Robot controller and robot system

Abstract

A robot controller includes an input unit that receives operation instruction information, a database that stores grasp pattern information, and a processing unit that performs control processing based on information from the input unit and information from the database, and the input unit receives first to N-th operation instructions as operation instruction information, the processing unit loads i-th grasp pattern information that enables execution of the i-th operation instruction and j-th grasp pattern information that enables execution of the j-th operation instruction as the next operation instruction to the i-th operation instruction from the database, and performs control processing based on the i-th grasp pattern information and the j-th grasp pattern information.

What is claimed is: 
     
         1 . A robot controller of a robot having an arm with a hand that can grasp work, the robot controller comprising:
 an input unit that receives operation instruction information as information for instruction of an operation of the robot;   a database that stores grasp pattern information as information describing an operation pattern when the hand grasps the work; and   a processing unit that performs control processing of the robot based on information from the input unit and information from the database,   wherein the input unit receives first to N-th (N is an integer number equal to or more than “2”) operation instructions as the operation instruction information,   the processing unit loads i-th grasp pattern information (i is an integer number equal to or more than “1” and equal to or less than “N−1”) that enables execution of the i-th operation instruction and j-th grasp pattern information that enables execution of the j-th operation instruction as the next operation instruction to the i-th operation instruction of the first to N-th operation instructions from the database, and performs control processing of the robot based on the i-th grasp pattern information and the j-th grasp pattern information.   
     
     
         2 . The robot controller according to  claim 1 , wherein the processing unit performs control processing of the robot by selecting a combination of grasp patterns that enable sequential execution of the i-th operation instruction and the j-th operation instruction from an i-th group of grasp patterns represented by the i-th grasp pattern information and a j-th group of grasp patterns represented by the j-th grasp pattern information. 
     
     
         3 . The robot controller according to  claim 1 , wherein the i-th operation instruction is an operation instruction of instructing grasping of the work,
 the j-th operation instruction is at least one of an operation instruction of moving the grasped work and an operation instruction of changing a position of the grasped work, and   the processing unit performs control processing of allowing the robot to perform an operation corresponding to the i-th operation instruction and the j-th operation instruction by selecting the same one of an i-th group of grasp patterns represented by the i-th grasp pattern information and a j-th group of grasp patterns represented by the j-th grasp pattern information.   
     
     
         4 . The robot controller according to  claim 3 , wherein, given that a state of the work before grasping is a first state and a state of the work after moving or changing in position is referred to as a second state,
 the i-th group of grasp patterns are a group of grasp patterns of grasping the work in the first state,   the j-th group of grasp patterns are a group of grasp patterns of grasping the work in the second state, and   the processing unit performs control processing of allowing the robot to perform an operation corresponding to the i-th operation instruction and the j-th operation instruction by selecting the same one of the i-th group of grasp patterns and the j-th group of grasp patterns.   
     
     
         5 . The robot controller according to  claim 1 , wherein the i-th operation instruction is an operation instruction of instructing grasping of the work with one hand of a first hand and a second hand of the robot,
 the j-th operation instruction is an operation instruction of instructing performance of a switching operation of the work and grasping of the work with the other hand of the first hand and the second hand, and   the processing unit performs control processing of allowing the robot to perform an operation corresponding to the i-th operation instruction and the j-th operation instruction by selecting a grasp pattern that enables grasping with both hands of the firsthand and the secondhand at the same time from the i-th group of grasp patterns represented by the i-th grasp pattern information and the j-th group of grasp patterns represented by the j-th grasp pattern information.   
     
     
         6 . The robot controller according to  claim 1 , wherein the database stores pattern information for identification of a direction of grasping and a surface of grasping as the grasp pattern information. 
     
     
         7 . The robot controller according to  claim 1 , wherein the database stores hand identification information as information for identification of the hand and work identification information as information for identification of the work, and
 the processing unit performs control processing of the robot based on the hand identification information and the work identification information.   
     
     
         8 . The robot controller according to  claim 7 , wherein the processing unit acquires the grasp pattern information that enables execution of the operation instruction specified by the operation instruction information based on the hand identification information, the work identification information, and the operation instruction information from the database. 
     
     
         9 . The robot controller according to  claim 7 , wherein the database stores at least one of hand size information and hand position information as the hand identification information, and stores at least one of work size information and work position information as the work identification information. 
     
     
         10 . The robot controller according to  claim 7 , wherein the database stores arm identification information for identification of the arm, and
 the processing unit performs control processing of the robot based on the hand identification information, the work identification information, and the arm identification information.   
     
     
         11 . The robot controller according to  claim 10 , wherein the database stores at least one of length information of the arm and rotation information of the arm as the arm identification information. 
     
     
         12 . The robot controller according to  claim 1 , further comprising a position information detection unit that detects position information of the work,
 wherein the processing unit performs control processing of the robot based on the position information.   
     
     
         13 . The robot controller according to  claim 1 , wherein, if plural grasp patterns are selected as grasp patterns that allow the robot to perform operations corresponding to the first to N-th operation instructions, the processing unit performs processing of presenting the selected grasp patterns to a user. 
     
     
         14 . A robot system comprising:
 the robot controller according to  claim 1 ; and   a robot having the arm with the hand that grasps the work.   
     
     
         15 . A robot system comprising:
 the robot controller according to  claim 2 ; and   a robot having the arm with the hand that grasps the work.   
     
     
         16 . A robot system comprising:
 the robot controller according to  claim 3 ; and   a robot having the arm with the hand that grasps the work.   
     
     
         17 . A robot system comprising:
 the robot controller according to  claim 4 ; and   a robot having the arm with the hand that grasps the work.   
     
     
         18 . A robot system comprising:
 the robot controller according to  claim 5 ; and   a robot having the arm with the hand that grasps the work.   
     
     
         19 . A robot system comprising:
 the robot controller according to  claim 6 ; and   a robot having the arm with the hand that grasps the work.   
     
     
         20 . A robot system comprising:
 a robot having an arm with a hand that can grasp work;   an input unit that receives operation instruction information as information for instruction of an operation of the robot;   a database that stores grasp pattern information as information describing an operation pattern when the hand grasps the work; and   a processing unit that performs control processing of the robot based on information from the input unit and information from the database,   wherein the input unit receives first to N-th (N is an integer number equal to or more than “2”) operation instructions as the operation instruction information, and   the processing unit loads i-th grasp pattern information (i is an integer number equal to or more than “1” and equal to or less than “N−1”) that enables execution of the i-th operation instruction and j-th grasp pattern information that enables execution of the j-th operation instruction as the next operation instruction to the i-th operation instruction of the first to N-th operation instructions from the database, and performs control processing of the robot based on the i-th grasp pattern information and the j-th grasp pattern information.