ROBOT CONTROLLER, ROBOT SYSTEM, ROBOT, ROBOT CONTROL METHOD, AND PROGRAM

摘要

A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.

主权项

1. A robot controller comprising:
an image acquisition unit that acquires a target image as an image containing an end point of a movable unit of a robot when the end point is in a target position, and a current image as an image containing the end point when the end point is in a current position; a first control unit that generates a command value for moving the end point from the current position to the target position based on the current image and the target image; a second control unit that generates a command value for moving the end point based on output from a force detection unit that detects a force acting on the movable unit; and a third control unit that moves the movable unit using the command value generated by the first control unit and the command value generated by the second control unit.