ROBOT CONTROLLER FOR ROBOT WHICH SETS TWO OBJECTS IN COMBINED STATE

摘要

A robot controller which uses a robot to more stably, more rapidly move a given object and a different object relative to each other to set the given object and the different object in a combined state in which portions of the two objects are in contact and combined with each other. The robot controller includes an unit which measures a force acting between two objects, an unit which sets a direction of translational force control, an unit which sets a translational force control target force, an unit which sets an axis of rotational force control, an unit which calculates a target amount of translational force control direction movement, an unit which calculates a target amount of rotational force control axis rotational movement, an unit which calculates a target amount of rotational movement, and an unit which generates an operation command for the robot.

主权项

1. A robot controller which controls a force acting between a given object located on an end effector of a robot and a different object to move the given object relative to the different object to obtain a state in which a predetermined portion of the given object and a predetermined portion of the different object are in contact and combined with each other, the controller comprising:
a force measuring unit which measures the force acting between the given object and the different object; a translational force control direction setting unit which sets at least one direction of translational force control in which the given object is translated relative to the different object based on the force acting between the given object and the different object; a translational force control target force setting unit which sets, for each of the at least one direction of translational force control, a translational force control target force representing a target value for the force acting between the given object and the different object in the direction of translational force control; a rotational force control axis setting unit which sets at least one axis of rotational force control representing an axis of rotation about which the given object is rotated relative to the different object based on the force acting between the given object and the different object, and sets an axis that is not parallel to the direction of translational force control as at least one of the at least one axis of rotational force control; a translational force control direction target movement amount calculation unit which calculates a target amount of translational force control direction movement representing a target value for an amount of translational movement of the given object relative to the different object in the direction of translational force control, based on the force acting between the given object and the different object; a rotational force control axis target rotational movement amount calculation unit which calculates a target amount of rotational force control axis rotational movement representing a target value for an amount of rotational movement of the given object relative to the different object about the axis of rotational force control, based on the force acting between the given object and the different object; a target direction target movement amount calculation unit which calculates a target amount of translational movement representing a target value for an amount of translational movement of the given object, and a target amount of rotational movement representing a target value for an amount of rotational movement of the given object, based on the force acting between the given object and the different object, the direction of translational force control set by the translational force control direction setting unit, the axis of rotational force control set by the rotational force control axis setting unit, the target amount of translational force control direction movement calculated by the translational force control direction target movement amount calculation unit, and the target amount of rotational force control axis rotational movement calculated by the rotational force control axis target rotational movement amount calculation unit; and an operation command generation unit which generates an operation command for the robot, based on the target amount of translational movement and the target amount of rotational movement calculated by the target direction target movement amount calculation unit, wherein the translational force control direction target movement amount calculation unit calculates the target amount of translational force control direction movement, based on one of a first predetermined amount of translational force control direction movement, and the first predetermined amount of translational force control direction movement and the translational force control target force in the direction of translational force control, when the force acting between the given object and the different object in the direction of translational force control is smaller than a first predetermined threshold for a force in the direction of translational force control, and calculates the target amount of translational force control direction movement, based on one of the force acting between the given object and the different object in the direction of translational force control and the translational force control target force in the direction of translational force control, and the force acting between the given object and the different object in the direction of translational force control, the translational force control target force in the direction of translational force control, and a second predetermined amount of translational force control direction movement, when the force acting between the given object and the different object in the direction of translational force control is not less than the first predetermined threshold for the force in the direction of translational force control.