Control method for robot and robot system

Patent metadata

Field	Value
Publication number	US-11951625-B2
Application number	US-202117361425-A
Country	US
Kind code	B2
Filing date	Jun 29, 2021
Priority date	Jun 30, 2020
Publication date	Apr 9, 2024
Grant date	Apr 9, 2024

Abstract

A control method for a robot includes a first working step of executing first work on a first working object by operating a robot arm by force control based on a predetermined position command value, a first memory step of storing first position information of a trajectory in which a control point set for the robot arm passes at the first working step, and a second working step of updating a position command value for the robot arm based on the first position information stored at the first memory step, and executing second work on a second working object by operating the robot arm by the force control based on an updated value as the updated position command value.

First claim

What is claimed is:

1. A control method for a robot having a robot arm that performs first work on a first working object and performs second work of a same type as the first work on a second working object of a same type as the first working object, comprising:
obtaining first information relating to configurations of the first and second working objects and positions of the first and second working objects within a robot coordinate system from a memory;
setting a plurality of initial target positions with respect to the first working object within the robot coordinate system based on the first information, the first working object being in a three-dimensional shape having a first outer periphery and a first inside interior of the first outer periphery, the plurality of initial target positions being located at the first inside interior of the first working object;
setting an initial target trajectory along which a control point on the robot arm passes such that a tool center point of a tool attached to the robot arm passes through the plurality of initial target positions;
executing the first work on the first working object by operating the robot arm with force control based on the set initial target trajectory;
detecting a first actual trajectory along which the control point passes during the execution of the first work on the first working object with the force control;
storing the first actual trajectory into the memory;
setting a plurality of first updated target positions with respect to the second working object based on the first actual trajectory, the second working object being in a three-dimensional shape having a second outer periphery and a second inside interior of the second outer periphery, the plurality of first updated target positions being located on the second outer periphery of the second work object; and
executing the second work on the second working object by operating the robot arm with the force control based on the set plurality of first updated target positions.

2. The control method for the robot according to claim 1 , wherein
when a force applied to the robot arm exceeds a predetermined value, a motion velocity of the control point is reduced while the robot arm is operated.

3. The control method for the robot according to claim 2 , wherein
when the force applied to the robot arm exceeds the predetermined value, motion of the robot arm is stopped.

4. The control method for the robot according to claim 1 , further comprising:
detecting a second actual trajectory along which the control point passes during the execution of the second work on the second working object with the force control;
storing the second actual trajectory into the memory;
obtaining an average value of the first and second actual trajectories; and
executing third work by operating the robot arm with the force control based on the average value.

5. The control method for the robot according to claim 1 , wherein
the first work and the second work are continuously performed.

6. A robot system comprising:
a robot having a robot arm, the robot arm being configured to perform first work on a first working object and perform second work of a same type as the first work on a second working object of a same type as the first working object;
a memory configured to store a program; and
a processor configured to execute the program so as to:
obtain first information relating to configurations of the first and second working objects and positions of the first and second working objects within a robot coordinate system from a memory;
set a plurality of initial target positions with respect to the first working object within the robot coordinate system based on the first information, the first working object being in a three-dimensional shape having a first outer periphery and a first inside interior of the first outer periphery, the plurality of initial target positions being located at the first inside interior of the first working object;
set an initial target trajectory along which a control point on the robot arm passes such that a tool center point of a tool attached to the robot arm passes through the plurality of initial target positions;
execute the first work on the first working object by operating the robot arm with force control based on the set initial target trajectory;
detect an actual trajectory along which the control point passes during the execution of the first work on the first working object with the force control;
store the actual trajectory into the memory;
set a plurality of updated target positions with respect to the second working object based on the actual trajectory, the second working object being in a three-dimensional shape having a second outer periphery and a second inside interior of the second outer periphery, the plurality of updated target positions being located on the second outer periphery of the second work object; and
execute the second work on the second working object by operating the robot arm with the force control based on the set plurality of updated target positions.

7. The robot system according to claim 6 , wherein
the processor is further configured to create a learning model having a data relating to an input trajectory of the robot arm and a force applied to the robot arm as input and a data relating to an updated trajectory of the robot arm as output.

Assignees

• Seiko Epson Corp

Inventors

• Karito Nobuhiro

Classifications

• B25J9/1633 Primary

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J9/1661

  characterised by task planning, object-oriented languages · CPC title

• B25J9/1602 Primary

  characterised by the control system, structure, architecture · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/163

  learning, adaptive, model based, rule based expert control · CPC title