JP2018034296A5 - Control device, robot system, and robot control method - Google Patents

Claims (8)

A control device for controlling a robot having a movable part including an ejecting part capable of ejecting an ejected object with respect to an object, and a force detecting part, wherein the movable part and the A detection unit that generates teaching data at the position of the movable unit when the movable unit is moved a first distance from the target after detecting contact with the target;
A first process of generating data relating to a position of the ejection unit when the ejection unit is moved the first distance from the object after detecting contact between the ejection unit and the object; A second process of generating data relating to the attitude of the ejection unit when the attitude of the ejection unit with respect to the object is changed based on an output from an angle detection unit that detects an angle of the ejection unit with respect to the object And a control device characterized by performing . After the first process, the control device according to claim 1 for the second processing. After the second process, the control device according to claim 1 for the first processing. The control device according to claim 1 , wherein the first process and the second process are performed simultaneously or in a timely overlapping manner. The generation unit is configured to detect a contact between the movable unit and a first location of the target object, first data regarding a position of the movable unit when the movable unit is moved by the first distance, and the movable unit. And second data relating to the position of the movable part when the movable part is moved by the first distance after detecting the contact of the object with a second part different from the first part, control device according to any one of claims 1 to 4 to produce a movement path of the continuous movable portion along the shape of the object between said second location and said first location. The generation unit detects the contact between the movable unit and the target object on which the robot works based on the output from the force detection unit, and then moves the movable unit from the target different from the first distance. Generate teaching data at the position of the movable part when moved two distances,
Control device according to any one of claims 1 to 5 comprising a selectable selection unit said second distance and said first distance. A robot system comprising: the control device according to any one of claims 1 to 6 ; and a robot that is controlled by the control device and that has the movable part including the force detection part. A control method for controlling a robot having a movable part including an ejecting part capable of ejecting an ejected object with respect to an object, a force detecting part, and an angle detecting part detecting an angle of the ejecting part with respect to the object. There
Determining whether or not there is contact between the movable portion and the object based on the output from the force detection unit,
Performing a first process of generating data relating to the position of the ejection part when the movable part is moved a first distance from the object when it is determined that the contact has occurred,
Performing a second process of generating data relating to the posture of the ejection unit when the posture of the ejection unit with respect to the object is changed based on the output from the angle detection unit;
Including a control method.