Robot, robot system, and robot control device

Abstract

A robot includes a robot arm, a force sensor, and a control unit configured to control the operation of the robot art. The control unit initializes the force sensor while the robot arm is moving at uniform speed. It is preferable that the control unit initializes the force sensor while the robot arm is moving at the uniform speed and the amplitude of a detection value of the force sensor is smaller than a threshold.

What is claimed is: 
     
         1 . A control device comprising:
 a processor that is configured to execute computer-executable instructions so as to control a robot that includes a robot arm to which a hand is attached and a force detector,   wherein the processor is configured to bring a machining target gripped by the hand into contact with a fixed machining tool fixed to machine the machining target.   
     
     
         2 . The control device according to  claim 1 , wherein the processor is configured to maintain a contact state in which the machining target and the machining tool are in contact with each other so that an output value of the force detector is at a predetermined value set in advance. 
     
     
         3 . The control device according to  claim 1 , wherein the machining target is a workpiece gripped by the hand, the machining tool is a rotating tool, and the machining target is brought into contact with a polishing tool attached to a rotating shaft of the rotating tool. 
     
     
         4 . The control device according to  claim 2 , wherein the machining target is a workpiece gripped by the hand, the machining tool is a rotating tool, and the machining target is brought into contact with a polishing tool attached to a rotating shaft of the rotating tool. 
     
     
         5 . The control device according to  claim 3 , wherein the machining target is a workpiece gripped by the hand, the machining tool is a rotating tool, and the machining target is brought into contact with a polishing tool attached to a rotating shaft of the rotating tool. 
     
     
         6 . A robot that is controlled by the control device according to  claim 1 . 
     
     
         7 . A robot that is controlled by the control device according to  claim 2 . 
     
     
         8 . A robot that is controlled by the control device according to  claim 3 . 
     
     
         9 . A robot that is controlled by the control device according to  claim 4 . 
     
     
         10 . A robot that is controlled by the control device according to  claim 5 . 
     
     
         11 . A robot system comprising:
 the control device according to  claim 1 ; and   a robot that is controlled by the control device and includes the robot arm to which the hand is attached and the force detector.   
     
     
         12 . A robot system comprising:
 the control device according to  claim 2 ; and   a robot that is controlled by the control device and includes the robot arm to which the hand is attached and the force detector.   
     
     
         13 . A robot system comprising:
 the control device according to  claim 3 ; and   a robot that is controlled by the control device and includes the robot arm to which the hand is attached and the force detector.   
     
     
         14 . A robot system comprising:
 the control device according to  claim 4 ; and   a robot that is controlled by the control device and includes the robot arm to which the hand is attached and the force detector.   
     
     
         15 . A robot system comprising:
 the control device according to  claim 5 ; and   a robot that is controlled by the control device and includes the robot arm to which the hand is attached and the force detector.