ROBOT SYSTEM FOR PERFORMING FORCE CONTROL

摘要

A robot system includes a robot that operates to move a machining tool relative to a workpiece, an actuator that changes a position of the machining tool, and a control device that controls the robot. The control device includes a robot control unit that operates the robot along a predetermined motion trajectory, a force detection unit that detects force acting between the machining tool and the workpiece, a position detection unit that detects a current position of the machining tool, a force control unit that obtains a target position of the machining tool such that a detection value of the force detection unit approaches a predetermined value, and a position correction unit that calculates a position correction amount of a motion trajectory of the robot and a position correction amount of the actuator in response to the target position of the machining tool.

主权项

1. A robot system which performs a machining process for a workpiece by using a machining tool, comprising:
a robot that holds at least one of the machining tool and the workpiece and operates such that the machining tool and the workpiece are moved relative to each other; an actuator with one or more degrees of freedom, which is mounted with the machining tool or the workpiece and changes a position of an acting point of the machining tool or the workpiece in cooperation with the robot; and a control device that controls an operation of the robot, wherein the control device comprises: a robot control unit that operates the robot along a predetermined motion trajectory; a force detection unit that detects force acting between the machining tool and the workpiece; a position detection unit that detects a current position of the acting point of the machining tool or the workpiece mounted on the actuator; a force control unit that obtains a target position of the acting point of the machining tool or the workpiece mounted on the actuator such that the force detected by the force detection unit approaches a predetermined value; and a position correction unit that calculates a position correction amount of a motion trajectory of the robot and a position correction amount of the actuator in response to the target position of the acting point of the machining tool or the workpiece.