Control device, robot system, and control method

The control device addresses the challenge of achieving accurate robot position adjustments by automatically switching between control modes based on operator-applied force and velocity data, ensuring precise and intuitive teaching operations.

WO2025004194A1PCT designated stage expired Publication Date: 2025-01-02MITSUBISHI ELECTRIC CORP
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Patent Information

Application Number
PCT/JP2023/023847
Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
Filing Date
2023-06-27
Publication Date
2025-01-02

AI Technical Summary

Technical Problem

Existing robot control systems face challenges in achieving highly accurate position adjustments during direct teaching, as they struggle to instantly switch control modes as intended by the operator and can inadvertently switch modes due to momentary changes in force magnitude, leading to suboptimal teaching precision.

Method used

A control device that utilizes force and moment information applied by the operator to automatically switch between normal and detailed control modes based on velocity and force data, ensuring accurate teaching by limiting operating speed and direction in the detailed mode, thereby matching the operator's intended control mode.

Benefits of technology

The solution enables highly accurate teaching by automatically switching control modes to match the operator's intentions, preventing inadvertent mode changes and improving operational precision and ease of use.

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Abstract

A control device (10) comprises: an external-force calculation unit (11) that, on the basis of a force and moment applied to a robot by an operator and the position and posture of a robot control point that is a control point for the operator to control the robot, calculates force information that is information on the force and moment applied to the robot by the operator; a control mode determination unit (12) that, on the basis of the force information and velocity information that is information on the velocity or angular velocity of the robot, determines which of a normal control mode and a detailed control mode is to be selected, the normal control mode controlling the robot such that the larger the force and moment of the force information, the faster the robot operates, the detailed control mode controlling the robot while limiting at least one of the operation velocity and operation direction of the robot; and an operation command generation unit (13) that, when the normal control mode is selected, generates an operation command corresponding to the normal control mode and outputs the operation command to the robot, and, when the detailed control mode is selected, generates an operation command corresponding to the detailed control mode and outputs the operation command to the robot.
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Citation Information

Patent Citations

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    JP2005219147A

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    JP2010069584A

  • Work device

    JP2020039397A