Controller of robot and control method

Abstract

A robot includes a handling portion handled in teaching an operation of a robot arm, a first sensor acquiring data of a first force acting on a tip of the robot arm, a second sensor acquiring data of a second force acting on the handling portion and a third sensor acquiring data of position and orientation of the tip of the robot arm. A controller of the robot is configured to generate teaching data having a first period and a second period based on analytical results of the first and second force data at a time of teaching the robot arm. The robot arm is controlled by position and orientation control based on the position and orientation data of the third sensor in the first period. The robot arm is controlled by force control based on the first and second force data in the second period.

1 .- 20 . (canceled) 
     
     
         21 . A controller of a robot system, the robot system comprising a robot having a predetermined portion which a user can move, a first sensor configured to acquire first information related to a force acting on the predetermined portion, a second sensor configured to acquire second information related to a position of the predetermined portion, the controller comprising a processing part,
 wherein the processing part is configured to acquire the first information and the second information during the user moves the predetermined portion, and   wherein the processing part is configured to simplify, based on the first information, information related to a trajectory of the predetermined portion based on the second information acquired.   
     
     
         22 . The controller according to  claim 21 ,
 wherein the processing part is configured to acquire information related to a contact force generated by a contact of the predetermined portion and a peripheral object based on the first information, and   wherein the processing part is configured to set a first section in which the information related to the trajectory during the user moves the predetermined portion is simplified based on the contact force.   
     
     
         23 . The controller according to  claim 22 , wherein the processing part is configured to acquire simplified information related to the trajectory as position control data. 
     
     
         24 . The controller according to  claim 23 , wherein the processing part is configured to acquire the position control data by interpolating between two points of the second information by a predetermined interpolation method. 
     
     
         25 . The controller according to  claim 24 , wherein the processing part is configured to perform linear interpolation or joint interpolation as the predetermined interpolation method. 
     
     
         26 . The controller according to  claim 24 , wherein the processing part is configured to set one point among a starting point of the first section and a point before or after the starting point of the first section, and another point among an ending point of the first section and a point before or after the ending point of the first section as the two points. 
     
     
         27 . The controller according to  claim 22 , wherein the processing part is configured to perform a position control and not to perform a force control in the first section. 
     
     
         28 . The controller according to  claim 21 , wherein the processing part is configured to move the predetermined portion by performing direct teaching of the user. 
     
     
         29 . The controller according to  claim 21 ,
 wherein the processing part is configured to acquire information related to a contact force generated by a contact of the predetermined portion and a peripheral object based on the first information, and   wherein the processing part is configured to set a second section in which perform a force control in the information related to the trajectory based on the information related to the contact force.   
     
     
         30 . The controller according to  claim 29 ,
 wherein the robot system includes a handling portion handled by the user, and   wherein the processing part is configured to move the predetermined portion by the user handling the handling portion.   
     
     
         31 . The controller according to  claim 30 ,
 wherein the robot system includes a third sensor configured to acquire third information related to a force acting on the handling portion,   wherein the processing part is configured to acquire third information during the user moves the predetermined portion, and   wherein the processing part is configured to acquire information related to a handling force given to the handling portion by handling of the user during the predetermined portion is moved by the user based on the first information and the third information.   
     
     
         32 . The controller according to  claim 31 , wherein the processing part is configured to acquire force control data to perform the force control of the robot in the second section based on the information related to the handling force. 
     
     
         33 . The controller according to  claim 29 ,
 wherein the robot system includes a handling portion handled by the user,   wherein the robot system includes a third sensor configured to acquire third information related to a force acting on the handling portion,   wherein the processing part is configured to acquire third information during the user moves the predetermined portion,   wherein the processing part is configured to acquire information related to a handling force given to the handling portion by handling of the user during the predetermined portion is moved by the user based on the first information and the third information, and   wherein in a case where although the information related to the handling force continuously fluctuates but the contact force does not change or a number of a change is a predetermine number or less in a section, the processing part is configured to determine the section as a section of an exploring operation.   
     
     
         34 . The controller according to  claim 31 ,
 wherein the processing part is configured to acquire force control data to perform the force control of the robot in the second section based on the information related to the handling force, and   wherein the processing part is configured to smooth the information related to the handling force and acquire the force control data based on the information related to a handling force smoothed.   
     
     
         35 . The controller according to  claim 31 ,
 wherein the processing part is configured to acquire force control data to perform the force control of the robot in the second section based on the information related to the handling force, and   wherein the processing part is configured to set one section in which the processing part acquires the information related to the handling force as the force control data by correcting based on change of the information related to the handling force, and other section in which the processing part acquires the information related to the handling force as the force control data without the correction.   
     
     
         36 . The controller according to  claim 31 ,
 wherein the processing part is configured to acquire force control data to perform the force control of the robot in the second section based on the information related to the handling force, and   wherein the processing part is configured to determine whether a retry operation is made in teaching the robot based on the first information, the second information, and the third information, and in a case where a determination is made such that the retry operation has been made, the processing part is configured to acquire the force control data so as not to regenerate failed operations.   
     
     
         37 . The controller according to  claim 27 ,
 wherein the processing part is configured to set a second section in which perform a force control in the information related to the trajectory based on the information related to the contact force,   wherein the controller includes an output portion configured to output display information corresponding to the first section in which the position control is performed and the second section in which the force control is performed on a display unit, and   wherein the output portion is configured to display the display information as time series information such that the first section and the second section are discernible on the display unit.   
     
     
         38 . A robot system comprising:
 a robot having a predetermined portion which a user can move;   a first sensor configured to acquire first information related to a force acting on the predetermined portion of the robot;   a second sensor configured to acquire second information related to a position of the predetermined portion of the robot; and   a controller,   wherein the controller is configured to acquire the first information and the second information during the user moves the predetermined portion, and   wherein the controller is configured to simplify, based on the first information, information related to a trajectory of the predetermined portion based on the second information acquired.   
     
     
         39 . A product manufacturing method manufacturing a product by using the robot system as set forth in  claim 38 . 
     
     
         40 . A control method of a robot system comprising a robot having a predetermined portion which a user can move, a first sensor configured to acquire first information related to a force acting on the predetermined portion of the robot, and a second sensor configured to acquire second information related to a position of the predetermined portion of the robot,
 the control method comprising:   acquiring the first information and the second information during the user moves the predetermined portion, and   simplifying, based on the first information, information related to a trajectory of the predetermined portion based on the second information acquired.   
     
     
         41 . A non-transitory computer readable medium storing a program causing a computer to execute the control method as set forth in  claim 40 . 
     
     
         42 . A controller of a robot system, the robot system comprising a robot having a predetermined portion which a user can move, a first sensor configured to acquire first information related to a force acting on the predetermined portion, a second sensor configured to acquire information related to a handling force during the user moves the predetermined portion as second information, the controller comprising a processing part,
 wherein the processing part is configured to acquire the first information and the second information during the user moves the predetermined portion, and   wherein the processing part is configured to simplify, based on the first information, the information related to the handling force based on the second information acquired.   
     
     
         43 . A robot system comprising:
 a robot having a predetermined portion which a user can move;   a first sensor configured to acquire first information related to a force acting on the predetermined portion of the robot;   a second sensor configured to acquire information related to a handling force during the user moves the predetermined portion as second information; and   a controller,   wherein the controller is configured to acquire the first information and the second information during the user moves the predetermined portion, and   wherein the controller is configured to simplify, based on the first information, the information related to the handling force based on the second information acquired.   
     
     
         44 . A control method of a robot system comprising a robot having a predetermined portion which a user can move, a first sensor configured to acquire first information related to a force acting on the predetermined portion of the robot, and a second sensor configured to acquire information related to a handling force during the user moves the predetermined portion as second information,
 the control method comprising:   acquiring the first information and the second information during the user moves the predetermined portion, and   simplifying, based on the first information, the information related to the handling force based on the second information acquired.   
     
     
         45 . A non-transitory computer readable medium storing a program causing a computer to execute the control method as set forth in  claim 44 .