method involves having the user manually perform a specific task action on the robot, deriving parameters for the operational feel and a predetermined evaluation index based on the results of the task action, deriving a score that is a mechanical evaluation value for the task action based on the evaluation index and presenting it to the user, and changing the parameters in accordance with the user's subjective evaluation of the operational feel. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a robot device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the robot device. [Figure 3]FIG. 3 is a flowchart showing the adjustment control of the parameters that determine the operational feel of the direct teach. [Figure 4] FIG. 4 is a diagram showing an example of a task action that the user is prompted to perform. [Figure 5] FIG. 5 is a diagram showing an example of a task action that the user is prompted to perform. [Figure 6] FIG. 6 is a diagram showing an example of a task action that the user is prompted to perform. [Figure 7] FIG. 7 is a diagram showing an example of a dialogue interface used in the adjustment control. [Figure 8] 8A and 8B are diagrams showing an example of a pull-down screen incorporated into the dialogue interface. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. A robot device according to the present invention includes a robot capable of performing a predetermined operation. The robot is typically a multi-joint robot arm having multiple arm elements and multiple motion axes for rotating these multiple arm elements. A suitable application of the robot device according to the present invention is a collaborative robot that is placed in an area where a worker performs a predetermined task. Collaborative robots often employ direct teach, in which a motion target for the robot arm is manually taught. In the following embodiment, a robot device equipped with a six-axis robot arm in which a motion target is taught by direct teach is exemplified.

[0011] [Overall configuration of the robot device] FIG. 1 is a schematic diagram of a robot device 1 according to one embodiment of the present invention. The robot device 1 is a vertically articulated six-axis robot and includes a robot arm 10, an operating handle 20, a control device 30, and a display unit 60. The robot arm 10 has seven rotation axes: a first axis J1, a second axis J2, a third axis J3, a fourth axis J4, a fifth axis J5, and a sixth axis J6. The robot arm 10 includes arm elements including a base unit 10B, a first arm 11, a second arm 12, a third arm 13, a fourth arm 14, a fifth arm 15, a sixth arm 16, and a head unit 17. An end effector 18 and an operating handle 20 are attached to the head unit 17.

[0012] The base unit 10B is a housing that is fixedly installed on a mounting plane such as a floor or a pedestal. The first arm 11 is connected to the upper surface of the base unit 10B via a first axis J1. The first axis J1 is a rotation axis that extends vertically to the mounting plane. The first arm 11 can rotate in both forward and reverse directions around the first axis J1. The second arm 12 has a base end on the upstream side connected to the first arm 11 via a second axis J2. The second axis J2 is a rotation axis that extends horizontally parallel to the mounting plane. The second arm 12 can swing around the second axis J2.

[0013] The third arm 13 is an arm connected to the downstream side of the second arm 12, and its base end is connected to the tip end of the second arm 12 via a third axis J3. The third arm 13 is capable of swinging around the third axis J3, which extends horizontally. The fourth arm 14 is an arm connected to the downstream side of the third arm 13, and its base end is connected to the tip end of the third arm 13 via a fourth axis J4. The fourth arm 14 is capable of rotating around the fourth axis J4, which extends in the arm axis direction.

[0014] The fifth arm 15 is an arm connected to the downstream side of the fourth arm 14, and its base end is connected to the tip end of the fourth arm 14 via a fifth axis J5. The fifth arm 15 is capable of swinging around the fifth axis J5 extending horizontally. The sixth arm 16 is an arm connected to the downstream side of the fifth arm 15, and its base end is connected to the tip end of the fifth arm 15 via a sixth axis J6. The sixth arm 16 is capable of rotating around the sixth axis J6 extending in the arm axis direction.

[0015] The head unit 17 is attached to the tip side of the sixth arm 16 via a force sensor FS, which will be described later. The head unit 17 is a support base for the end effector 18, and also serves as an attachment base for an operating handle 20 that is held by a user during direct teaching operations. The end effector 18 is a structure that performs a required operation on a workpiece that is the target of the operation. The end effector 18 can be a structure that can perform operations such as suction, welding, polishing, and gripping of a workpiece, for example.

[0016] FIG. 1 shows the TCP 19 of the end effector 18. The TCP 19 is a position that serves as a control reference point for the robot arm 10. For example, the TCP 19 can be set at the position where the end effector 18 picks up a workpiece. Alternatively, the TCP 19 may be set at the center of gravity of the end effector 18 or at some other position associated with the end effector 18. Alternatively, the TCP 19 may be set at the tip of the robot arm 10.

[0017] The force sensor FS is a six-axis force detector that is interposed between the sixth arm 16, which is the tip of the robot arm 10, and the end effector 18. Specifically, the force sensor FS is a sensor that can simultaneously detect force components in the three translational axes of the x-axis, y-axis, and z-axis, which are three mutually perpendicular axes, and moment components about these x-axis, y-axis, and z-axis. Note that instead of the force sensor FS, a torque sensor may be equipped on the robot arm 10.

[0018] The operating handle 20 is a rod-shaped member extending laterally from the head unit 17, and is sized so that the user can hold it in one hand. During direct teaching, the user holds the operating handle 20 and manually moves the TCP 19 of the robot arm 10 from one teaching point to another, thereby teaching a motion target or a position and posture.

[0019] The control device 30 controls the movement of the robot arm 10 in accordance with pre-given teaching data. To generate the teaching data, the control device 30 also accepts direct teaching, in which the user manually teaches the movement target and position and posture of the robot arm 10. Furthermore, in the direct teaching, the control device 30 executes adjustment control to adjust parameters that determine the user's operational feel of the robot arm 10. The control device 30 will be described in detail below with reference to FIG. 2.

[0020] The display unit 60 is, for example, a tablet terminal, and has various display functions related to the robot device 1 and an input function for receiving operation inputs and data inputs to the control device 30. As long as it has the display functions and input functions, any device can be used as the display unit 60 instead of a tablet terminal. For example, a personal computer, a smartphone, or a display / input panel dedicated to the robot device 1 may be used as the display unit 60.

[0021] [Electrical configuration of the robot device] 2 is a block diagram showing the electrical configuration of the robot device 1. The robot arm 10 incorporates a first drive unit 41, a second drive unit 42, a third drive unit 43, a fourth drive unit 44, a fifth drive unit 45, and a sixth drive unit 46 that apply rotational drive forces around a first axis J1, a second axis J2, a third axis J3, a fourth axis J4, a fifth axis J5, and a sixth axis J6, respectively. The first drive unit 41 generates a rotational drive force that rotates the first arm 11 around the first axis J1. Similarly, the second to sixth drive units 42 to 46 generate rotational drive forces that rotate the second arm 12 to the sixth arm 16 around the second axis J2 to the sixth axis J6, respectively.

[0022] The first driving unit 41 includes a motor 51, a brake 52, and an encoder 53. The motor 51 is a driving source that generates the rotational driving force. The brake 52 regulates the rotational driving force of the motor 51. Activating the brake 52 fixes the first axis J1. That is, activation of the brake 52 prohibits the rotational driving of the motor 51, and constrains the first arm 11 so that it does not rotate around the first axis J1. The encoder 53 detects the amount of rotation of the motor 51, i.e., the rotation angle of the first arm 11. In addition, the first driving unit 41 includes a speed reducer (not shown). The speed reducer reduces the rotation speed of the output shaft of the motor 51 at a predetermined reduction ratio and transmits the reduced rotation speed to the rotation mechanism of the first axis J1. Similarly, the second to sixth driving units 42 to 46 include a motor 51, a brake 52, an encoder 53, and a speed reducer, and perform the same operations as described above.

[0023] The operation handle 20 includes an operation button 21. The operation button 21 is operated when a user holds the operation handle 20 and performs direct teach, and is a button that activates the direct teach mode. The operation handle 20 may also be provided with an operation button that executes other functions, such as a button to start the execution of a task operation, which will be described later. By controlling the operation of the brakes 52 of the first to sixth drive units 41 to 46 and changing the fixed state of the first axis J1 to the sixth axis J6, which are the operating axes, the behavior of the robot arm 10 during direct teach work can be restricted. For example, the operation handle 20 may be provided with an operation button that selects between a mode in which the robot arm 10 moves completely freely about the first axis J1 to the sixth axis J6, and a mode in which the robot arm 10 moves only in the xy plane or the z plane.

[0024] Operation information of the operation button 21 is input to the control device 30. Data on the above-mentioned six-axis force components detected by the force sensor FS is also input to the control device 30 and is used for controlling the operation of the robot arm 10 during direct teaching work and for controlling the operation of the robot arm 10 during actual operation.

[0025] The display unit 60 incorporates an interactive interface application 61. The interactive interface application 61 is application software that operates the interactive interface 8 shown in Fig. 8 when the control device 30 executes adjustment control of the parameters.

[0026] The control device 30 is a processor that executes various processes according to a given program, and by executing the program, it operates to functionally comprise a robot control unit 31, a memory unit 32, a teach control unit 33, and an adjustment control unit 34 (control unit).

[0027] When the robot device 1 is operated on site, the robot control unit 31 operates the robot arm 10 based on teaching data indicating predetermined operation targets and position and posture, and causes the end effector 18 to perform a predetermined task on a workpiece. The storage unit 32 stores the programs and teaching data. The storage unit 32 also stores parameters that determine the operational feel of direct teach. The parameters are preferably set for each of multiple users, each application of the robot arm 10, or each type of end effector 19, and are stored in the storage unit 32 in association with a predetermined identification code or ID.

[0028] The teach control unit 33 executes a direct teach operation. Specifically, the teach control unit 33 moves the first arm 11 to the sixth arm 16 of the robot arm 10 in accordance with a moving force applied to the robot arm 10 by the user gripping the operating handle 20. The moving force applied to the robot arm 10 is detected by the force sensor FS. The teach control unit 33 acquires the detection result and estimates the magnitude and direction of the moving force. Based on this estimation result, the teach control unit 33 appropriately drives the motors 51 of the first drive unit 41 to the sixth drive unit 46 to move the robot arm 10 in the direction in which the user intends to move the robot arm 10. The teach control unit 33 also stores the motion target and position / posture of the robot arm 10 set in the direct teach operation in the memory unit 32 as teaching data.

[0029] The adjustment control unit 34 executes adjustment control for adjusting parameters that determine the operational feel, such as "weight" and "lightness," when the user moves the robot arm 10 during direct teach. The parameters are, for example, viscosity coefficients, inertia coefficients, spring coefficients, and the like, that are used when performing impedance control on the first to sixth drive units 41 to 46. The adjustment control roughly includes the following steps (1) to (3). (1) The parameters and predetermined evaluation indices are acquired based on the results of a user manually executing a specific task operation on the robot arm 10. (2) Based on the evaluation index, a score, which is a mechanical evaluation value for the task movement, is derived and presented to the user. (3) The parameters are changed in accordance with the user's subjective evaluation of the operational feel.

[0030] As in steps (1) to (3) above, the adjustment control unit 34 does not simply adjust the parameters based on the score obtained as a result of performing the task action in step (1), but rather, as in steps (2) and (3), presents the score to the user and changes the parameters in accordance with the user's subjective evaluation. This allows parameters suitable for each user to be set, taking into account the subjective evaluation of each user. By executing a predetermined program, the adjustment control unit 34 operates to functionally include a task action setting unit 35, a data acquisition unit 36, a score calculation unit 37, a display control unit 38, and a parameter setting unit 39.

[0031] The task operation setting unit 35 sets a task operation that simulates direct teaching, which is executed by the user to adjust the operational feel. For example, the task operation setting unit 35 displays a wizard on the display unit 60 that prompts the user to execute the task operation. Examples of the task operation include having the robot arm 10 assume a specific posture, having the TCP 19 move back and forth over a specific distance, having the TCP 19 perform a movement that simulates a specific work operation, and having the TCP 19 perform a required movement operation using an evaluation jig.

[0032] The data acquisition unit 36 ​​acquires various data obtained as a result of the execution of the task operation. The acquired data includes parameters of the operational feel and predetermined evaluation indices. The parameters include the viscosity coefficient, inertia coefficient, spring coefficient, etc., when the robot arm 10 is moved during the execution of the task operation. The evaluation indices are information related to the operation accuracy of the robot arm 10 or the TCP 19. The operation accuracy is evaluated based on, for example, whether the posture of the robot arm 10 was accurately realized according to the model of the task operation, whether the TCP 19 was accurately stopped according to the specified position of the task operation, etc.

[0033] The score calculation unit 37 calculates a score as a result evaluation value of the task operation based on the evaluation index. The score is derived using a predetermined arithmetic formula or evaluation table, with evaluation factors such as the posture accuracy of the robot arm 10 in the task operation, the position accuracy of the TCP 19, and the time required for the operation. In general, if the operation accuracy and position accuracy are good and the operation time is within an appropriate range, a high evaluation score will be obtained.

[0034] The display control unit 38 controls the display unit 60 to display the score calculated by the score calculation unit 37, and also controls the display to accept the user's subjective evaluation of the operational feel of the task action from the display unit 60. In a preferred embodiment, the display control unit 38 controls the display unit 60 to display an interactive interface 8 as shown in Fig. 7, and presents the score on the interactive interface 8 and accepts the user's subjective evaluation from the interactive interface, thereby enabling the user to dynamically change the parameters.

[0035] The parameter setting unit 39 changes the parameters obtained by executing the task movement in accordance with the user's subjective evaluation, and stores the parameters in the storage unit 32. The parameter setting unit 39 associates the parameters with a user ID or the like and stores the parameters with adjusted operational feel in the storage unit 32 so that they can be called up when direct teaching is executed. Note that it is desirable to store the parameters in the storage unit 32 by classifying them by application of the robot arm 10 or by type of end effector 19.

[0036] [Adjustment control operation flow] 3 is a flowchart showing adjustment control of parameters that determine the operational feel of direct teach. When execution of adjustment control is selected with a mode selection switch or the like in the robot device 1, the task operation setting unit 35 of the adjustment control unit 34 causes the display unit 60 to display a wizard showing the execution procedure of the task operation, etc. (Step S1).

[0037] When the user grips the operating handle 20 to apply a moving force to the robot arm 10 to perform the task movement, the control device 30 accepts the movement (step S2). That is, similar to direct teach, based on the detection result of the force sensor FS, the teach control unit 33 drives the motors 51 of the first drive unit 41 to the sixth drive unit 46 so as to move the robot arm 10 in the direction in which the user intends to move the robot arm 10.

[0038] After accepting the execution of the task operation, the data acquisition unit 36 ​​acquires an evaluation index based on the execution result of the task operation and parameters of the robot arm 10 during movement in the task operation (step S3). As described above, the evaluation indexes are, for example, posture accuracy and position accuracy. The posture accuracy can be determined from the agreement between the rotation angles of the arms 11 to 16 set in the task operation and the rotation angles detected by the encoder 53 after the task operation. The position accuracy can be determined from the agreement between the position of the TCP 19 in the robot operation coordinates set in the task operation and the position of the TCP 19 after the task operation. The parameters are coefficient values ​​used in impedance control when the task operation is executed.

[0039] Once the evaluation index is obtained, the score calculation unit 37 calculates a score as a result evaluation value of the task action based on the evaluation index (step S4). Next, the display control unit 38 causes the display unit 60 to start the dialogue interface 8 and displays the score obtained in step S4 on the dialogue interface 8 (step S5). Details of the dialogue interface 8 will be described later with reference to FIG. 7.

[0040] Next, the display control unit 38 receives subjective evaluation data input from the user through the dialogue interface 8 (step S6). For example, by displaying questions about the operability of the robot arm 10 on the dialogue interface 8 and obtaining answer information, information about the subjective evaluation of the operability can be acquired.

[0041] Next, the parameter setting unit 39 changes the parameters acquired in step S3 according to the score in step S5 (step S7). That is, if the score is poor, the parameters are automatically corrected to those predicted to result in a good score. For example, if the operational feel of the robot arm 10 is too light, it becomes difficult to stop the TCP 19 at the target position, and the position accuracy score deteriorates. In this case, the parameters are corrected so that the operational feel becomes heavier.

[0042] Furthermore, in step S7, the parameters that were previously automatically corrected are changed in accordance with the subjective evaluation received in step S6. Even if the score is good, the user may often feel uncomfortable with the feel of the operation. For this reason, the parameters are made changeable in accordance with the subjective evaluation. Examples of the manner in which the parameters are changed based on the subjective evaluation include a manner in which the dialogue interface 8 directly receives a change operation by the user, and a manner in which the subjective evaluation is converted into a score and the parameters are automatically corrected. Furthermore, based on the information related to the subjective evaluation, the parameter setting unit 39 may create correction suggestion information regarding correction of the parameters and display this on the dialogue interface 8.

[0043] Thereafter, the display control unit 38 causes the display unit 60 to display options asking the user whether or not to accept the parameter change (step S8). If the user does not accept the parameter change (NO in step S8), the process returns to step S6 and accepts subjective evaluation data input from the user again. If the user accepts the parameter change (YES in step S8), the parameter setting unit 39 determines that the parameter adjustment is complete and stores the parameter in the storage unit 32 in association with the user ID, etc. (step S9).

[0044] Thereafter, it is confirmed whether or not to continue the adjustment control (step S10). For example, if the adjustment control is to be continued (YES in step S10), such as when the robot arm 10 is made to perform another task operation or when another user performs adjustment control on the robot device 1, the process returns to step S2 and is repeated. On the other hand, if the adjustment control is not to be continued (NO in step S10), the adjustment control unit 34 ends the process.

[0045] [Example of task behavior] 4 to 6 are diagrams showing examples of task operations to be performed by the user. FIG. 4 shows the execution status of a first example of the task operation. In the first example, the user sets arbitrary positions P1 and P2 as movement target positions. Positions P1 and P2 are set, for example, on an evaluation board or evaluation paper prepared by the user. These positions P1 and P2 are registered in the control device 30 so as to be known positions in the motion coordinate system of the robot arm 10.

[0046] The task movement in the first example is a movement in which the TCP 19 of the robot arm 10 is moved back and forth linearly between positions P1 and P2. The user grips the operating handle 20 and manually moves the TCP 19 from position P1 to position P2, and then from position P2 to position P1. In this task movement, the posture of the robot arm 10, that is, the rotation angles of the first axis J1 to the sixth axis J6, may be registered. In addition, a target movement speed, which is the time required for movement between positions P1 and P2, may be set.

[0047] The score calculation unit 37, for example, compares the registered coordinates of positions P1 and P2 with the trial coordinates of the position where the user manually moves the TCP 19 to target positions P1 and P2 in the task movement and stops the TCP 19 after reaching the target positions P1 and P2. The score is then calculated based on the degree of deviation between the registered coordinates and the trial coordinates. Regarding posture, the score can also be calculated based on the degree of deviation between the rotation angles of the first axis J1 to the sixth axis J6 after the task movement and the target rotation angles. Furthermore, the adjustment control unit 34 may issue an alarm if the task movement is being performed at an obviously abnormal speed relative to the target movement speed. Examples of such an abnormal speed include a speed exceeding the upper limit for safe direct teaching or a speed that is too slow and ignores the takt time.

[0048] It is desirable that the user be able to set the number of repetitions of the task action as appropriate. In other words, it is desirable that the user be able to select the number of times the TCP 19 moves back and forth between positions P1 and P2. If the number of repetitions is increased, the action will be averaged and the accuracy of the score will be improved, but it will take more time to complete the task action. On the other hand, if the number of repetitions is reduced, the time required for the task action will be shortened, but the accuracy of the score will decrease. It is desirable to have a system in place that leaves it up to the user to decide which is more important.

[0049] FIG. 5 shows the execution status of a second example of the task operation. In the second example, a jig 71 is used to determine the target position of movement of the TCP 19 during the task operation. The jig 71 is a jig for setting a linear movement target and includes a first reference protrusion 711 and a second reference protrusion 712. Position P1, which serves as one reference position, is set at the apex of the first reference protrusion 711, and position P2, which serves as another reference position, is set at the apex of the second reference protrusion 712. For example, if the jig 71 is provided by a robot manufacturer and the positional accuracy of positions P1 and P2 is guaranteed, the accuracy of the score calculated by the score calculation unit 37 can be improved. Incidentally, including the first example, three or more reference positions may be set in addition to two reference positions P1 and P2.

[0050] Figure 6 shows the execution status of a third example of the task movement. In the third example, the task movement is an example in which the TCP 19 is made to trace a circular orbit. In the first and second examples above, the TCP 19 is made to move back and forth between positions P1 and P2, but as in this third example, the task movement may start from a certain reference position, trace a predetermined orbit, for example a circular orbit, and then return to the reference position.

[0051] It is difficult to actually move the TCP 19 so that it traces a circular orbit in real space. For this reason, as shown in FIG. 6, it is desirable to register a reference circular orbit in the control device 30 using a circular orbit teaching jig 72 that causes the TCP 19 to trace a circular orbit. The circular orbit teaching jig 72 has an annular groove 721 formed on its upper surface into which the end effector 18 can be inserted. To register the circular orbit, the user fits the end effector 18 into the annular groove 721 and rotates the TCP 19 along the annular groove 721. Based on the output value of the force sensor FS during this orbital movement, the rotation angles of the first axis J1 to the sixth axis J6 and the orbital coordinates of the TCP 19 are registered. Then, in the task movement, the user moves the robot arm 10 so that the TCP 19 traces a circular orbit without using the jig 72. The score calculation unit 37 calculates the score based on the deviation of the circular orbit of the task movement from the registered circular orbit.

[0052] [Example of a conversational interface] 7 is a diagram showing an example of the dialogue interface 8 that the display control unit 38 causes the display unit 60 to display during adjustment control. The dialogue interface 8 includes a robot image display unit 80, a task status display unit 81, a count input unit 82, a question display unit 83, an answer unit 84, a score display unit 85, a teaching status display unit 86, a slide bar 87 (parameter adjustment unit), a group of command buttons 88, and an initial value load button 89.

[0053] The robot that is the target of adjustment control of the parameters that determine the operational feel of direct teach is displayed on the robot image display section 80. In addition, the robot image display section 80 may also display the model number and type of the robot, its location in the factory, the work process it is responsible for, and so on.

[0054] The task status display section 81 is a section that displays the execution status of the task operation. FIG. 7 shows an example in which the words "Task Start" are displayed, indicating that the task operation has started. For example, when the task operation has been completed, words such as "Task End" are displayed. The task status display section 81 may also be configured to display detailed information such as task operation guidance, assistance information, and error and abnormality alerts in the form of a dialog box.

[0055] The number of repetitions input unit 82 accepts input from the user to set the number of repetitions of the task action. The task action setting unit 35 is an input field that accepts the execution of the same task action the number of repetitions input into ... task action setting unit 35. Adjusting the number of repetitions leads to adjusting the time required for the user to execute the task action. As mentioned above, increasing the number of repetitions can improve the accuracy of the score for the task action, but it will also take more time to execute the task action. By providing the number of repetitions input unit 82, the user can self-adjust the number of repetitions, taking into account the advantages and disadvantages mentioned above.

[0056] The question display section 83 is a display field that displays questions to the user regarding the operational feel of the robot arm 10 in the task movement. The question display section 83 can display several prepared questions in a pull-down format. FIG. 8(A) shows example questions that can be displayed in a pull-down format in the question display section 83. Here, examples of questions regarding the operational feel that the user would directly experience are shown, such as "Did the operation feel heavy?", "Did it feel heavy when you started to move the arm?", "Did it feel heavy when you stopped the arm?", and "Were you able to stop the TCP accurately?" These questions may be displayed sequentially in a dialog box format.

[0057] The answering unit 84 receives an answer from the user to the question displayed in the question display unit 83. The answering unit 84 includes a first selection button 841 to be selected if the user experiences the same operational feel as in the question, a second selection button 842 to be selected if the user experiences the opposite operational feel, and a third selection button 843 to be selected if the user does not experience the operational feel as in the question. FIG. 7 shows an example in which the first selection button 841 displays "Yes," the second selection button 842 displays "No," and the third selection button 843 displays "Just right" in response to the question, "Did the operation feel heavy?" The display of the first, second, and third selection buttons 841, 842, and 843 may be changed as appropriate depending on the question. By configuring the answering unit 84 in this way, the user can accurately obtain the operational feel experienced by the user in the task operation, enabling operational feel parameters to be set in accordance with the user's sensibilities.

[0058] The score display unit 85 is a display field that displays the score that is mechanically calculated by the score calculation unit 37 based on the execution result of the task operation. It is desirable that the score display unit 85 also displays the evaluation indexes that are the basis for calculating the score. Figure 7 shows an example in which the position accuracy of the TCP 19 in the task operation, the posture accuracy of the robot arm 10, and the operation time required to execute the task operation are displayed as the evaluation indexes.

[0059] The teach status display section 86 is a field for selecting a direct teach situation. The teach status display section 86 can display several prepared situations in a pull-down format. FIG. 8(B) shows the situations displayed in the pull-down menu in the teach status display section 86. Here, "acceleration" and "deceleration," which refer to the accelerating and decelerating movement of the robot arm 10, "stopping," which refers to when the TCP 19 is stopped, and "start of movement," which refers to when the TCP 19 starts moving, are shown as examples of direct teach situations. Providing these options allows the user to set parameters appropriate for each of the direct teach situations: acceleration, deceleration, stopping, and start of movement.

[0060] The slide bar 87 is a component that directly receives input for changing the parameter of the operation feel from the user, and includes a slider 87S for adjusting the parameter. By moving the slider 87S on the slide bar 87, the parameter can be changed to make the operation feel "light" or "heavy." The parameter setting unit 39 changes the parameter of the operation feel in accordance with the input information to the slide bar 87, i.e., the movement of the slider 87S.

[0061] Various embodiments can be exemplified for changing the parameters of the operation feel. One embodiment is a embodiment in which the parameter setting unit 39 automatically corrects the parameters based on information about the user's subjective evaluation input to the response unit 84. In this embodiment, the parameter setting unit 39 automatically corrects the parameters in two stages. That is, the parameter setting unit 39 automatically corrects the parameters based on the score mechanically calculated by the score calculation unit 37, then normalizes the user's subjective evaluation to fit it into a predetermined formula, and then automatically corrects the parameters again. For example, if the question display unit 83 displays the question, "Did the operation feel heavy?" and the user selects "Yes" as the first selection button 841 in the response unit 84, the parameter setting unit 39 automatically corrects the parameters to make the operation feel lighter. According to this embodiment, the parameters are automatically corrected, allowing the parameter change process to be completed quickly.

[0062] The other is a mode in which the parameter setting unit 39 accepts the user's subjective evaluation through manual operation of the slide bar 87 and modifies the parameters. For example, the center position of the slider 87S on the slide bar 87 is set to the parameter value modified according to the score derived by the score calculation unit 37. From this default setting state, the parameter is modified according to the subjective evaluation by accepting operation of the slider 87S by the user. For example, a user who feels the operation feel is heavy can modify the parameter to make it lighter by sliding the slider 87S to the left. According to this mode, the operation feel felt by the user can be directly used to change the parameters. Note that after the parameters are automatically modified based on the response to the response unit 84 in the previous example, the user may further manually modify the parameters via the slide bar 87.

[0063] In actual practice, it is expected that the user may have difficulty determining the operation feel. In response to this expectation, correction suggestion information regarding parameter correction may be created based on information regarding the subjective evaluation acquired by the answering unit 84, and the correction suggestion information may be displayed in the dialogue interface 8. For example, if the user answers "Yes" to the question "Did the operation feel heavy?" in the question display unit 83, a pop-up display or the like related to the correction suggestion, such as "Please move the slider 87S one notch to the left" or "Please move the slider 87S toward "light," may be displayed in the dialogue interface 8. According to this embodiment, the dialogue interface 8 presents correction suggestion information that can be recommended to the user, thereby providing information to assist the user in making a decision when they are having difficulty determining the operation feel.

[0064] The command button group 88 includes an Undo button 881, a Redo button 882, a Cancel button 883, and a Save button 884. The Undo button 881 is pressed to cancel the provisionally set parameters of the operation feel. The Redo button 882 is pressed to restore the settings canceled with the Undo button 881. The Cancel button 883 is pressed to cancel the adjustment control that has been performed up to that point. The Save button 884 is pressed to confirm and register the parameters derived by the adjustment control.

[0065] The initial value load button 89 is a button used when loading existing parameters as initial values. Examples of existing parameters include parameter adjustment values ​​implemented in robots used in the past, parameter adjustment values ​​implemented by other users, and the like. These parameter adjustment values ​​can be read from the storage unit 32 of the control device 30, or downloaded from another control device, a USB memory, or the Web. According to this embodiment, existing parameters with a track record of adjustment are introduced as default values, thereby reducing the time required for parameter adjustment.

[0066] In the above embodiment, an example was shown in which the execution of the same task action is accepted the number of times set and input in the count input section 82 of the dialogue interface 8. Alternatively, the execution of the task action may be terminated if a predetermined condition is met or if an end instruction is received from the user before the set number of repetitions expires.

[0067] For example, assume that the user is configured to input a subjective evaluation to the response unit 84 each time a task action is performed. In this case, if the user feels that the optimal operational feel has been achieved in the task action of a turn before the number of repetitions has expired, the repetition of the task action may be terminated by receiving an instruction to terminate from the user. Alternatively, the repetition of the task action may be automatically terminated if the subjective evaluation of each turn of the task action selects "just right" a predetermined number of times consecutively, or if the selection of "just right" reaches a predetermined number of times, even if not consecutively. Furthermore, if the evaluations of "heavy" and "light" are repeated a predetermined number of times consecutively, the subjective evaluation may be deemed not to have converged, and the task may be automatically terminated. When the task is automatically terminated, it is desirable to display a message such as "Task End" on the task status display unit 81 of the dialogue interface 8.

[0068] According to the robot device 1 or parameter adjustment method of the present embodiment described above, the parameters that determine the operational feel of direct teach are adjusted by having the user perform a task operation, rather than by having the user set the parameters by, for example, inputting numerical values. Therefore, even a user with little specialized knowledge can easily set a comfortable operational feel. Furthermore, instead of simply adjusting the parameters based on a score calculated by the score calculation unit 37 based on the results of the task operation, the dialogue interface 8 presents the score to the user, and the user's subjective evaluation is accepted via the response unit 84 or the slide bar 87, and the parameters are changed accordingly. Therefore, it is possible to set parameters that are suitable for each user, taking into account the subjective opinions of each user.

[0069] [Inventions included in the above embodiments] The above-described embodiment includes the following inventions.

[0070] A robot device according to one aspect of the present invention comprises a robot capable of performing predetermined operations, and a control unit that receives direct teach, in which a user manually instructs the robot on a target operation, and controls the operation of the robot, wherein the control unit is capable of performing adjustment control to adjust parameters that determine the operability of the direct teach, and in the adjustment control, the control unit acquires the operability parameters and predetermined evaluation indices based on the results of the user manually performing a specific task operation on the robot, derives a score that is a mechanical evaluation value for the task operation based on the evaluation indices and presents it to the user, and changes the parameters in accordance with the user's subjective evaluation of the operability.

[0071] Another aspect of the present invention relates to a parameter adjustment method for a robot device capable of performing direct teach, in which a user manually instructs a robot on a target movement, and adjusts parameters that determine the operational feel of the direct teach. The method involves having the user manually perform a specific task action on the robot, deriving parameters for the operational feel and a predetermined evaluation index based on the results of the task action, deriving a score that is a mechanical evaluation value for the task action based on the evaluation index and presenting it to the user, and changing the parameters in accordance with the user's subjective evaluation of the operational feel.

[0072] According to this robot device or parameter adjustment method, the parameters that determine the operational feel of direct teach are adjusted by having the user perform a task rather than directly setting the parameters. Therefore, even users with little specialized knowledge can easily set a comfortable operational feel. Furthermore, instead of simply adjusting the parameters based on the score obtained as a result of performing the task, the score is presented to the user, and the parameters are changed according to the user's subjective evaluation. Therefore, it is possible to set parameters that are suitable for each user, taking into account the subjective opinions of each user.

[0073] In the above robot device, it is desirable that the evaluation index includes information relating to the movement accuracy of the robot.

[0074] According to this aspect, a score is derived based on an evaluation index relating to the robot's accuracy in performing the task. This allows the user to adjust parameters after being presented with a score based on the degree of accuracy of the robot's performance, rather than relying solely on the user's preferences.

[0075] It is desirable that the robot device further includes a display unit capable of displaying an interactive interface, and that the control unit presents the score on the interactive interface and dynamically changes the parameters by receiving a subjective evaluation from the user through the interactive interface.

[0076] According to this aspect, by accepting the user's subjective evaluation through an interactive interface, it is possible to easily adjust parameters to eliminate discrepancies between the score, which is a mechanical evaluation value, and the direct teach operation feel that the user actually feels.

[0077] In the above-described robot device, the control unit may display, in the dialogue interface, a question display unit that displays questions to the user regarding the operational feel, and an answer unit that receives answers to the questions from the user, and acquire information regarding the user's subjective evaluation based on information input to the answer unit.

[0078] According to this aspect, the operational feel felt by the user can be accurately acquired based on the answers to the questions about the operational feel, thereby enabling the parameters to be set in accordance with the user's sense.

[0079] In the robot device, the control unit may create correction suggestion information regarding correction of the parameter based on the acquired information on the subjective evaluation, and cause the dialogue interface to display the correction suggestion information.

[0080] According to this aspect, it is possible to present recommended correction suggestion information to the user in the dialogue interface, and therefore, for example, it is possible to provide information to assist a user who is unsure about which operation feel to select.

[0081] In the robot device, the control unit may automatically correct the parameters based on the acquired information on the subjective evaluation.

[0082] According to this aspect, the parameters are automatically corrected, so that the parameter change work can be completed quickly.

[0083] In the robot device described above, the control unit may cause the dialogue interface to display a parameter adjustment unit that accepts changes to the parameters from a user, and change the parameters based on information input to the parameter adjustment unit.

[0084] According to this aspect, the operational feel that the user feels can be directly linked to parameter changes. For example, if the interactive interface displays options such as "lighter" or "heavier" for the operational feel and the user can operate these options, the user can directly adjust the parameters according to their own sense.

[0085] In the robot device, it is preferable that the control unit displays a load button on the dialogue interface for introducing existing parameters as initial values.

[0086] According to this aspect, existing parameters are introduced as default values, thereby reducing the time required for parameter adjustment. Examples of existing parameters include parameter adjustment values ​​implemented in robots used in the past, parameter adjustment values ​​implemented by other users, etc.

[0087] In the above robot device, the control unit may display a number input unit in the dialogue interface that accepts input of the number of times the task action will be repeated, and may enable the same task action to be executed the set number of times.

[0088] According to this aspect, the user can adjust the time required to perform the task. Increasing the number of repetitions can improve the accuracy of the score for the task, but it also takes more time to perform the task. Taking these advantages and disadvantages into consideration, the user can self-adjust the number of repetitions.

[0089] In the above robot device, the control unit may terminate the execution of the task action if a predetermined condition is met before the number of repetitions related to the setting input expires, or if an instruction to terminate is received from the user.

[0090] According to this aspect, when it becomes possible to perform appropriate parameter adjustment without repeating the task operation, the execution of the task operation can be terminated. Therefore, the execution of task operations that do not actually need to be repeated can be omitted, and the time required for parameter adjustment work can be shortened.

[0091] In the robot device, it is preferable that the control unit executes the adjustment control when the robot accelerates, decelerates, stops, and starts moving during the direct teach.

[0092] According to this aspect, it is possible to allow the user to set parameters suitable for each situation of acceleration, deceleration, stopping, and starting of operation in direct teaching.

[0093] The robot device may further include a storage unit that stores the parameters, and the control unit may execute the adjustment control for each of a plurality of users, each robot application, or each end effector, and store the adjusted parameters in the storage unit so that they can be called up when the direct teach is executed.

[0094] According to this aspect, parameters can be set for each user, each application, and each end effector, so that the operational feel of direct teach can be adjusted in more detail.

[0095] As described above, according to the present invention, it is possible to provide a robot device and a parameter adjustment method that allow a user to perform comfortable direct teaching.

Claims

1. a robot capable of performing a predetermined action; a control unit that receives direct teaching, in which a user manually teaches a movement target of the robot, and controls the movement of the robot; The control unit is capable of executing adjustment control for adjusting parameters that determine the operation feel of the direct teach, and in the adjustment control, acquiring the parameters of the operational feeling and a predetermined evaluation index based on the result of having the user manually execute a specific task action on the robot; deriving a score, which is a mechanical evaluation value for the task action, based on the evaluation index and presenting the score to the user; changing the parameters in accordance with a user's subjective evaluation of the operational feel; In a robotic device, further comprising a display unit capable of displaying an interactive interface; The control unit presents the score to the dialogue interface and dynamically changes the parameter by receiving a subjective evaluation from the user through the dialogue interface.

2. 2. The robot device according to claim 1, A robotic device, wherein the evaluation index includes information related to the accuracy of the robot's movements.

3. In the robot device according to claim 1, The control unit displaying, in the dialogue interface, a question display section for displaying a question regarding the operational feel to a user, and an answer section for receiving an answer to the question from the user; The robot device acquires information about the user's subjective evaluation based on information input to the response section.

4. In the robot device according to claim 3, The control unit creates correction suggestion information regarding correction of the parameter based on the acquired information on the subjective evaluation, and causes the dialogue interface to display the correction suggestion information.

5. In the robot device according to claim 3, The control unit automatically corrects the parameters based on the acquired information regarding the subjective evaluation.

6. In the robot device according to claim 1, The control unit displaying a parameter adjustment section on the interactive interface that accepts changes to the parameters from a user; The robot device changes the parameters based on input information to the parameter adjustment unit.

7. In the robotic device according to claim 1, The control unit causes the interactive interface to display a load button for introducing existing parameters as initial values.

8. In the robotic device according to claim 1, The control unit displaying a number input section in the dialogue interface for receiving a setting input of the number of times the task action is to be repeated; A robot device that can execute the same task action the set input number of times.

9. In the robot device according to claim 8, The control unit terminates the execution of the task action if a predetermined condition is met before the number of repetitions related to the setting input expires, or if an instruction to terminate is received from the user.

10. 2. The robot device according to claim 1, The control unit executes the adjustment control when the robot accelerates, decelerates, stops, and starts operating during the direct teach.

11. A robot capable of executing a predetermined action; a control unit that receives direct teaching, in which a user manually teaches a movement target of the robot, and controls the movement of the robot; The control unit is capable of executing adjustment control for adjusting parameters that determine the operation feel of the direct teach, and in the adjustment control, acquiring the parameters of the operational feeling and a predetermined evaluation index based on the result of having the user manually execute a specific task action on the robot; deriving a score, which is a mechanical evaluation value for the task action, based on the evaluation index and presenting the score to the user; changing the parameters in accordance with a user's subjective evaluation of the operational feel; In a robotic device, Further comprising a storage unit that stores the parameters, The control unit Executing the adjustment control for each of a plurality of users, each of robot applications, or each of end effectors; The adjusted parameters are stored in the storage unit so that they can be called up when the direct teach is executed.

12. A robot capable of executing a predetermined action; a control unit that receives direct teaching, in which a user manually teaches a movement target of the robot, and controls the movement of the robot; The control unit is capable of executing adjustment control for adjusting parameters that determine the operation feel of the direct teach, and in the adjustment control, acquiring the parameters of the operational feeling and a predetermined evaluation index based on the result of having the user manually execute a specific task action on the robot; deriving a score, which is a mechanical evaluation value for the task action, based on the evaluation index and presenting the score to the user; The robot device creates modification suggestion information regarding modification of the parameters based on the user's subjective evaluation of the operational feel, and modifies the parameters.

13. 1. A method for adjusting parameters that determine an operational feel of a direct teach in a robot device capable of performing a direct teach in which a user manually teaches a robot a motion target, comprising: The user manually executes a specific task on the robot. deriving parameters of the operational feel and a predetermined evaluation index based on the execution result of the task operation; deriving a score, which is a mechanical evaluation value for the task action, based on the evaluation index and presenting the score to the user; changing the parameters in accordance with a user's subjective evaluation of the operational feel; In the parameter adjustment method, The parameter adjustment method includes presenting the score to an interactive interface and accepting a subjective evaluation from the user through the interactive interface, thereby dynamically changing the parameter.

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