JP2015186834A - Robot control apparatus, holding unit control device, robot, holding unit, robot control method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow optional control of a holding unit even when an error occurs in communication with the holding unit.SOLUTION: The robot control apparatus includes: a reception unit for receiving a first signal to control a holding unit of a robot; an error detection unit for detecting a communication error of the first signal; a signal generation unit for, when the communication error is detected by the error detection unit, generating a second signal to control the holding unit on the basis of predetermined setting information; and a holding unit controller for controlling the holding unit on the basis of the first signal when the communication error is not detected by the error detection unit, and controlling the holding unit on the basis of the second signal when the communication error is detected by the error detection unit.

Description

  The present invention relates to a robot control device, a gripper control device, a robot, a gripper, a robot control method, and a program.

  In Patent Document 1, when the power to the hand device must be cut off, such as when the power is turned off or the control system detects an abnormality, the brake of the servo motor is operated, and then the servo motor is turned on. It is described that the gripping force of the hand device is maintained by cutting off the power supply.

JP 2009-172735 A

  However, in Patent Document 1, when only an error in communication with the hand device occurs when the arm is moving while the hand device is holding a workpiece, power is supplied to the hand device. The gripping force of the part does not change. At this time, there is a possibility that the work is thrown away from the hand device with the momentum of the movement of the arm. Therefore, in this case, it is necessary to increase the gripping force of the hand device after a communication error occurs.

  In some situations, it may be desirable to reduce the gripping force of the hand device after a communication error has occurred. For example, at the moment when the hand device grips the workpiece that is placed, the possibility that the workpiece is thrown away from the hand device is small even if the gripping force of the hand device is reduced. At this time, it is possible to take the workpiece from the hand device by reducing the gripping force of the hand device. Thus, in patent document 1, there exists a subject that a hand apparatus cannot be arbitrarily controlled when a communication error generate | occur | produces.

  Therefore, an object of the present invention is to make it possible to arbitrarily control a gripping part even when a communication error to the gripping part occurs.

  A first aspect of the present invention that solves the above-described problem is a robot control device that detects a communication error in the first signal and a receiving unit that receives a first signal that controls the gripping unit of the robot. An error detection unit; a signal generation unit configured to generate a second signal for controlling the gripping unit based on predetermined setting information when the communication error is detected by the error detection unit; and the error detection When the communication error is not detected by the control unit, the grip unit is controlled based on the first signal, and when the communication error is detected by the error detection unit, the second signal A gripper control unit that controls the gripper based on the control unit. Thereby, even when a communication error to the gripping portion occurs, the gripping portion can be arbitrarily controlled based on the predetermined setting information.

  The above-described robot control device, comprising: a higher-level control unit that transmits the first signal, wherein the gripping unit control unit includes the reception unit, the error detection unit, and the signal generation unit. It may be. Thereby, even when a communication error from the upper control unit to the gripping unit occurs, the gripping unit can be controlled based on the predetermined setting information.

  In the robot control apparatus, the setting information indicates an operation state of an arm unit of the robot provided with the gripping unit, and the signal generation unit is based on the operation state of the arm indicated by the setting information. The second signal for controlling the operation of the gripper may be generated. Thereby, based on the operation state of an arm, operation of a grasping part can be determined and a grasping part can be operated.

  In the robot control device, the setting information indicates an operation state of the gripping unit, and the signal generation unit controls the operation of the gripping unit based on the operation state of the gripping unit indicated by the setting information. The second signal to be controlled may be generated. Thereby, the operation of the gripping unit can be determined based on the operation state of the gripping unit, and the gripping unit can be operated.

  In the robot control apparatus, the setting information indicates an operation of the gripping unit when the communication error is detected, and the signal generation unit controls an operation of the gripping unit indicated by the setting information. The second signal may be generated. As a result, the gripper can be easily operated based on the setting information.

  In the robot control apparatus, the upper control unit includes a setting information generation unit that generates the setting information, and the setting information is included in the first signal, and the signal generation unit The second signal may be generated based on the setting information included in the first signal received before error detection. Thereby, the processing burden on the gripping part side can be reduced.

  In the robot control apparatus, the setting information generation unit may generate the setting information based on teaching information previously taught to the robot. Thereby, when the user inputs teaching information, setting information is easily generated.

  In the robot control apparatus, the gripping unit control unit includes a setting information generation unit that generates the setting information, and the signal generation unit is based on the setting information generated by the setting information generation unit. The second signal may be generated. Thereby, an operation | movement can be decided autonomously by the holding part side, without being influenced by the high-order control part.

  In the above robot control device, the setting information generation unit generates the setting information indicating an operation state of the arm of the robot provided with the gripping unit based on a captured image output from the imaging device, The signal generation unit may generate the second signal for controlling the operation of the gripping unit based on the operation state of the arm indicated by the setting information. Thereby, an operation | movement can be decided autonomously by the holding part side using an imaging device.

  In the robot control apparatus, the setting information generation unit generates the setting information indicating an operation state of an arm of the robot on which the grip unit is provided based on an acceleration output from an acceleration sensor, and The signal generation unit may generate the second signal for controlling the operation of the gripping unit based on the operation state of the arm indicated by the setting information. Thereby, an operation | movement can be decided autonomously by the holding part side using an acceleration sensor.

  In the robot control apparatus, the setting information generation unit generates the setting information indicating an operation state of an arm of the robot provided with the grip unit based on force information output from a force sensor. The signal generation unit may generate the second signal for controlling the operation of the gripping unit based on the operation state of the arm indicated by the setting information. Thereby, operation | movement can be decided autonomously by the holding part side using a force sensor.

  In the robot control apparatus, the signal generation unit generates the second signal for increasing a gripping force of the gripping unit when the setting information indicates that the arm is operating. You may do it. Thereby, the gripping part can be operated more safely so that the work is not thrown away from the hand device with the momentum of the movement of the arm.

  A second aspect of the present invention that solves the above-described problem is a gripping unit control device that detects a communication error in the first signal and a receiving unit that receives a first signal that controls the gripping unit of the robot. An error detection unit that, when the communication error is detected by the error detection unit, a signal generation unit that generates a second signal for controlling the gripping unit based on predetermined setting information, and the error When the communication error is not detected by the detection unit, the grip unit is controlled based on the first signal, and when the communication error is detected by the error detection unit, the second error is detected. A gripper control unit that controls the gripper based on the signal. Thereby, even when a communication error to the gripping portion occurs, the gripping portion can be arbitrarily controlled based on the predetermined setting information.

  A third aspect of the present invention that solves the above problem is a robot, wherein the gripping unit, a receiving unit that receives a first signal for controlling the gripping unit, and a communication error in the first signal are detected. An error detection unit that, when the communication error is detected by the error detection unit, a signal generation unit that generates a second signal for controlling the gripping unit based on predetermined setting information. The gripper operates based on the first signal when the communication error is not detected by the error detection unit, and when the communication error is detected by the error detection unit, The operation is based on the second signal. Thereby, even when a communication error to the gripping portion occurs, the gripping portion can be arbitrarily controlled based on the predetermined setting information.

  A fourth aspect of the present invention that solves the above problem is a gripping unit connected to a robot, the receiving unit receiving a first signal for controlling the gripping unit, and a communication error of the first signal An error detection unit that detects the error, and a signal generation unit that generates a second signal for controlling the gripping unit based on predetermined setting information when the communication error is detected by the error detection unit; The gripper operates based on the first signal when the error detection unit does not detect the communication error, and the error detection unit detects the communication error. Operates based on the second signal. Thereby, even when a communication error to the gripping portion occurs, the gripping portion can be arbitrarily controlled based on the predetermined setting information.

  A fifth aspect of the present invention that solves the above problem is a robot control method, wherein a reception step of receiving a first signal for controlling a gripping portion of the robot and a communication error of the first signal are detected. An error detection step; and a signal generation step for generating a second signal for controlling the gripper based on predetermined setting information when the communication error is detected in the error detection step; and the error detection If the communication error is not detected in the step, the step of controlling the gripping unit based on the first signal, and the second error if the communication error is detected in the error detection step And controlling the gripper based on the signal. Thereby, even when a communication error to the gripping portion occurs, the gripping portion can be arbitrarily controlled based on the predetermined setting information.

  A sixth aspect of the present invention for solving the above problem is a program, a reception step for receiving a first signal for controlling a robot gripping unit, and an error detection for detecting a communication error in the first signal. And when the communication error is detected in the error detecting step, a signal generating step for generating a second signal for controlling the gripping portion based on predetermined setting information, and the error detecting step. When the communication error is not detected, the second signal is controlled when the gripping unit is controlled based on the first signal, and when the communication error is detected in the error detection step. And a step of controlling the gripping unit based on the control unit. Thereby, even when a communication error to the gripping portion occurs, the gripping portion can be arbitrarily controlled based on the predetermined setting information.

It is a figure which shows an example of schematic structure of the robot which concerns on 1st embodiment of this invention. It is a block diagram which shows an example of a structure of the robot control apparatus which concerns on 1st embodiment of this invention. It is a flowchart which shows an example of the hand control process which concerns on 1st embodiment of this invention. It is a block diagram which shows an example of a structure of the robot control apparatus which concerns on 2nd embodiment of this invention. It is a flowchart which shows an example of the hand control process which concerns on 2nd embodiment of this invention. It is a block diagram which shows an example of a structure of the robot control apparatus which concerns on 3rd embodiment of this invention. It is a flowchart which shows an example of the hand control process which concerns on 3rd embodiment of this invention. It is a block diagram which shows an example of a structure of the robot control apparatus which concerns on 4th embodiment of this invention. It is a flowchart which shows an example of the hand control process which concerns on 4th embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First embodiment>

  FIG. 1 is a diagram showing an example of a schematic configuration of a robot according to the first embodiment of the present invention.

  The robot 2 is controlled by a built-in robot control device 1 (not shown). The robot 2 is disposed near the work table T, for example, and performs work in a predetermined work area on the work table T. Although the work content of the robot 2 is not particularly limited, for example, there is a work of gripping an object (hereinafter also referred to as “work”) W, moving the gripped work W, or combining a plurality of works W. .

  The robot 2 includes a body part 20, an arm 21, a hand 22, a leg part 24, and a head part 25. The head 25 is provided with two imaging devices 26. The hand 22 corresponds to the gripping part of the present invention.

  The arm 21 is provided on the trunk portion 20. The arm 21 includes one or more joints (also referred to as “rotary shafts”) 21 a and one or more arm members (also referred to as “links”) 21 b.

  The joint 21a is provided with an actuator (not shown) for operating them. The actuator includes, for example, a servo motor and an encoder. The encoder value output from the encoder is used for feedback control of the arm 21 and the like.

  A force sensor 21 c is provided at the tip of the arm 21. The force sensor 21c is a sensor that detects a force and a moment received as a reaction force with respect to the force generated by the robot 2. As the force sensor 21c, for example, a 6-axis force sensor capable of simultaneously detecting 6 components of a force component in the translational 3 axis direction and a moment component around the 3 rotation axes can be used. The force sensor is not limited to six axes, and may be, for example, three axes. The force sensor corresponds to the force sensor of the present invention.

  By linking each rotation axis, the posture of the arm member 21b is changed, and the position of interest (also referred to as “end point”) set at the tip of the arm 21 is freely moved within a predetermined movable range. Can be directed in any direction. Note that the position of the end point is not limited to the tip of the arm, and may be set at the tip of the hand 22, for example.

  The arm 21 can be said to be a kind of manipulator. The manipulator is a mechanism that moves the position of the end point, and is not limited to an arm and can take various forms. Further, the number of manipulators is not limited to two as shown in the figure, and one or three or more manipulators may be provided.

  The hand 22 is provided at the tip of the arm 21. The hand 22 includes, for example, a plurality of fingers, and can hold or release the workpiece with at least two fingers. The hand 22 may be detachable from the tip of the arm 21.

  The hand 22 is provided with an actuator 22a (see FIG. 2) for operating one or more fingers. The actuator 22a includes, for example, a servo motor and an encoder. The encoder value output from the encoder is used for feedback control of the hand 22 and the like.

  The hand 22 can be said to be a kind of end effector. The end effector is a member for gripping, lifting, lifting, adsorbing, or processing a workpiece. The end effector can take various forms such as a hand, a hook, and a suction cup. Further, a plurality of end effectors may be provided for one arm.

  The imaging device 26 is disposed on the head 25 so that the work area on the work table T, the arm 21, the hand 22, and the like can be imaged. The imaging device 26 outputs the captured image data to the robot control device 1. The imaging device 26 is a camera having, for example, a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like. A stereo image is picked up by the two image pickup devices 26, and three-dimensional stereoscopic vision, object recognition, and the like are possible by image processing.

  Of course, the configuration of the robot 2 is not limited to the illustrated example. For example, FIG. 1 shows an example in which the number of joints is seven (seven axes), but the number of joints (also referred to as “number of axes”) and the number of links may be increased or decreased. In addition, the shape, size, arrangement, structure, and the like of various members such as joints, links, and hands may be changed as appropriate.

  The robot control device 1 receives input of teaching information indicating the operation of the robot 2 from a user via an input device (not shown) or the like. Further, the robot control device 1 generates a control signal including a movement command for operating the arm 21 and the hand 22 based on the input teaching information, and outputs the generated control signal to the robot 2. The robot 2 operates by driving an actuator in accordance with a control signal output from the robot control device 1. The robot controller 1 will be described in detail later.

  The configuration of the robot 2 described above is the main configuration in describing the characteristics of the present embodiment, and is not limited to the above configuration example. Further, the configuration of a general robot is not excluded.

  For example, the imaging device 26 may be provided on the tip portion of the arm 21 of the robot 2, the trunk portion 20, or the like. For example, the imaging device 26 can be installed on a ceiling, a wall, or the like. Further, for example, in addition to the imaging device 26, another imaging device may be provided.

  FIG. 2 is a block diagram showing an example of the configuration of the robot control apparatus according to the first embodiment of the present invention. FIG. 2 mainly shows a hand control system for controlling the operation of the hand 22. The robot control device 1 also has an arm control system (not shown) that controls the operation of the arm 21.

  The robot control apparatus 1 includes a first control unit 200 disposed on the trunk 20, a second control unit 210 disposed on the arm 21, and a hand control unit 220 disposed on the hand 22. The first control unit 200 and the second control unit 210 are communicably connected to each other. Moreover, the 2nd control part 210 and the hand control part 220 are connected so that communication is mutually possible. The communication means between these control units may be wireless or wired.

  In addition, arrangement | positioning of the 1st control part 200 is not restricted to the trunk | drum 20, For example, the leg part 24 may be sufficient. Further, the arrangement of the second control unit 210 is not limited to the arm 21, and may be the trunk unit 20, for example. Further, the second control unit 210 may be integrated with the first control unit 200. The first control unit 200 may be provided outside the robot 2 as a robot control device. The 1st control part 200 and the 2nd control part 210 are equivalent to a high-order control part from relation with hand control part 220 as a low-order control part.

  Here, a communication error will be described. As described above, the hand control unit 220 communicates with the second control unit 210. For this reason, for example, communication errors such as packet loss or signal value errors may occur due to the influence of electromagnetic waves from the external environment of the robot 2 or current inside the robot 2. When a communication error occurs, for example, the control signal transmitted from the second control unit 210 does not reach the hand control unit 220 and does not operate as planned. More specifically, for example, when an operation of operating the arm 21 while holding the work W with the hand 22 with a predetermined force is performed, a control signal for holding the work W with the predetermined force reaches the hand control unit 220. If the operation of the arm 21 is started without being performed, the workpiece W may be thrown away from the hand 22. Therefore, the robot controller 1 can cope with such communication errors as will be described later. In the present embodiment, description will be given focusing on a communication error between the host control unit and the hand control unit 220.

  The first control unit 200 generates a command related to the arm 21 and the hand 22 based on the teaching information. The command for the arm control system includes, for example, an instruction to move the end point of the arm 21 (including a target position). The command for the hand control system includes, for example, an instruction to open and close the hand 22 (including the movement amount of each finger, the movement direction (either opening or closing), etc.).

  The first control unit 200 transmits the generated arm control system command to the arm control system to operate the arm 21. Here, the first control unit 200 includes setting information to be described later in the generated hand control command. Then, the first control unit 200 transmits the generated hand control command to the second control unit 210. Of course, the first control unit 200 may transmit the setting information separately from the hand control commands.

  The setting information includes an instruction indicating the operation of the hand 22 when a communication error occurs. In order to generate setting information, the first control unit 200 includes a setting information generation unit 201.

  The setting information generation unit 201 determines the hand 22 when a communication error occurs according to the instruction content of the operation of the arm 21 indicated by the arm control command and the instruction content of the operation of the hand 22 indicated by the hand control command. Determine the behavior. Note that the setting information generation unit 201 may analyze not only one command but a plurality of command groups and determine the operation of the hand 22 when a communication error occurs.

  For example, it is assumed that the command group sequentially indicates a gripping operation of the hand 22, a moving operation of the arm 21, and a releasing operation of the hand 22. In this case, the setting information generation unit 201 generates setting information including an instruction to close the hand 22. The first control unit 200 transmits a command including the generated setting information or the generated setting information to the second control unit 210 at least before a command indicating the movement operation of the arm 21.

  Note that the content of the setting information is not limited to an instruction to close the hand 22. It may be instructed to grip more strongly than usual (increase the movement amount for closing the finger). In addition, setting information such as stopping the opening / closing operation of the hand 22 or opening the hand 22 may be generated according to the instruction content of the operation of the arm 21 or the hand 22 specified from the command group.

  The second control unit 210 receives a command from the first control unit 200. Moreover, the 2nd control part 210 produces | generates the movement command of the hand 22 based on the received command. For example, the second control unit 210 moves the finger from the current position based on an instruction (including a finger movement amount, a movement direction (either opening or closing), etc.) to open and close the hand 22 included in the command. Target position (movement command) is generated. The current position of the finger can be obtained from the encoder value of the actuator 22a. When the received command includes an instruction to stop opening / closing of the hand 22, the second control unit 210 generates a movement command for stopping the hand 22.

  Here, the second control unit 210 includes the setting information included in the received command (or the setting information received separately from the command) in the generated movement command. In addition, the second control unit 210 transmits the generated movement command to the hand control unit 220.

  The movement command sent from the second control unit 210 to the hand control unit 220 corresponds to the first signal of the present invention.

  The hand control unit 220 includes a reception unit 221, an error detection unit 222, a setting information storage unit 223, and an alternative command generation unit 224.

  The receiving unit 221 receives a movement command from the second control unit 210. The receiving unit 221 stores setting information included in the received movement command in the setting information storage unit 223.

  The error detection unit 222 detects the occurrence of a communication error. For example, the error detection unit 222 has a time counting function, and detects a communication error when the reception unit 221 has not received a movement command from the second control unit 210 for a predetermined time set by the reception timer. . Of course, the communication error is not limited to when a signal such as a movement command is not received for a certain period of time, and may be, for example, when the signal itself (signal value) has an error. More specifically, the error of the signal itself is, for example, a case where the movement command is a command that exceeds the movable range of the finger of the hand 22.

  The substitution command generation unit 224 generates a substitution command in place of the movement command when a communication error is detected by the error detection unit 222. For example, the substitute command generation unit 224 refers to the setting information stored in the setting information storage unit 223 and moves the finger from the current position based on the instruction indicating the opening / closing operation of the hand 22 indicated by the setting information. Next target position (substitute command) to be generated is generated. The current position of the finger can be obtained from the encoder value of the actuator 22a. When the setting information includes an instruction to stop the opening / closing operation of the hand 22, the substitute command generation unit 224 generates a substitute command to stop the hand 22.

  Note that the substitute command generated by the substitute command generation unit 224 corresponds to the second signal of the present invention. The alternative command generation unit 224 corresponds to the signal generation unit of the present invention.

  The hand control unit 220 controls the operation of the hand 22 based on the movement command received by the reception unit 221 when no communication error is detected by the error detection unit 222. For example, the hand control unit 220 drives the servo motor of the actuator 22a so that the finger moves from the current position to the target position indicated by the movement command. For example, when the movement command indicates the stop of the hand 22, the hand control unit 220 stops the servo motor.

  On the other hand, when a communication error is detected by the error detection unit 222, the hand control unit 220 controls the operation of the hand 22 based on the substitution command generated by the substitution command generation unit 224. For example, the hand control unit 220 drives the servo motor of the actuator 22a so that the finger moves from the current position to the target position indicated by the substitution command. For example, the hand control unit 220 stops the servo motor when the substitute command indicates the stop of the hand 22.

  The hand control unit 220 corresponds to the gripping unit control unit of the present invention.

  FIG. 3 is a flowchart showing an example of the hand control process according to the first embodiment of the present invention. This flowchart is started when the hand control unit 220 is activated, for example.

  First, the receiving unit 221 determines whether or not a movement command has been received from the second control unit 210 (step S10). When the movement command is received (Y in step S10), the reception unit 221 acquires setting information from the received movement command and stores it in the setting information storage unit 223 (step S20). Then, the hand control unit 220 controls the operation of the hand 22 based on the movement command received in step S10 (step S30). After step S30, the receiving unit 221 performs the process of step S10.

  If the movement command has not been received (N in step S10), the error detection unit 222 determines whether a communication error has occurred based on, for example, whether a predetermined time has elapsed since the last movement command was received. (A communication error has occurred when a predetermined time has passed) is determined (step S40). If no communication error has occurred (N in step S40), the reception unit 221 performs the process of step S10.

  When a communication error occurs (Y in step S40), the alternative command generation unit 224 refers to the setting information stored in the setting information storage unit 223 (step S50), and the hand 22 indicated by the setting information. An alternative command is generated based on an instruction indicating the opening / closing operation or stop (step S60). Then, the hand control unit 220 controls the operation of the hand 22 based on the substitute command generated in step S60 (step S70). After step S70, the receiving unit 221 performs the process of step S10.

  The first embodiment of the present invention has been described above. According to the present embodiment, even when a communication error to the hand control unit 220 occurs, the hand control unit 220 can control the hand 22 based on the setting information received in advance. Thereby, a holding part can be operated safely.

<Second embodiment>
In the first embodiment, the setting information indicates the operation of the hand 22 when a communication error occurs. In the second embodiment, the setting information indicates the operating state of the arm 21 or the hand 22. In the following, since the configuration with the same reference numerals as in the first embodiment is the same as that in the first embodiment, the description will focus on differences from the first embodiment.

  FIG. 4 is a block diagram showing an example of the configuration of the robot control apparatus according to the second embodiment of the present invention.

  The first control unit 200 includes a setting information generation unit 201A. Based on the generated arm control command, the setting information generation unit 201A generates setting information including the operating state of the arm 21, for example, indicating whether the arm 21 is moving. The setting information generation unit 201 </ b> A includes the operation state of the hand 22 that indicates whether the hand 22 is gripping the workpiece W based on a command of the hand control system in addition to or instead of the operation state of the arm 21. Setting information may be generated. The first control unit 200 transmits a command or setting information including the setting information generated by the setting information generation unit 201A to the second control unit 210.

  The hand control unit 220 includes a reception unit 221, an error detection unit 222, a setting information storage unit 223, and an alternative command generation unit 224A.

  The substitution command generation unit 224 </ b> A refers to the setting information stored in the setting information storage unit 223 when a communication error is detected by the error detection unit 222. Further, the substitute command generation unit 224A determines the operation of the hand 22 based on the operation state of the arm 21 and the operation state of the hand 22 indicated by the setting information, and generates a substitute command indicating the operation.

  For example, when the setting information indicates that the arm 21 is moving, the alternative command generation unit 224A generates an instruction to close the hand 22. The substitution command generation unit 224A may generate an instruction to close the hand 22 when the setting information indicates that the arm 21 has moved and the hand 22 is gripping the workpiece W.

  Note that the content of the instruction to be generated is not limited to the instruction to close the hand 22. It may be instructed to grip more strongly than usual (increase the movement amount for closing the finger). Further, an instruction to stop the opening / closing operation of the hand 22 or to open the hand 22 may be generated according to the operation state of the arm 21 or the hand 22 specified from the setting information.

  The substitution command generation unit 224A generates the next target position (substitution command) for moving the finger from the current position based on the instruction indicating the opening / closing operation of the hand 22 generated as described above. When an instruction to stop the opening / closing operation of the hand 22 is generated, the replacement command generation unit 224A generates a replacement command to stop the hand 22.

  FIG. 5 is a flowchart showing an example of a hand control process according to the second embodiment of the present invention.

  When the movement command is received (Y in step S10), the reception unit 221 acquires setting information from the received movement command and stores it in the setting information storage unit 223 (step S20A). The setting information includes the operating state of the arm 21 and the operating state of the hand 22.

  When a communication error occurs (Y in step S40), the alternative command generation unit 224A refers to the setting information stored in the setting information storage unit 223 (step S50A). Further, the substitute command generation unit 224A determines the operation of the hand 22 based on the operation state of the arm 21 and the operation state of the hand 22 indicated by the setting information referred to in step S50A, and the substitute command indicating the operation. Is generated (step S60A). The hand control unit 220 controls the operation of the hand 22 based on the substitute command generated in step S60A (step S70).

  The second embodiment of the present invention has been described above. According to the present embodiment, even when a communication error to the hand control unit 220 occurs, the hand control unit 220 can control the hand 22 based on the setting information received in advance. Thereby, a holding part can be operated safely. Further, the hand control unit 220 accepts the operation state as the setting information, determines the operation of the hand 22 based on the operation state, and generates an alternative command, so that the hand side can make an autonomous determination. it can. In the first embodiment, the hand control unit 220 receives the operation of the hand 22 as setting information and generates an alternative command based on the operation. Can be reduced.

<Third embodiment>
In the first and second embodiments, the setting information is generated in the host control unit, but in the third embodiment, the setting information is generated in the hand control unit 220. In the following, since the configurations denoted by the same reference numerals as those in the first and second embodiments are the same as those in the first and second embodiments, differences from the first and second embodiments will be mainly described.

  FIG. 6 is a block diagram showing an example of the configuration of the robot control apparatus according to the third embodiment of the present invention.

  In the present embodiment, the robot 2 is provided with an imaging device 22 b in the hand 22. Of course, the imaging device 22b may be provided in the arm 21, for example.

  The robot control apparatus 1 includes a first control unit 200B, a second control unit 210B, and a hand control unit 220.

  The first control unit 200B does not have a function of generating or transmitting setting information. That is, the first control unit 200B generates and transmits a command related to the arm 21 and the hand 22 based on the teaching information.

  The second control unit 210B receives a command from the first control unit 200B. Further, the second control unit 210 </ b> B generates a movement command for the hand 22 based on the received command and transmits the movement command to the hand control unit 220.

  The hand control unit 220 includes a reception unit 221B, an error detection unit 222, an operation detection unit 225, a setting information generation unit 226, and an alternative command generation unit 224B. The operation detection unit 225 may be included in the setting information generation unit 226.

  The receiving unit 221B receives a movement command from the second control unit 210B.

  The motion detection unit 225 acquires a captured image from the imaging device 22b, and detects the motion of the arm 21 based on the acquired image. For example, the motion detection unit 225 acquires captured images from at least two points in time from the imaging device 22b. In addition, the motion detection unit 225 extracts features such as contours from each of the plurality of images, and determines whether the features match (a predetermined amount of feature shift is allowed). The motion detection unit 225 determines that the arm 21 has moved when the features do not match, and determines that the arm 21 has not moved when the features match. Of course, the method of detecting an operation using a captured image is not limited to the above. Note that the motion detection unit 225 may detect whether or not the hand 22 is gripping the workpiece W in addition to or instead of the motion of the arm 21.

  For example, when the operation detection unit 225 detects that the arm 21 is moving, the setting information generation unit 226 generates setting information including the operation state of the arm 21 indicating that the arm 21 is moving. . In addition, for example, when the motion detection unit 225 detects that the arm 21 has not moved, the setting information generation unit 226 displays setting information including the operation state of the arm 21 indicating that the arm 21 has not moved. Generate. Note that the setting information generation unit 226 adds or replaces the operation state of the arm 21, for example, the operation of the hand 22 that indicates whether the hand 22 is gripping the workpiece W detected by the operation detection unit 225. Setting information including a state may be generated.

  The substitution command generation unit 224B refers to the setting information generated by the setting information generation unit 226 when a communication error is detected by the error detection unit 222. Further, the alternative command generation unit 224B determines the operation of the hand 22 based on the operation state of the arm 21 indicated by the setting information, and generates an alternative command for performing the operation. The method for generating an alternative command based on the setting information is the same as in the second embodiment.

  FIG. 7 is a flowchart showing an example of hand control processing according to the third embodiment of the present invention.

  When the movement command is received (Y in Step S10), the hand control unit 220 controls the operation of the hand 22 based on the received movement command (Step S30).

  When a communication error occurs (Y in step S40), the motion detection unit 225 acquires a captured image from the imaging device 22b, and detects the motion of the arm 21 and the motion of the hand 22 based on the acquired image (step). S45). Then, the setting information generation unit 226 generates setting information including the operation state of the arm 21 and the operation state of the hand 22 based on the operation of the arm 21 and the operation of the hand 22 detected in step S45 (step S55). .

  Then, the substitution command generation unit 224B determines the operation of the hand 22 based on the operation state of the arm 21 or the operation state of the hand 22 indicated by the setting information generated in step S55, and performs the operation. A command is generated (step S60B). Then, the hand control unit 220 controls the operation of the hand 22 based on the substitute command generated in step S60B (step S70).

  In the flowchart of FIG. 7, when a communication error occurs (Y in step S40), step S45 and step S55 are executed, but may be executed at other timings. For example, step S45 and step S55 may be executed when a movement command is received (Y in step S10).

  In the third embodiment, the setting information generation unit 226 generates setting information including the operation state of the arm 21 and the like. However, based on the operation of the arm 21 and the like detected by the operation detection unit 225, communication is performed. The operation of the hand 22 when an error occurs may be determined, and setting information including an instruction indicating the operation may be generated. In this case, the substitute command generation unit 224B may refer to the generated setting information and generate a substitute command based on an instruction indicating the operation of the hand 22 indicated by the setting information.

  The third embodiment of the present invention has been described above. According to the present embodiment, even when a communication error to the hand control unit 220 occurs, the hand control unit 220 can control the hand 22 based on the setting information generated in advance. Thereby, a holding part can be operated safely. Further, the hand control unit 220 detects the operation state, determines an operation instruction to the hand 22 based on the operation state, and generates an alternative instruction based on the operation instruction. Judgment can be made. In the first embodiment and the second embodiment, since the setting information is generated by the host control unit, the processing burden on the hand side can be reduced compared to the third embodiment.

<Fourth embodiment>
In the third embodiment, the operation of the arm 21 is detected using the imaging device, but the operation of the arm 21 may be detected by other means. Hereinafter, since the structure which attached | subjected the code | symbol same as 3rd embodiment is the same as that of 3rd embodiment, it demonstrates centering on a different point from 3rd embodiment.

  FIG. 8 is a block diagram showing an example of the configuration of the robot control apparatus according to the fourth embodiment of the present invention.

  In the present embodiment, the robot 2 is provided with an acceleration sensor 22 c on the hand 22. Of course, the acceleration sensor 22c may be provided in the arm 21, for example. The acceleration sensor 22c is, for example, an acceleration sensor that detects XYZ-axis acceleration, a gyro sensor that detects angular acceleration, or the like.

  The hand control unit 220 includes a reception unit 221B, an error detection unit 222, an operation detection unit 227, a setting information generation unit 226, and an alternative command generation unit 224B. The operation detection unit 227 may be included in the setting information generation unit 226.

  The motion detector 227 detects the motion of the arm 21 based on the output signal from the acceleration sensor 22c. For example, the motion detection unit 227 determines whether or not the acceleration in a predetermined direction exceeds a predetermined value. The motion detection unit 227 determines that the arm 21 is moving when the acceleration in the predetermined direction exceeds a predetermined value, and determines that the arm 21 is not moving when the acceleration in the predetermined direction is equal to or less than the predetermined value. judge. Of course, the method of detecting motion using acceleration is not limited to the above. Note that the motion detection unit 227 may detect whether or not the hand 22 is holding the workpiece W in addition to or instead of the motion of the arm 21.

  FIG. 9 is a flowchart showing an example of a hand control process according to the fourth embodiment of the present invention.

  When a communication error occurs (Y in step S40), the motion detection unit 227 detects the motion of the arm 21 and the motion of the hand 22 based on the output signal from the acceleration sensor 22c (step S46). Then, the setting information generation unit 226 generates setting information including the operation state of the arm 21 and the operation state of the hand 22 based on the operation of the arm 21 and the operation of the hand 22 detected in step S46 (step S55). .

  In the flowchart of FIG. 9, when a communication error occurs (Y in step S40), step S46 and step S55 are executed, but may be executed at other timings. For example, step S46 and step S55 may be executed when a movement command is received (Y in step S10).

  In the fourth embodiment, the setting information generation unit 226 generates setting information including the operation state of the arm 21 and the like. However, based on the operation of the arm 21 and the like detected by the operation detection unit 227, communication is performed. The operation of the hand 22 when an error occurs may be determined, and setting information including an instruction indicating the operation may be generated. In this case, the substitute command generation unit 224B may refer to the generated setting information and generate a substitute command based on an instruction indicating the operation of the hand 22 indicated by the setting information.

  The fourth embodiment of the present invention has been described above. According to the present embodiment, even when a communication error to the hand control unit 220 occurs, the hand control unit 220 can control the hand 22 based on the setting information generated in advance. Thereby, a holding part can be operated safely. Further, the hand control unit 220 detects the operation state, determines an operation instruction to the hand 22 based on the operation state, and generates an alternative instruction based on the operation instruction. Judgment can be made. In the fourth embodiment, since it is not necessary to perform image processing based on the captured image as in the third embodiment, the processing load on the hand control unit 220 can be reduced. In the first embodiment and the second embodiment, since the setting information is generated by the host controller, the processing burden on the hand side can be reduced compared to the fourth embodiment.

<Fifth embodiment>
In the third and fourth embodiments, the operation of the arm 21 is detected using the imaging device and the acceleration sensor, but the operation of the arm 21 may be detected by other means. For example, the motion of the arm 21 may be detected using a force sensor 21 c provided at the tip of the arm 21.

  Finally, an example of hardware for realizing the robot control apparatus 1 will be described.

  The first control unit 200 and the first control unit 200B include, for example, an arithmetic device such as a CPU (Central Processing Unit), a main storage device such as a RAM (Random Access Memory), a flash ROM (Read Only Memory), an HDD ( Hard disk drive), one or more communication interfaces (I / F) for wired or wireless communication, input devices such as a mouse, keyboard, touch sensor and touch panel, and display devices such as a liquid crystal display And a computer having a read / write device that reads and writes information from and to a portable storage medium.

  Various processes of the first control unit 200 and the first control unit 200B are realized, for example, when the arithmetic device executes a predetermined program loaded from the auxiliary storage device or the like to the main storage device. The predetermined program may be installed from, for example, a storage medium read by a read / write device, or may be installed from a network via a communication I / F.

  The second control unit 210 and the second control unit 210B can be realized by, for example, a controller board including an arithmetic device, a storage device, a processing circuit, and the like. Various processes of the second control unit 210 and the second control unit 210B may be realized, for example, by an arithmetic device reading and executing a predetermined program from a storage device, or may be realized by a processing circuit. .

  The hand control unit 220 can be realized by, for example, a controller board including an arithmetic device, a storage device, a processing circuit, a driving circuit, an amplifier, and the like. Various processes of the hand control unit 220 may be realized by, for example, an arithmetic device reading and executing a predetermined program from a storage device, or may be realized by a processing circuit or a drive circuit.

  Note that the configuration of the robot control device 1 described above is classified according to main processing contents in order to facilitate understanding of the configuration of the robot control device 1. The present invention is not limited by the way of classification and names of the constituent elements. The configuration of the robot control device 1 can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware. Further, the functions and processing sharing of the robot control device 1 are not limited to the example described.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiment. In addition, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention. Various aspects of the provided aspects of the invention can also be employed. The present invention may be provided, for example, as a gripping unit (gripping device) including a gripping unit control unit, or the gripping unit control unit may be provided as a gripping unit control device. The present invention can also be provided as, for example, a robot control method, a gripper control method, a program, a storage medium storing the program, and the like.

  The present invention can be similarly applied to end effectors other than the hand.

1: Robot control device 2: Robot 20: Body 21: Arm 21a: Joint 21b: Arm member 21c: Force sensor 22: Hand 22a: Actuator 22b: Imaging device 22c: Acceleration sensor 24: Leg 25: Head 26 : Imaging device 200: First control unit 200B: First control unit 201: Setting information generation unit 201A: Setting information generation unit 210: Second control unit 210B: Second control unit 220: Hand control unit 221: Reception unit 221B: Reception unit 222: Error detection unit 223: Setting information storage unit 224: Substitution command generation unit 224A: Substitution command generation unit 224B: Substitution command generation unit 225: Operation detection unit 226: Setting information generation unit 227: Operation detection unit T: Work Stand W: Work

Claims (17)

A receiving unit for receiving a first signal for controlling the gripping unit of the robot;
An error detection unit for detecting a communication error of the first signal;
When the communication error is detected by the error detection unit, a signal generation unit that generates a second signal for controlling the gripping unit based on predetermined setting information;
When the communication error is not detected by the error detection unit, the gripping unit is controlled based on the first signal. When the communication error is detected by the error detection unit, the first error is detected. A gripper controller that controls the gripper based on the second signal;
A robot control device comprising: The robot control device according to claim 1,
An upper control unit for transmitting the first signal;
The gripper control unit includes the reception unit, the error detection unit, and the signal generation unit.
Robot control device. The robot control device according to claim 1 or 2,
The setting information indicates an operation state of an arm unit of the robot provided with the gripping unit,
The signal generation unit generates the second signal for controlling the operation of the gripping unit based on the operation state of the arm indicated by the setting information.
Robot control device. The robot control device according to any one of claims 1 to 3,
The setting information indicates an operation state of the gripping unit,
The signal generation unit generates the second signal for controlling the operation of the gripping unit based on the operation state of the gripping unit indicated by the setting information.
Robot control device. The robot control device according to claim 1 or 2,
The setting information indicates an operation of the gripper when the communication error is detected,
The signal generation unit generates the second signal for controlling the operation of the gripping unit indicated by the setting information.
Robot control device. The robot control device according to claim 2,
The upper control unit includes a setting information generation unit that generates the setting information,
The setting information is included in the first signal,
The signal generation unit generates the second signal based on the setting information included in the first signal received before the detection of the communication error;
Robot control device. The robot control device according to claim 6,
The setting information generation unit generates the setting information based on teaching information previously taught to the robot.
Robot control device. The robot control device according to claim 2,
The gripper control unit includes a setting information generation unit that generates the setting information,
The signal generation unit generates the second signal based on the setting information generated by the setting information generation unit.
Robot control device. The robot control device according to claim 8,
The setting information generation unit generates the setting information indicating an operation state of an arm of the robot provided with the gripping unit based on a captured image output from the imaging device,
The signal generation unit generates the second signal for controlling the operation of the gripping unit based on the operation state of the arm indicated by the setting information.
Robot control device. The robot control device according to claim 8,
The setting information generation unit generates the setting information indicating an operation state of the robot arm on which the grip unit is provided, based on the acceleration output from the acceleration sensor,
The signal generation unit generates the second signal for controlling the operation of the gripping unit based on the operation state of the arm indicated by the setting information.
Robot control device. The robot control device according to claim 8,
The setting information generation unit generates the setting information indicating an operation state of an arm of the robot on which the grip unit is provided, based on force information output from a force sensor,
The signal generation unit generates the second signal for controlling the operation of the gripping unit based on the operation state of the arm indicated by the setting information.
Robot control device. The robot control device according to any one of claims 3, 4, and 9 to 11,
The signal generation unit generates the second signal for increasing the gripping force of the gripping unit when the setting information indicates that the arm is operating.
Robot control device. A receiving unit for receiving a first signal for controlling the gripping unit of the robot;
An error detection unit for detecting a communication error of the first signal;
When the communication error is detected by the error detection unit, a signal generation unit that generates a second signal for controlling the gripping unit based on predetermined setting information;
When the communication error is not detected by the error detection unit, the gripping unit is controlled based on the first signal. When the communication error is detected by the error detection unit, the first error is detected. A gripper controller that controls the gripper based on the second signal;
A gripper control device comprising: A gripping part;
A receiving unit for receiving a first signal for controlling the gripping unit;
An error detection unit for detecting a communication error of the first signal;
A signal generation unit that generates a second signal for controlling the gripping unit based on predetermined setting information when the communication error is detected by the error detection unit;
The gripping unit operates based on the first signal when the communication error is not detected by the error detection unit, and when the communication error is detected by the error detection unit, Operate based on the second signal,
robot. A gripping device connected to a robot,
A receiver for receiving a first signal for controlling the gripping device;
An error detection unit for detecting a communication error of the first signal;
A signal generation unit that generates a second signal for controlling the gripping device based on predetermined setting information when the communication error is detected by the error detection unit;
The gripping device operates based on the first signal when the communication error is not detected by the error detection unit, and when the communication error is detected by the error detection unit, Operate based on the second signal,
Gripping device. A receiving step for receiving a first signal for controlling the gripping portion of the robot;
An error detection step of detecting a communication error of the first signal;
When the communication error is detected in the error detection step, a signal generation step for generating a second signal for controlling the gripper based on predetermined setting information;
If the communication error is not detected in the error detection step, controlling the gripping unit based on the first signal;
If the communication error is detected in the error detection step, controlling the gripping unit based on the second signal;
A robot control method including: A receiving step for receiving a first signal for controlling the gripping portion of the robot;
An error detection step of detecting a communication error of the first signal;
When the communication error is detected in the error detection step, a signal generation step for generating a second signal for controlling the gripper based on predetermined setting information;
If the communication error is not detected in the error detection step, controlling the gripping unit based on the first signal;
If the communication error is detected in the error detection step, controlling the gripping unit based on the second signal;
A program that causes an arithmetic unit to execute.

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