Control method for robot

Patent metadata

Field	Value
Publication number	US-12226912-B2
Application number	US-202117514194-A
Country	US
Kind code	B2
Filing date	Oct 29, 2021
Priority date	Oct 30, 2020
Publication date	Feb 18, 2025
Grant date	Feb 18, 2025

Abstract

There is provided a control method for a robot including a robot arm, the control method including a first step in which the robot arm grips a first target object and performs work for assembling the first target object and a second target object while changing a position or a posture of the first target object, a second step for setting, based on information concerning the position or the posture of the first target object during the work in the first step, a determination reference serving as a reference for starting the change of the position or the posture of the first target object or ending the change of the position or the posture of the first target object.

First claim

What is claimed is:

1. A control method for a robot including a robot arm, the control method for causing a processor to execute a process, the control method comprising executing on the processor the steps of:
gripping a first target object by the robot arm in a first state in which the first target object is inclined with respect to a reference direction, a control point being set at a midpoint of a distal end of the first target object, a center axis of the first target object passing through the control point;
performing, after the gripping of the first target object, first movement to move the first object to a first position at which the first target object is in the first state, the control point of the first target object at the first position being spaced apart from a second target object along the reference direction, the second target object having an insertion hole extending along the reference direction;
performing second movement with first force control to move the first target object along the reference direction from the first position toward a first edge of the insertion hole of the second target object;
stopping the second movement at a second position when the processor determines that a part of a bottom surface of the first target object contacts the first edge of the insertion hole of the second target object based on the first force control, the control point at the second position being located inside of the insertion hole;
performing, after the stopping of the second movement, third movement with second force control to move the first target object toward a second edge of the insertion hole opposite to the first edge while an inclined state of the first target object is maintained;
stopping the third movement at a third position when the processor determines that one side surface of the first target object contacts the second edge based on the second force control;
performing, after the stopping of the third movement, an insertion operation in which the first target object is inserted into the insertion hole of the second target object by aligning the center axis of the first target object with a center axis of the insertion hole;
setting a first determination reference that is a reference distance between the control point at the first position and the control point at the second position; and
performing a repeat operation in which the gripping of the first object, the performing of the first movement, the performing of the second movement, the stopping of the second movement, the performing of the third movement, the stopping of the third movement, and the performing of the insertion operation are repeated,
wherein, in the performing of the first movement of the performing of the repeat operation, the processor is configured to move the first target object to a fourth position under a condition of the first determination reference in which a distance between the control point at the fourth position and the control point at the second position is less than the reference distance.

2. The control method for the robot according to claim 1 ,
wherein, when the second movement is stopped at the second position, the first target is in the inclined state in which the first target object is inclined with respect to the insertion hole of the second target object, and
during the performing of the insertion operation, the processor is configured to push the first target object in a direction along the center axis of the insertion hole so that the first target object is inserted into the insertion hole of the second target object after the center axis of the first target object is aligned with the center axis of the second target object.

3. The control method for the robot according to claim 2 ,
wherein the processor is further configured to set a second determination reference concerning an end posture when the inclination angle of the first target object is changed.

4. The control method for the robot according to claim 3 ,
wherein the second determination reference is set based on a posture of the first target object at a completion time of the insertion operation.

5. The control method for the robot according to claim 2 ,
wherein the processor is further configured to set a third determination reference concerning an end position when the first target object is pushed in the direction along the center axis of the insertion hole.

6. The control method for the robot according to claim 5 ,
wherein the third determination reference is set based on a position of the first target object at an end time of the insertion operation.

7. The control method for the robot according to claim 1 ,
wherein, when an average of information obtained in the repeat operation exceeds a predetermined range, the excess of the predetermined range is informed.

Assignees

• Seiko Epson Corp

Inventors

• Takeuchi Kaoru
• Adachi Hiroki
• Kinoshita Hirofumi

Classifications

• B25J9/1633

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

• B25J9/1669

  characterised by special application, e.g. multi-arm co-operation, assembly, grasping · CPC title

• G05B2219/40032

  Peg and hole insertion, mating and joining, remote center compliance · CPC title

• G05B2219/39529

  Force, torque sensor in wrist, end effector · CPC title

• G05B2219/40586

  6-DOF force sensor · CPC title