WO2018037662A1

WO2018037662A1 - Robot, robot control method, and control program

Info

Publication number: WO2018037662A1
Application number: PCT/JP2017/020972
Authority: WO
Inventors: 浩司藤永; 容正生野
Original assignee: シャープ株式会社
Priority date: 2016-08-26
Filing date: 2017-06-06
Publication date: 2018-03-01
Also published as: JP6633209B2; JPWO2018037662A1

Abstract

Provided is a very convenient robot capable of eliminating interference between parts that cannot be predicted in advance. A robot (1) for performing a specified action is provided with: a drive-controlling section (23) for driving a part for said specified action; an interference-detecting section (24) for detecting that said driven part has contacted the robot itself; and an offset-setting section (25) for modifying the magnitude of the specified action when such contact is detected.

Description

Robot, robot control method, and control program

The present invention relates to a robot that performs a predetermined operation and a robot control method.

Robots that can communicate with gestures by executing motions are known as conventional technologies. In such a robot, when the position of each part changes due to motion, there may be a case where a desired motion cannot be executed as a result of a certain part interfering with another part of the robot. In order to solve this problem, for example, there is a technique disclosed in Patent Document 1. Patent Document 1 describes the meaning of a word indicated by each sign language action when a robot that performs a sign language action causes interference between parts in a trajectory connecting the end point position of the previous sign language action and the start position of the next sign language action. Means for adjusting the end point position and the start point position within a maintainable range is disclosed.

Japanese Published Patent Publication “JP 2013-97399” (published on May 20, 2013)

However, the conventional technique as described above has a problem that it is effective only against interference between parts predicted in advance. For example, when a predetermined operation is performed as a motion due to reasons such as aging deterioration, interference may occur as a result of the part not being able to move along the originally planned route. In such a case, the prior art cannot adjust the predetermined operation so as to eliminate the interference.

The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a highly convenient robot that can eliminate interference between parts that cannot be predicted in advance.

In order to solve the above-described problem, a robot according to one embodiment of the present invention is a robot that performs a predetermined operation, and the predetermined operation includes a drive control unit that drives a part and the part that is driven by itself. A detection unit that detects contact with the robot; and a change unit that changes an operation amount of the predetermined operation when the contact is detected.

In order to solve the above problem, a robot control method according to an aspect of the present invention is a robot control method for performing a predetermined operation, and a drive control step of driving a part as the predetermined operation; A detection step of detecting that the driven portion has contacted the robot, and a change step of changing the amount of the predetermined motion when the contact is detected.

According to one aspect of the present invention, it is possible to provide a highly convenient robot that can eliminate interference between parts that cannot be predicted in advance.

It is a block diagram which shows an example of the principal part structure of the robot which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows an example of operation | movement of the robot which concerns on Embodiment 1 of this invention. It is a flowchart which shows an example of the process which the robot which concerns on Embodiment 1 of this invention performs. (A), (b) is a schematic diagram and a table | surface which show an example of the conditions which determine the interference of the position of the sensor and site | part in the robot which concerns on Embodiment 1 of this invention. (A)-(c) is a table | surface which shows the example of the conditions which determine the interference between site | parts in the robot which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows an example of operation | movement of the robot which concerns on Embodiment 2 of this invention. It is a flowchart which shows an example of the process which the robot which concerns on Embodiment 2 of this invention performs. It is a schematic diagram which shows an example of operation | movement of the robot which concerns on Embodiment 3 of this invention. It is a schematic diagram which shows an example in which the robot which concerns on 1 aspect of this invention applies an offset value to several drive parts.

Embodiment 1
The robot 1 according to this embodiment will be described in detail with reference to FIGS.

<Robot configuration>
The configuration of the robot 1 according to this embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of a main configuration of a robot 1 according to this embodiment. In the illustrated example, the robot 1 includes a storage unit 11, a sensor 12, a drive unit 13, and a control unit 14. The control unit 14 includes a configuration acquisition unit 21, a target setting unit 22, a drive control unit 23, an interference detection unit 24, and an offset setting unit 25.

The storage unit 11 stores various data handled by the robot 1. For example, the storage unit 11 moves in a predetermined operation executed by the robot 1, data for performing the operation of each unit, for example, a target position that is a movement destination of a part, and a drive unit 13 that is necessary for moving to the target position. This stores data related to the driving amount. Moreover, in this embodiment, the memory | storage part 11 memorize | stores the drive amount (for example, angle) of the drive part 13 in the said position which is the state of the site | part involved in this interference when the interference between site | parts generate | occur | produces.

The sensor 12 is disposed at each part of the robot 1 and detects interference between the parts that occurs when the robot 1 performs a predetermined operation. In the present embodiment, the sensor 12 is an impact sensor that detects an impact generated by interference (contact) between parts. The sensor 12 may have any configuration as long as it can detect interference between parts, a touch sensor that detects a change in capacitance due to interference, and an acceleration sensor that detects acceleration generated at the time of interference. And a pressure-sensitive sensor that detects a pressure generated at the time of interference. Moreover, what combined these sensors may be used. In the present embodiment, the robot 1 includes a plurality of sensors 12, and the sensors 12 are disposed at each part of the robot 1 and detect an impact. The arrangement of the sensor 12 will be described later.

The drive unit 13 is disposed in each part of the robot 1 and realizes a predetermined operation of the robot 1 by being driven according to the control of the drive control unit 23 described later. In the present embodiment, the robot 1 includes a plurality of drive units 13, and the drive units 13 are arranged in each part of the robot 1. Note that the driving unit 13 may be of any configuration as long as the robot 1 can realize a predetermined operation. For example, the drive unit 13 may be a rotary motor that rotates a rotating shaft, or may be a linear motor that is linearly driven (directly moved) by electromagnetic induction or the like. In addition, the drive of the actuator is not limited to the configuration that directly realizes the predetermined operation of the robot 1, but, for example, the rotation drive is converted into the linear drive by combining a motor (rotary motor, linear motor) and a link mechanism. May be. Further, the linear drive may be converted into a rotational drive by a crank mechanism or the like.

The control unit 14 controls each part of the robot 1 in an integrated manner. The control unit 14 may be configured to control each unit in accordance with a user input operation on an input operation unit (not shown).

The configuration acquisition unit 21 acquires the current configuration information of the robot 1 such as the current position of each part of the robot 1 and the setting information of the robot 1.

The target setting unit 22 sets a target for each part to move in order for the robot 1 to execute the determined predetermined operation. In other words, the target setting unit 22 sets a route along which the part moves as a predetermined operation. For example, when the robot 1 performs a motion that raises the left hand as a predetermined operation, the target setting unit 22 sets a position where the left hand that is the final position of the motion is up. In the present embodiment, if the final position is set, the driving path of the part is uniquely determined.

The drive control unit 23 drives the drive unit 13 so that the part moves to the final position set by the target setting unit 22 as a predetermined operation. For example, when the drive unit 13 is a motor, the drive control unit 23 controls the movement amount of the part of the robot 1 by controlling the rotation amount of the motor. In the present embodiment, when the robot 1 detects the interference between the parts during the execution of the motion, the drive control unit 23 sets the offset set by the offset setting unit 25 described later as the movement amount for moving toward the final position. Apply the value to drive the site.

The interference detection unit 24 detects that the part to be driven has come into contact with the robot. More specifically, the sensor 12 is used to operate as a detection unit that detects contact (interference between parts). Further, when the interference detection unit 24 determines that the interference between the parts has been detected, the interference detection unit 24 notifies the offset setting unit 25 described later of the detected part and the detected value. In this embodiment, the interference detection part 24 detects a contact using the sensor 12 provided in at least two places of the site | part to drive and a position different from this site | part.

The offset setting unit 25 sets an offset value with respect to the movement amount in order to eliminate the interference between the parts based on the detected part and the detected value notified by the interference detecting part 24, and the drive control part 23 To notify. In other words, the offset setting unit 25 operates as a changing unit that changes the operation amount of a predetermined operation when detecting that the part driven by the interference detection unit 24 has contacted the robot. Here, the offset value is a correction value that is applied every time the motion is executed to cancel the contact of the driven part with the robot. A specific example of the offset value will be described later.

<Robot motion>
An example of the operation performed by the robot 1 according to the present embodiment will be described with reference to FIG. FIG. 2 is a schematic diagram illustrating an example of the operation of the robot 1. In the illustrated example, it is assumed that the robot 1 has sensors 12 disposed at the tips and heads of both hands. In addition, the robot 1 executes a motion of turning the entire left arm upward from the side by rotating the left shoulder, and in this motion, other parts including the left elbow and the left wrist are not driven. .

Example 201 shows a case where the left hand interferes with the head when the robot 1 performs a motion in which the entire left arm is directed upward. In the illustrated example, the robot 1 rotates the entire left arm toward the final position set by the target setting unit 22. At this time, it is conceivable that the left hand interferes with the head due to reasons such as aged deterioration of the robot 1 and a continuous load due to external factors. When the left hand interferes with the head, the impact caused by the interference is detected by a plurality of sensors 12 arranged in each part. At this time, the interference detection unit 24 determines that the left hand has interfered with the head when the sensor 12 disposed at the tip and head of the left hand detects an impact exceeding a predetermined threshold.

Example 202 shows that after Example 201, the robot 1 has resolved the interference between the parts and executed the motion. In the example 201, when the interference detection unit 24 determines that interference between parts has occurred, the offset setting unit 25 sets an offset value for eliminating the interference between parts, and applies the set offset value. The drive control unit 23 drives the drive unit 13. Then, the robot 1 completes the execution of the motion by moving the part based on the movement amount obtained by applying the offset value to the movement amount for moving toward the final position. In the illustrated example, when the robot 1 detects that the part driven by the interference detection unit 24 has come into contact with its own robot, the movement amount is changed so that the movable distance of the part is shortened with respect to the predetermined movement amount. To do. That is, the robot 1 sets the offset value so that the execution of the motion is completed before the left hand contacts the head.

An example of the offset value set by the offset setting unit 25 will be described below.

First, the position of the part when the interference detection unit 24 determines that the interference between the parts has been detected is acquired. For example, it is assumed that when the robot 1 performs a motion of rotating the left shoulder by 180 °, interference between the parts is detected when the robot 1 is rotated by 160 °.

Next, the offset setting unit 25 subtracts 160 ° at which interference is detected from the initial target value of 180 ° and sets a value obtained by adding a certain amount as the offset value for the rotation amount of the left shoulder. According to the above example, when the fixed amount is 5 °, the offset value is 180 ° −160 ° + 5 ° = 25 °. The robot 1 uses 155 °, which is the calculated offset value subtracted from the initial target value 180 °, as the amount of rotation of the left shoulder after the offset value is applied, thereby causing interference between parts in the motion. You can avoid it.

Also, there is a possibility that interference between parts cannot be eliminated by applying the offset value once. In such a case, it is preferable to reset (change) the offset value by executing a series of flows again.

In this way, the robot 1 according to the present embodiment changes the operation amount so that the rotation angle of the rotational drive becomes small when the drive of the part includes the rotational drive. Therefore, when the interference between the parts is detected when the motion is executed, the interference can be eliminated by applying the offset value, and the execution of the motion can be completed.

<Process flow>
A flow of processing executed by the robot 1 according to the present embodiment will be described with reference to FIG. FIG. 3 is a flowchart illustrating an example of a flow of processing executed by the robot 1.

First, in order to execute the determined motion, the target setting unit 22 determines the position of the target corresponding to the motion (S1). The target position may be determined not by determining the position itself but by determining a driving amount for moving to the position. Next, if there is a set offset value, the drive control unit 23 applies the offset value to the drive amount determined in step S1 (S2). And the drive control part 23 drives the drive part 13 so that a site | part moves to a target position about each site | part (S3: drive control step).

After the start of driving, the interference detection unit 24 determines whether or not interference between parts has been detected (S4: detection step). When the interference between the parts is not detected (NO in S4), the driving is continued and the execution of the motion is completed. On the other hand, when the interference between parts is detected (YES in S4), the drive control unit 23 stops driving (S5). Next, the offset setting unit 25 determines an offset value based on the information on the part involved in the interference at the time when it is determined that the interference between the parts is detected in Step S4 (S6: change step). Then, the process ends.

Through the above processing, the robot 1 can drive the parts to execute the motion, and when detecting the interference between the parts, the robot 1 can execute the motion with the interference eliminated by applying the offset value. That is, when the robot 1 detects the interference between the parts including the part while driving the part, the robot 1 can apply the offset value and eliminate the interference between the parts. Therefore, there is an effect that it is possible to provide a highly convenient robot that can eliminate interference between parts that cannot be predicted in advance.

<Pattern to determine that interference between parts has been detected>
In the present embodiment, conditions for determining that the interference detection unit 24 has detected interference between parts of the robot 1 will be described in detail with reference to FIGS. FIG. 4 is a schematic diagram and a table showing an example of conditions for determining the position of the sensor 12 and interference between parts in the robot 1 according to the present embodiment.

First, as shown in FIG. 4A, it is considered that a plurality of sensors 12 are distributed in the robot 1. In the illustrated example, the sensors 12 are arranged at positions A to F, respectively. That is, A is the appropriate position on the back of the left hand, B is the space between the eyebrows, C is the back of the right hand, D is the center of the trunk, E is the back of the left foot, and F is the appropriate position on the back of the right foot. The sensor 12 may be disposed at any position, but is preferably disposed at a position that is closest when the driven parts are close to each other. In addition, when the robot 1 performs a specific motion, it is preferable that only the interference at the time of motion can be determined by operating only the sensor 12 arranged at the site to be driven.

(B) of FIG. 4 is an example of a table used for determining whether or not the interference detection unit 24 is interference between parts. In the illustrated example, the values of A and B in the “sensor value” column are based on values detected by the sensors 12 at positions A and B in FIG. That is, “◯” is set when the impact value detected by the sensor 12 at the position A exceeds a predetermined threshold, and “X” is set when the value is equal to or less than the predetermined threshold. The predetermined threshold value may be any value, but is preferably a value that can be distinguished from, for example, the value of an impact that occurs while the robot 1 is performing a normal motion such as walking. is there.

In the example shown in the figure, it is assumed that the robot 1 rotates the left shoulder and performs a motion of turning the entire left arm upward, and the left hand generates interference between parts with the head. At this time, if the sensors 12 arranged at the positions A and B both detect an impact exceeding a predetermined threshold, the values of the sensors A and B are both “◯”. When the interference detection unit 24 refers to the table, since the value of the “contact determination” column is “contact”, it can be determined that interference between the parts has occurred. On the other hand, for example, when the left arm collides with a wall or the like during the above motion, the value of A is “◯” but the value of B is “x”. At this time, it corresponds to the combination of the second row from the top of the table, and the corresponding “contact judgment” column value is “−”. Therefore, the interference detection unit 24 can determine that interference between the parts has not occurred.

Therefore, the robot 1 is provided with sensors 12 in at least two locations, ie, a portion to be driven and a position different from the portion, and the interference detection unit 24 uses at least two sensors 12 to perform contact (interference between the portions). ) Can be detected. Therefore, compared with the case where only one sensor 12 is used, when the contact is detected with high accuracy and the contact is detected, there is an effect that it is possible to provide the robot 1 that can eliminate the contact.

Also, not only the magnitude of the threshold but also the number of times the threshold is exceeded may be added as a condition. Further, the threshold value and the number of times may be set by the user, or the user may arbitrarily reset the number of times.

Further, the offset setting unit 25 may be configured to change the operation amount of the predetermined operation when the interference detection unit 24 detects the contact a predetermined number of times. According to said structure, a change part changes operation amount, when a detection part detects a contact predetermined times. As a result, when the number of times of contact is less than the predetermined number of times, the amount of movement is not changed, so that it is possible to prevent the amount of movement from being changed even when accidental interference occurs between parts. There is an effect that can be.

Next, another example of the predetermined condition for determining that the interference detection unit 24 has detected the interference between the parts of the robot 1 will be described with reference to FIG. FIG. 5 is a table showing an example of conditions for determining interference between parts in the robot 1 according to the present embodiment. In the illustrated example, the robot 1 determines whether or not interference between parts has been detected by combining the table of FIG. 5A and the table of FIG. 5B.

(A) of FIG. 5 is a table showing combinations of sensor values and the number of detections. A table is provided for each motion executed by the robot 1. In the illustrated example, for the combination of sensor values, the number of times the combination has been detected so far is stored in the “contact counter value” column. For example, in the top row, the sensors 12 arranged at the positions A and B both detected an impact exceeding a predetermined threshold, and the values of the sensors A and B were both “◯”. Indicates that it has been detected twice so far.

(B) of FIG. 5 is a table summarizing the number of times of detecting interference between parts for each motion. In the illustrated example, the “motion” column indicates the type of motion performed by the robot 1, and the “counter total” column indicates the sensors A and B in the table of FIG. The value of “contact counter value” when each of the values is “◯” is shown. The “contact determination” column indicates a result of determining whether or not the value of the “counter total” column exceeds a predetermined threshold value. For example, it is assumed that the predetermined threshold value in the “counter total” column is “5”. At this time, in the illustrated example, the counter total of the motion “A” is “2”, and therefore the contact determination is “−”. On the other hand, the counter total of the motion “I” is “5”, and therefore the contact determination is “contact”. Therefore, the robot 1 applies an offset value to the motion “I” to eliminate contact (interference between parts).

That is, when there are a plurality of motions, the offset setting unit 25 sets an offset value for the amount of motion in the motion in which contact is detected among the plurality of motions. Therefore, there is an effect that it is possible to prevent an offset value from being set for an operation amount in another motion in which interference between parts does not occur because interference between parts occurs due to a certain motion. .

In the above, the number of times detected by the A sensor and the number of times detected by the B sensor are counted as the number of detections, respectively, and when both the A and B sensors are detected, the number of times of detection is counted as “2”. It was. For example, the number of detections is counted only when both the A and B sensors detect, and when only the A sensor or only the B sensor is detected, the number of detections is not counted. May be. That is, as shown in FIG. 5C, the contact counter value is set to “1” only when the values of the sensors A and B are both “◯”, and “0” is set otherwise. Also good.

Thus, for example, it is possible to prevent an offset value from being set when only one sensor detects contact several times due to contact with the ground or the like.

[Embodiment 2]
A second embodiment of the present invention will be described with reference to FIGS. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

<Robot configuration>
The configuration of the robot 1 according to the present embodiment is basically the same as the configuration of the robot 1 according to the first embodiment, but some functions of the configuration acquisition unit 21 and the offset setting unit 25 are different. In the present embodiment, the configuration acquisition unit 21 operates as a determination unit that determines whether or not a member (attachment part 15) described later is attached. Further, the offset setting unit 25 differs from the first embodiment in that the amount of operation to be changed varies depending on whether or not a member is attached.

In the present embodiment, the robot 1 further includes an attachment part 15. The attachment part 15 is a member having a configuration that can be attached to each part of the robot 1. The attachment part 15 may be of any configuration as long as it can detect the interference when the interference between the parts including the part to which the attachment part 15 is attached occurs. For example, when the additional sensor 12 is disposed inside the attachment part 15 and the robot 1 is mounted, the robot 1 determines whether or not the interference between the parts has been detected using the sensor 12 included in the attachment part 15. May be.

<Robot motion>
An example of the operation performed by the robot 1 according to the present embodiment will be described with reference to FIG. FIG. 6 is a schematic diagram illustrating an example of the operation of the robot 1. In the illustrated example, it is assumed that the robot 1 has sensors 12 disposed at the tips and heads of both hands. In addition, the robot 1 executes a motion that turns the entire left arm upward from the side by rotating the left shoulder, and in this motion, other parts including the left elbow and the left wrist are not driven. . The robot 1 is assumed to include an attachment part 15 so as to cover the entire area from the left wrist.

Example 301 shows a case where the attachment part 15 attached to the left hand interferes with the head when the robot 1 performs a motion in which the entire left arm is directed upward. In the illustrated example, the robot 1 rotationally drives the entire left arm toward the position set by the target setting unit 22 based on the result of the configuration acquisition unit 21 determining whether or not the attachment part 15 is present. And when the attachment part 15 with which the left hand was mounted | worn interferes with a head, the sensor 12 arrange | positioned at each part detects an impact. At this time, since the interference detection unit 24 detected an impact exceeding a predetermined threshold in the sensor 12 disposed at the tip and head of the left hand, interference between parts occurred between the left hand and the head. Is determined.

Example 302 shows that after Example 301, the robot 1 has resolved the interference between the parts and executed the motion. If the interference detection unit 24 determines that interference between the parts has occurred in the example 301, the offset setting unit 25 sets an offset value and drives based on the set offset value in the same manner as in the example 202 of FIG. The control unit 23 drives the drive unit 13. Then, the robot 1 completes the execution of the motion by moving the part based on the movement amount after the offset value is applied.

In this manner, even when the attachment part 15 is attached, the robot 1 according to the present embodiment, when detecting the interference between the parts when executing the motion, cancels the interference and completes the execution of the motion. be able to. Further, when the robot 1 executes the same motion again, the application of the offset value may be varied depending on the presence or absence of the attachment part 15.

<Process flow>
An example of the flow of processing executed by the robot 1 according to this embodiment will be described with reference to FIG. FIG. 7 is a flowchart illustrating an example of a flow of processing executed by the robot 1.

First, after executing the processing of step S1, the configuration acquisition unit 21 determines whether or not the attachment part 15 is being mounted (S11). If it is determined that the attachment part 15 is being mounted (YES in S11), the offset setting unit 25 applies the offset value for the attachment part 15 if there is an offset value set with the attachment part 15 mounted (S12). ), Go to step S3. On the other hand, if it is determined that it is not attached (NO in S11), the process proceeds directly to step S2. Then, similarly to the first embodiment, the processes of steps S4 to S6 are executed.

Through the above processing, the robot 1 determines the presence or absence of the attachment part 15 and executes the motion. And when the attachment part 15 is attached, the offset value for the case where it is attached is applied, and when it is not attached, the offset value for the case where it is not attached is applied. Thereby, the offset value can be appropriately applied regardless of whether the attachment part 15 is attached or not attached.

Accordingly, it is possible to prevent the movement amount of the motion from being changed when the attachment part 15 is not attached, even though interference between the parts occurs because the attachment part 15 is attached. There is an effect.

In the above description, a configuration is described in which it is determined whether or not the attachment part 15 is mounted and the process proceeds according to the result. For example, the configuration may be such that the user can arbitrarily set whether or not the attachment part 15 is mounted. Thereby, even when it is not possible to automatically determine whether or not the attachment part 15 is mounted, an offset value corresponding to the attachment part 15 can be set. The offset value may be installed via a network or a medium.

<Embodiment 3>
The robot 1 according to this embodiment will be described with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

<Configuration of robot 1>
The robot 1 according to the present embodiment has the same configuration as that of the robot 1 according to the first embodiment, except that the drive unit 13 moves linearly and expands and contracts the entire region beyond the elbow.

<Operation of robot 1>
An example of the operation performed by the robot 1 according to the present embodiment will be described with reference to FIG. FIG. 8 is a schematic diagram illustrating an example of the operation of the robot 1. In the illustrated example, the robot 1 executes a motion of extending the entire part beyond the left elbow from a state where the left arm is directed upward.

Example 401 shows a case where the left hand interferes with the head when the robot 1 performs a motion of extending the entire part beyond the left elbow. The robot 1 detects that interference between parts has occurred in the same manner as in the above embodiments.

Example 402 shows that after Example 401, the robot 1 has resolved the interference between the parts and executed the motion. When the interference detection unit 24 determines that the interference between the parts has occurred in the example 401, the offset setting unit 25 sets the offset value and drives based on the set offset value in the same manner as the example 202 of FIG. The control unit 23 drives the drive unit 13. In the example shown in the figure, the offset value is applied to the driving amount for the linear movement of the driving unit 13, specifically, the amount for extending the entire part from the left elbow. Then, the robot 1 completes the execution of the motion by driving the part with the driving amount after the offset value is applied. That is, a motion that is changed so as to extend the entire part from the left elbow to the extent that the left hand does not interfere with the head is executed.

In this way, the robot 1 according to the present embodiment changes the amount of movement so that the movement distance of the linear drive is shortened when the drive of the part includes the linear drive. Therefore, if an inter-part interference is detected when executing a motion for a motion including expansion / contraction of the part, the interference can be eliminated and the execution of the motion can be completed.

[Modification]
<Application example of offset value for driving a part including a plurality of driving>
In the motion executed by the robot 1, there is no limit to the number of driving units 13 that are driven at a time. Therefore, when the interference between the parts is detected when the motions that the plurality of driving units 13 drive simultaneously are performed, it is necessary to apply offset values to the plurality of driving units 13 respectively. An example in which the offset value is applied to the plurality of driving units 13 in the robot 1 according to an embodiment of the present invention will be described in detail with reference to FIG. FIG. 9 is a schematic diagram illustrating an example in which the robot 1 according to an embodiment of the present invention applies offset values to the plurality of driving units 13.

Example 501 shows a path when a part of the robot 1 including the two driving units 13 moves from the initial position to the target position. In the illustrated example, the first driving unit 13a performs rotational driving of the entire part, and the second driving unit 13b is installed in a part that receives rotational driving, and performs linear driving for a part of the part. Specifically, the center of the rotational drive system driven by the first drive unit 13 a is the shoulder of the robot 1, and the outer periphery of the rotational drive system is the elbow of the robot 1. The second drive unit 13b is disposed on the elbow of the robot 1 and forms a linear drive system that linearly drives a portion beyond the elbow of the robot 1, and the end of the linear drive system indicates the tip of the hand of the robot 1. . In other words, reference numeral 501 schematically shows a motion in which the robot 1 drives the entire arm around the shoulder while rotating the entire arm linearly. In the example shown in the drawing, the tip of the part is driven toward the opponent along a straight path.

Example 502 schematically shows that the tip of the part of the robot 1 interferes with the opponent when the same motion as Example 501 is executed. In the example shown in the drawing, when the tip of the part reaches the second position from the top, it interferes with the opponent, so it cannot reach the top position. When detecting the interference, the robot 1 stores the states of the first drive unit 13a and the second drive unit 13b at that time.

Example 503 schematically shows that after Example 502, the offset value is applied to the path of the part of the robot 1. That is, the offset setting unit 25 sets the drive amounts of the first drive unit 13a and the second drive unit 13b so that the execution of the motion is completed within a range in which interference does not occur on the route that is a straight line set in the example 502. Apply each offset value. Thereby, the front-end | tip of a site | part is suppressed to the range until just before interference with a counterpart occurs.

When the robot 1 according to an aspect of the present invention detects interference between parts, the robot 1 can complete the execution of the motion after applying the offset value to the driving amount of the part. When it is no longer necessary to apply the offset value, it is preferable to eliminate the application of the offset value. For example, when the offset value applied before the repair becomes unnecessary due to the repair of a failed part, the application of the offset value may be eliminated.

[Example of software implementation]
The control blocks (particularly, the interference detection unit 24 and the offset setting unit 25) of the robot 1 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or a CPU (Central Processing Unit). It may be realized by software using

In the latter case, the robot 1 includes a CPU that executes instructions of a program that is software that realizes each function, a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU), or a memory. A device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

[Summary]
A robot (1) according to an aspect 1 of the present invention is a robot (1) that performs a predetermined operation, and the predetermined operation includes a drive control unit (23) that drives a part, and the part that is driven by itself. It is a structure provided with the detection part (interference detection part 24) which detects having contacted the robot, and the change part (offset setting part 25) which changes the operation amount of the said predetermined | prescribed operation | movement when the said contact is detected. .

According to the above configuration, the robot changes the amount of movement of the predetermined motion when it is detected that the portion to be driven contacts the robot while the portion is driven as the predetermined motion. Thereby, when performing the same operation | movement, the interference (contact) between site | parts can be eliminated. Therefore, there is an effect that it is possible to provide a highly convenient robot that can eliminate interference between parts that cannot be predicted in advance.

The robot (1) according to aspect 2 of the present invention includes the sensor (12) that detects contact in at least two places of the driven part and a position different from the part in the aspect 1, and the detection unit The (interference detection unit 24) may be configured to detect the contact using the at least two sensors (12).

According to the above configuration, the robot detects the contact using the sensors that detect the contact provided at at least two places, that is, the part to be driven and a position different from the part to be driven. And by providing a sensor in the part to drive and the position different from this part, it can be detected appropriately whether the parts contacted. Therefore, compared with the case where only one sensor is used, there is an effect that contact can be detected with high accuracy.

In the robot (1) according to the aspect 3 of the present invention, in the

aspect

1 or 2, the change unit (offset setting unit 25) is detected by the detection unit (interference detection unit 24) a predetermined number of times. In this case, the operation amount of the predetermined operation may be changed.

According to the above configuration, the changing unit changes the operation amount when the detection unit detects contact for a predetermined number of times. As a result, when the number of times of contact is less than the predetermined number of times, the amount of movement is not changed, so that it is possible to prevent the amount of movement from being changed even when accidental interference occurs between parts. There is an effect that can be.

In the robot (1) according to aspect 4 of the present invention, in any one of the aspects 1 to 3, there are a plurality of the predetermined operations, and the changing unit (offset setting unit 25) Among them, a configuration may be adopted in which the operation amount in a predetermined operation in which contact is detected is changed.

According to the above configuration, when there are a plurality of predetermined operations, the operation amount is changed for each predetermined operation. Therefore, there is an effect that it is possible to prevent the amount of movement in another predetermined operation in which interference between parts does not occur from being changed due to the occurrence of interference between parts due to a certain predetermined operation. .

The robot (1) according to the fifth aspect of the present invention can attach a detachable member (attachment part 15) to the site in any one of the first to fourth aspects. The member (attachment part 15) The determination part (configuration | acquisition acquisition part 21) which determines the presence or absence of attachment of the above-mentioned, The said change part (offset setting part 25) is the structure which changes the operation amount to change with the presence or absence of attachment of the said member (attachment part 15). It is good.

According to the above configuration, the robot can vary the operation amount of the predetermined operation based on whether or not a member is attached. Therefore, it is possible to prevent the movement amount of the predetermined operation from being changed when the member is not attached, even though interference between the parts occurs because the member is attached. Play.

In the robot (1) according to aspect 6 of the present invention, in any one of the aspects 1 to 5, the change unit (offset setting unit 25) changes the movement amount so that the movable distance of the part is shortened. It is good also as composition to do.

According to the above configuration, when the robot detects that the part to be driven has come into contact with its own robot, the robot changes the operation amount so that the movable distance of the part in a predetermined operation is shortened. Therefore, there is an effect that it is possible to prevent occurrence of interference between parts when performing a predetermined operation again.

In the robot (1) according to aspect 7 of the present invention, in the aspect 6, the driving includes rotational driving, and the changing unit (offset setting unit 25) is configured so that the rotational angle of the rotational driving becomes small. It may be configured to change the operation amount.

According to the above configuration, the robot changes the operation amount of the predetermined operation so that the rotation angle of the rotation drive becomes small with respect to the drive of the part including the rotation drive. Therefore, there is an effect that the driving of the part including the rotational drive can be executed without interference between the parts.

In the robot (1) according to aspect 8 of the present invention, in the aspect 6 or 7, the driving includes linear driving, and the changing unit (offset setting unit 25) is configured so that the moving distance of the linear driving is shortened. The operation amount may be changed.

According to the above configuration, the robot changes the operation amount of the predetermined operation so that the movement distance of the linear drive becomes short for the drive of the part including the linear drive. Therefore, there is an effect that the driving of the part including the linear drive can be performed without interference between the parts.

The control method of the robot (1) according to the aspect 9 of the present invention is a control method of the robot (1) that performs a predetermined operation, and as the predetermined operation, a drive control step (S2) for driving a part; A detection step (S3) for detecting that the part to be driven has come into contact with the robot is included, and a change step (S6) for changing the amount of the predetermined movement when the contact is detected. According to said structure, there exists an effect similar to said aspect 1. FIG.

The robot (1) according to each aspect of the present invention may be realized by a computer. In this case, the robot (1) is operated by operating the computer as each unit (software element) included in the robot (1). The control program for the robot (1) for realizing the above in a computer and a computer-readable recording medium on which the control program is recorded also fall within the scope of the present invention.

The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

DESCRIPTION OF SYMBOLS 1 Robot 11 Memory | storage part 12 Sensor 13 Drive part 14 Control part 21 Configuration acquisition part (determination part) 22 Target setting part 23 Drive control part 24 Interference detection part (detection part)
25 Offset setting section (change section)

Claims

A robot that performs a predetermined motion,
As the predetermined operation, a drive control unit that drives the site;
A detection unit for detecting that the part to be driven is in contact with the robot;
A robot comprising: a changing unit that changes an amount of the predetermined movement when the contact is detected.
A sensor for detecting contact is provided in at least two places, the part to be driven and a position different from the part,
The robot according to claim 1, wherein the detection unit detects the contact using the at least two sensors.
The robot according to claim 1 or 2, wherein the changing unit changes an operation amount of the predetermined operation when the detecting unit detects the contact a predetermined number of times.
There are a plurality of the predetermined operations,
The robot according to any one of claims 1 to 3, wherein the changing unit changes an operation amount in a predetermined operation in which contact is detected among the plurality of predetermined operations.
A removable member can be attached to the part,
A determination unit for determining whether or not the member is attached;
The robot according to any one of claims 1 to 4, wherein the changing unit changes a movement amount to be changed depending on whether or not the member is attached.
The robot according to any one of claims 1 to 5, wherein the changing unit changes the movement amount so that a movable distance of the part is shortened.
The drive includes a rotational drive,
The robot according to claim 6, wherein the changing unit changes the movement amount so that a rotation angle of the rotation drive is reduced.
The drive includes a linear drive,
The robot according to claim 6 or 7, wherein the changing unit changes the movement amount so that a moving distance of the linear drive is shortened.
A control method for a robot that performs a predetermined operation,
As the predetermined operation, a drive control step for driving the part;
A detection step of detecting that the driven part has contacted the robot;
A change step of changing the amount of movement of the predetermined movement when the contact is detected.
A control program for causing a computer to function as the robot according to claim 1, wherein the control program causes the computer to function as the drive control unit and the change unit.