ROBOT CONTROL METHOD, ROBOT CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM

摘要

A robot control method includes a first step of selecting a holding form in which a robot holds an object and a second step of determining whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form. In the second step, it is determined that the object can continue to be stably held when a force which should be generated by a contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the contact portion and enlarged by a suction force from the suction mechanism.

主权项

1. A robot control method of a robot that has a suction mechanism for at least one contact portion coming in contact with an object to hold the object and that holds the object, the robot control method comprising:
selecting a holding form in which at least a position on the object coming in contact with the at least one contact portion is specified as a holding form in which the robot holds the object; and determining in advance whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form, wherein it is determined that the object can continue to be stably held when a force which should be generated by the at least one contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the at least one contact portion and enlarged by a suction force from the suction mechanism.