Robot control apparatus, robot system, and robot control method

Patent metadata

Field	Value
Publication number	US-2016288327-A1
Application number	US-201615072663-A
Country	US
Kind code	A1
Filing date	Mar 17, 2016
Priority date	Mar 31, 2015
Publication date	Oct 6, 2016
Grant date	—

Abstract

In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.

First claim

What is claimed is:

1 . A robot control apparatus comprising:
a control section that acquires a driving position of a driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.

2 . The robot control apparatus according to claim 1 ,
wherein the changing section gradually changes the size of the servo stiffness.

3 . The robot control apparatus according to claim 1 ,
wherein the changing section reduces the size of the servo stiffness in a parallel control in which the control section performs the first control and the second control in parallel to be smaller than that in a single control in which one of the first control and the second control is performed and the other is not performed.

4 . The robot control apparatus according to claim 3 ,
wherein the single control is control in which the second control is not performed while performing the first control.

5 . The robot control apparatus according to claim 3 ,
wherein the changing section gradually changes the size of the servo stiffness within a period in which the control section performs the parallel control and within a predetermined period from a time at which the parallel control and the single control are switched.

6 . The robot control apparatus according to claim 3 ,
wherein the changing section changes gradually changes the size of the servo stiffness within a period in which the single control is performed and within a predetermined period from a time at which the parallel control and the single control are switched.

7 . The robot control apparatus according to claim 1 ,
wherein the changing section changes at least one of a position control gain and a velocity control gain in the control of the control section.

8 . The robot control apparatus according to claim 1 ,
wherein the changing section switches between changing the size of the servo stiffness or not depending on operation contents or instruction of a user.

9 . The robot control apparatus according to claim 1 ,
wherein the changing section changes the size of the servo stiffness of the robot for each of a plurality of the driving sections.

10 . A robot system comprising:
a driving section that drives a robot; a force detector that detects an operation force that is a force operating on the robot; a control section that performs first control of the driving section based on a driving position of the driving section and second control of the driving section based on the operation force; and a changing section that changes a size of a servo stiffness of the robot that is realized by the control of the control section.

11 . A robot control method comprising:
acquiring a driving position of a driving section driving a robot and an operation force that is a force operating on the robot by a control section; performing first control of the driving section based on the driving position and second control of the driving section based on the operation force; and changing the size of the servo stiffness of the robot that is realized by the control of the control section by the changing section.

Assignees

• Seiko Epson Corp

Inventors

• Motoyoshi Masaki

Classifications

• G05B2219/39343

  Force based impedance control · CPC title

• G05B2219/39329

  Adaptive force and position control · CPC title

• G05B2219/39321

  Force control as function of position of tool · CPC title

• G05B2219/39318

  Position loop ann and velocity loop ann and force loop ann · CPC title

• G05B19/40

  Open loop systems, e.g. using stepping motor · CPC title