Robot control device, robot control method, robot control program, and robot system

Abstract

A robot control device of a vertical articulated robot having seven axes and an offset structure includes: a storage unit which stores a condition of a status of the vertical articulated robot including a position of an elbow in the vertical articulated robot and control information for controlling the vertical articulated robot such that the condition is satisfied to match each other; an input unit to which the condition of the status of the vertical articulated robot including the position of the elbow is input; and a robot control unit which controls the vertical articulated robot such that the input condition is satisfied on the basis of the control information stored in the storage unit to match the same condition as the condition input to the input unit.

1 - 7 . (canceled) 
     
     
         8 . A robot comprising:
 a robot body that includes an elbow, wherein the robot body has a vertical structure with an offset section and a plurality of rotatable axes arranged along the vertical structure of the robot body; and   a robot control device that controls the body and includes:
 a storage unit that stores a condition of a status including a position of the elbow and control information that satisfies the condition of the status to match each other, 
 an input unit to which the condition of the status is input, and 
 a robot control unit that controls the robot body based on the control information such that the condition inputted via the input unit is satisfied. 
   
     
     
         9 . The robot according to  claim 8  wherein:
 the robot body includes a hand, and 
 the condition of the status stored in the storage unit includes a condition that designates a position and a posture of the hand and the position of the elbow in the robot body. 
 
     
     
         10 . The robot according to  claim 8  wherein the control information is information for controlling at least one rotating axis and at least one turning axis of the robot body, the at least one rotating axis and the at least one turning axis are among the plurality of rotatable axes. 
     
     
         11 . The robot according to  claim 8 , wherein the plurality of axes includes a first rotatable axis and a second rotatable axis, the second rotatable axis is disposed between the first rotatable axis and the elbow, and the offset section of the robot body is between the first rotatable axis and the second rotatable axis. 
     
     
         12 . The robot according to  claim 8  wherein:
 the plurality of axes includes a first rotatable axis, a second rotatable axis, a third rotatable axis, a fourth rotatable axis, a fifth rotatable axis, a sixth rotatable axis, and a seventh rotatable axis, 
 the elbow is disposed at the fourth rotatable axis, and 
 the offset section of the robot body is between the sixth rotatable axis and the seventh rotatable axis. 
 
     
     
         13 . The robot according to  claim 8  wherein the robot body includes a shoulder and a hand, the elbow is disposed between the shoulder and the hand, and the offset section is at the shoulder of the robot body. 
     
     
         14 . The robot according to  claim 8  wherein the robot body includes a shoulder and a hand, the elbow is disposed between the shoulder and the hand, and the offset section is between the hand and the elbow of the robot body.