Robot apparatus, method for controlling robot, program, and recording medium

Patent metadata

Field	Value
Publication number	US-10201901-B2
Application number	US-201615002831-A
Country	US
Kind code	B2
Filing date	Jan 21, 2016
Priority date	Jan 29, 2015
Publication date	Feb 12, 2019
Grant date	Feb 12, 2019

Abstract

An object of the present invention is to sense forces from a fine external force to a large external force with high precision, and enable high-precision control. A multi-joint robot arm has a first sensor arranged in an end portion, and second sensors arranged in joints, respectively. The first sensor and the second sensor have different detectable ranges from each other for a detectable force. A controlling apparatus selects which sensing result of a sensor should be used between sensing results of the first sensor 131 and the second sensor, and controls a robot arm by using the selected sensing result of the sensor.

First claim

What is claimed is:

1. A robot apparatus comprising:
a robot arm having at least one joint;
an end-effector which is supported by an end portion of the robot arm;
a first sensor which is arranged between the end-effector and the end portion of the robot arm and detects force generated at the end-effector;
a second sensor which is arranged in the joint of the robot arm and detects torque generated at the joint; and
a controlling unit for controlling operations of the robot arm and the end-effector,
wherein:
ranges of detectable values of the first and second sensors are different from each other, and
the controlling unit selects one detection result of the detection results of the first sensor or the second sensor based on a predetermined condition, and controls the robot arm based on the detection result selected.

2. The robot apparatus according to claim 1 , wherein the first sensor has a smaller detectable range and a higher resolution than that of the second sensor.

3. The robot apparatus according to claim 2 , wherein the second sensor is provided with a protecting mechanism against an overload.

4. The robot apparatus according to claim 1 , wherein the controlling unit selects one detection result of the detection results of the first sensor or the second sensor based on information on an operation position of the robot to use it for controlling the robot arm.

5. The robot apparatus according to claim 4 , wherein the controlling unit selects one detection result of the detection results of the first sensor or the second sensor based on a work characteristics grasped by the robot apparatus to use it for controlling the robot arm.

6. The robot apparatus according to claim 4 , wherein the controlling unit uses a given teaching point as the information on the operation position.

7. The robot apparatus according to claim 4 , further comprising a position detecting portion which detects the operation position of the robot arm,
wherein the controlling unit uses the detection result by the position detecting portion as the information on the operation position.

8. The robot apparatus according to claim 4 , wherein the controlling unit discriminates which region the operation position of the robot arm belongs to among a plurality of regions, and uses a discrimination result as the information on the operation position.

9. The robot apparatus according to claim 1 , further comprising an imaging apparatus,
wherein the imaging apparatus images a working object that is arranged at a position at which the working object can be worked by the end-effector, and
the controlling unit selects one detection result of the detection results of the first sensor or the second sensor based on an analysis result of a captured image which has been imaged by the imaging apparatus to use it for controlling the robot arm.

10. The robot apparatus according to claim 1 , wherein the controlling unit selects one detection result of the detection results of the first sensor or the second sensor, based on a magnitude of a force which has been sensed by at least one sensor among the first and second sensors to use it for controlling the robot arm.

11. A method for controlling a robot apparatus in which an end-effector is attached to an end portion of a robot arm having at least one joint, the robot apparatus having a first sensor which is arranged between the end-effector and the end portion of the robot arm and detects force generated at the end-effector, a second sensor which is arranged in the joint of the robot arm and detects torque generated at the joint and a controlling unit for controlling operations of the robot arm and the end-effector, wherein ranges of detectable values of the first and second sensors are different from each other,
the method comprising:
selecting one detection result of the detection results of the first sensor or the second sensor based on a predetermined condition; and
controlling the robot arm based on the detection result selected.

12. The method for controlling the robot apparatus according to claim 11 , wherein, the controlling selects one detection result of the detection results of the first sensor or the second sensor, based on information on an operation position of the robot to use it for controlling the robot arm.

13. The method for controlling the robot apparatus according to claim 12 , wherein, the controlling discriminates which region the operation position of the robot belongs to among a plurality of regions, and uses a discrimination result as the information on the operation position.

14. The method for controlling the robot apparatus according to claim 11 , wherein the robot apparatus further comprises an imaging apparatus, and the method further comprises:
in the selecting, the controlling unit uses the imaging apparatus to capture a work object arranged on a workable position by the end-effector; and
based on an analysis result of the captured image which has been imaged by the imaging apparatus, the detection result is selected from the detection results of the first sensor or the second sensor.

15. The method for controlling the robot apparatus according to claim 11 , wherein, in the selecting, the controlling unit selects one detection result of the detection results of the first sensor or the second sensor based on a work characteristics grasped by the robot apparatus to use it for controlling the robot arm.

16. The method for controlling the robot apparatus according to claim 11 , wherein, in the selecting, the controlling unit selects one detection result of the detection results of the first sensor or the second sensor, based on a magnitude of a force which has been sensed by the one of the first sensor and the second sensor to use it for controlling the robot arm.

17. A manufacturing method of an article using a robot apparatus, wherein the robot apparatus has an end-effector attached to an end portion of a robot arm having at least one joint, the robot having a first sensor which is arranged between the end-effector and the end portion of the robot arm and detects force generated at the end-effector, a second sensor which is arranged in the joint of the robot arm and detects torque generated at the joint, and a controlling unit for controlling operations of the robot arm and the end-effector, wherein ranges of detectable values of the first and second sensors are different from each other, the method comprising:
selecting one detection result of detection results of the first sensor or the second sensor based on a predetermined condition; and
controlling the robot arm based on the detection result selected.

18. The manufacturing method according to claim 17 , wherein,
in the selecting, the controlling unit selects one detection result of the detection results of the first sensor or the second sensor based on information on an operation position of the robot.

19. The manufacturing method according to claim 18 , wherein, in the selecting, the controlling unit discriminates which region the operation position of the robot arm belongs to among a plurality of regions, and uses determination result as the information on the operation position.

20. The manufacturing method according to claim 17 , wherein, the robot apparatus further comprises an imaging apparatus, and the method further comprises:
in the selecting step,
the imaging apparatus images a working object that is arranged at a position at which the working object can be worked by the end-effector, and
the detection

Assignees

• Canon Kk

Inventors

• Sato Shuuichi

Classifications

• G05B2219/40599

  Force, torque sensor integrated in joint · CPC title

• B25J9/1694 Primary

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• Y10S901/04

  Manual lead through · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/1674

  characterised by safety, monitoring, diagnostic · CPC title