WO2020026457A1 - Robot control system, robot control method, and program - Google Patents

Robot control system, robot control method, and program Download PDF

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Publication number
WO2020026457A1
WO2020026457A1 PCT/JP2018/032717 JP2018032717W WO2020026457A1 WO 2020026457 A1 WO2020026457 A1 WO 2020026457A1 JP 2018032717 W JP2018032717 W JP 2018032717W WO 2020026457 A1 WO2020026457 A1 WO 2020026457A1
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Prior art keywords
robot
unit
obstacle
program
contact
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PCT/JP2018/032717
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French (fr)
Japanese (ja)
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正隆 鶴海
秀文 吉沢
康宏 田中
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株式会社ダイアディックシステムズ
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Priority to JP2020534034A priority Critical patent/JP7251814B2/en
Publication of WO2020026457A1 publication Critical patent/WO2020026457A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4067—Restoring data or position after power failure or other interruption

Definitions

  • the present invention relates to a robot control system, a robot control method, and a program.
  • Patent Literature 1 in a device for detecting a contact position where a robot contacts an object, a probe attached to the robot and elastically displaceable in a direction in which the robot contacts the object is provided.
  • a probe position calculation unit for calculating the position of the probe a contact detection unit for detecting a state in which the probe is in contact with an object, and a contact state of the probe, the calculated position of the probe
  • a contact position calculation unit that derives the contact position based on the contact position.
  • the object of the present invention is to provide a robot control system that controls a robot more safely and efficiently.
  • a robot control system includes a trajectory storage unit that stores a trajectory of an operation of a robot, a forward unit that operates the robot, and a detection that detects that the robot that is operated by the forward unit contacts an obstacle. And a reversing unit for reversing the robot from the contact position with the obstacle, based on the trajectory stored by the trajectory storage unit, when contact with the obstacle is detected by the detection unit. And a stop unit that stops the operation of the robot that has reversed by the reversing unit.
  • a coordinate management unit that holds the coordinates of the robot when the detection unit detects the contact with the obstacle
  • a program management unit that holds the interruption position of the program interrupted by the contact with the obstacle by the detection unit
  • a program resuming unit for resuming the program interrupted by the stopping unit, further comprising a program resuming unit, wherein the coordinates held by the coordinate management unit and the coordinates of the restarted robot match,
  • the program restart unit restarts the program from the interrupted position held by the program management unit.
  • the advancing unit returns a trajectory reversed by the reversing unit
  • the program resuming unit matches the coordinates of the robot returning the trajectory by the advancing unit with the coordinates held by the coordinate management unit. If so, restart the program.
  • the total thrust value of the thrust generated by the servomotor, the increased thrust by the speed reduction mechanism, and the maximum moment length of the robot housing is 40 N or less.
  • the robot control method includes a step of storing a trajectory of the operation of the robot, a step of operating the robot, and a step of detecting that the robot operated by the step of operating contacts an obstacle, When the contact with the obstacle is detected by the detecting step, the robot moves backward from a contact position with the obstacle based on the trajectory stored in the storing step; Stopping the operation of the robot that has reversed in the reverse direction.
  • the program according to the present invention includes a step of storing a trajectory of the operation of the robot, a step of operating the robot, a step of detecting that the robot operated by the step of operating has contacted an obstacle, When the contact with the obstacle is detected by the step of performing, the step of causing the robot to move backward from the position of contact with the obstacle based on the trajectory stored by the storing step; and the step of moving backward. Stopping the operation of the robot that has moved backward by the computer.
  • a robot can be controlled more safely and efficiently.
  • FIG. 1 is a diagram illustrating an overall configuration of a robot control system 1.
  • FIG. 3 is a diagram illustrating an interaction between the SCARA robot 3 and a robot controller 7.
  • FIG. 3 is a diagram illustrating a functional configuration of a robot controller 7;
  • FIG. 3 is a sequence diagram of robot control when the robot control system 1 makes contact with a human body.
  • 6 is a flowchart illustrating a restart process (S10) of the SCARA robot 3 in the robot control system 1.
  • the installation requirement of a scalar-type cooperative robot is often that it is installed close to the worker because it is essential that the worker and the robot can cooperate smoothly. Therefore, it is possible that the worker may accidentally come into contact with the housing of the robot during the joint work. In this case, the biggest specification item is not to damage the human body.
  • the next requirement is how to restart the robot in a short time and restore the work of the robot interrupted by the contact.
  • the specification of the short-time recovery is determined by the handling of the running tact when the robot touches. That is, conventionally, the tact in which contact has occurred is discarded, the robot is returned to the origin position once, the work is discarded, the robot is returned to the initial condition, and then the next new tact is entered. If a general robot is stopped during operation, it is considered that some abnormal situation has occurred, and the robot administrator immediately turns off the main power supply and starts an investigation operation for confirming safety. This will take some time.
  • the SCARA robot 3 in this example regards a 1.8-degree step hybrid stepping motor as a multi-pole synchronous motor, and uses a brushless servo actuator as a motor in which an encoder of 200 pulses / 1 rotation is arranged on the motor rotation axis.
  • the electric motor using the control method described above was used as the actuator for all the constituent axes.
  • the SCARA robot 3 is an example of the robot according to the present invention.
  • the robot housing is complicatedly deformed because the vertical axis is provided at a place different from the turning axis, and the deformation reduces the robot working space.
  • the four-axis servo actuator 11 of this example is all built in the housing of the SCARA robot 3, and its structure is simple because the vertical axis is provided directly above the turning axis. It is.
  • the robot controller 7 is a control device in which a servo amplifier for controlling the servomotor 9 and a board are stored, and controls the movement of the SCARA robot 3 comprehensively. Specifically, the robot controller 7 performs coordinate management, thrust management, and the like of the SCARA robot 3. In FIG. 1, the robot controller 7 is independent of the SCARA robot 3, but may be inserted into the housing of the SCARA robot 3 immediately above the turning axis due to miniaturization. The downsizing enables the working space of the SCARA robot 3 to be effectively used.
  • the robot controller 7 employs a visual program based on Japanese Patent No. 4332879, which does not use a conventional programming language (including a robot programming language), thereby greatly reducing the burden on program beginners.
  • FIG. 2 is a diagram illustrating the interaction between the SCARA robot 3 and the robot controller 7.
  • the robot controller 7 transmits and receives signals to and from the servo controller 5 and controls the servo motor 9 via the servo controller 5.
  • the contact detection unit of the SCARA robot 3 notifies the servo controller 5 and the robot controller 7 of the contact when detecting contact with an obstacle.
  • the servo controller 5 stops each servomotor 9, and the robot controller 7 manages stop coordinates of the stopped robot.
  • the robot controller 7 notifies the servo controller 5 of the restart, and when the SCARA robot 3 reaches the stop coordinates for the first time after the restart, the robot controller 7 executes the interrupted program. To resume.
  • FIG. 3 is a diagram illustrating a functional configuration of the robot controller 7.
  • a robot control program 70 is installed in the robot controller 7.
  • the robot control program 70 includes a trajectory storage section 700, a forward section 702, a stop detection section 704, a reverse section 706, a stop section 708, a coordinate management section 710, a program management section 712, a program restart section 714, and a thrust management section 708.
  • the trajectory storage unit 700 stores the trajectory of the operation of the SCARA robot 3.
  • the advance unit 702 operates the SCARA robot 3.
  • the forward section 702 sets a movement amount equal to the backward movement amount to the servo controller 5 based on the trajectory reversed by the backward movement section 706 (described later), and Return to 3.
  • the stop detection unit 704 detects that the SCARA robot 3 operated by the advance unit 702 has contacted an obstacle. Specifically, when the SCARA robot 3 comes into contact with an obstacle, the contact detection unit of the SCARA robot 3 detects the contact and notifies the stop detection unit 704. In addition, the stop detection unit 704 interrupts the program being executed by the SCARA robot 3.
  • the stop detection unit 704 is an example of a detection unit according to the present invention.
  • the reversing unit 706 reversely moves the SCARA robot 3 from the contact position with the obstacle based on the trajectory stored by the trajectory storage unit 700 when the stop detection unit 704 detects the contact with the obstacle. Let it. More specifically, when the stop detection unit 704 detects contact with an obstacle, the reversing unit 706 outputs a reversing pulse for movement to the servo controller 5 and causes the SCARA robot 3 to detect the contact when the contact is detected. Reverse at a certain distance from. Thereby, the distance between the obstacle and the SCARA robot 3 is maintained, and safety is ensured.
  • the stop unit 708 stops the operation of the SCARA robot 3 that has been moved backward by the backward movement unit 706.
  • the coordinate management unit 710 holds the coordinates of the robot when the stop detection unit 704 detects contact with an obstacle. Specifically, when the stop detection unit 704 detects a contact, the coordinate management unit 710 stores all the coordinates of the constituent axes of the SCARA robot 3 in the memory.
  • the program management unit 712 holds the interruption position of the program interrupted by the stop detection unit 704 due to contact with an obstacle.
  • the program resuming unit 714 restarts the program from the interrupted position of the program held by the program management unit 712. More specifically, when the coordinates held by the coordinate management unit 710 match the coordinates of the restarted SCARA robot 3, the program resuming unit 714 starts the program from the interrupted position held by the program management unit 712. Resume. More specifically, the program resuming unit 714 restarts the program when the coordinates of the robot returning on the backward trajectory by the advancing unit 702 match the coordinates held by the coordinate management unit 712. That is, the program resuming unit 714 switches to the remaining program after the contact stop when the restarted SCARA robot 3 passes the stop coordinates managed by the coordinate management unit 710. Thereby, one sequence of the robot can be completed with the minimum loss time.
  • the thrust management unit 716 controls the thrust of the arm of the SCARA robot 3, and the maximum thrust of the servo actuator 11 is 40N or less. Specifically, the thrust management unit 716 controls the total thrust value of the generated thrust of the servomotor 9, the increased thrust by the speed reduction mechanism, and the maximum moment length of the SCARA robot 3 case to be 40 N or less. That is, in this example, the generated maximum thrust of each of the four-axis servo actuators is 40 N or less.
  • the SCARA robot 3 comes into contact with a human body or an external moving animal, the SCARA robot 3 is balanced by a force of 40N, and can be stopped without being damaged by the human body or the external moving animal.
  • FIG. 4 is a sequence diagram of robot control at the time of contact with a human body in the robot control system 1.
  • the SCARA robot 3 when detecting the contact with the obstacle, the SCARA robot 3 slows down and stops the operation of the SCARA robot 3. Subsequently, the SCARA robot 3 is moved backward by a predetermined movement amount and stopped. Thereafter, safety is confirmed by the operator of the SCARA robot 3, the restart switch of the SCARA robot 3 is pressed, and the program is restarted from the interrupted position of the interrupted program.
  • FIG. 5 is a flowchart illustrating stop processing (S10) of the SCARA robot 3 in the robot control system 1.
  • step 100 the SCARA robot 3 is operated by the advance unit 702 to perform an operation.
  • the trajectory storage unit 700 stores the trajectory of the operation of the SCARA robot 3 by the advance unit 702.
  • step 105 the contact detection unit of the SCARA robot 3 detects the contact with the obstacle, and notifies the stop detection unit 704 of the robot controller 7 of the contact.
  • the stop detection unit 704 notifies the stop unit 708 of the detection of the contact.
  • step 110 the contact detection unit of the SCARA robot 3 stops the servo motor 9 via the servo controller 5. Further, the stop detection unit 704 interrupts the program being executed, and the program management unit 712 stores the interruption position of the program. Further, the coordinate management unit 710 holds the stop coordinates of the SCARA robot 3.
  • step 115 the reversing unit 706 retreats the SCARA robot 3 by a minute section from the stopped position based on the trajectory stored by the trajectory storage unit 700.
  • the SCARA robot 3 moves away from the human body by reversing a predetermined amount of movement from the contact position with the human body, so that safety can be ensured.
  • the stopping unit 708 stops the backward moving SCARA robot 3 again.
  • step 125 the operator of the SCARA robot 3 confirms that a human body or an external moving object does not exist in the movement trajectory of the SCARA robot 3, and restarts the SCARA robot 3 in order to restart the SCARA robot 3. Press.
  • the robot controller 7 proceeds to S130 when detecting depression of the restart switch, and stands by when not detecting depression.
  • step 130 the forward moving section 702 advances the backward trajectory to the SCARA robot 3.
  • the program management unit 712 determines whether the stop coordinates of the SCARA robot 3 held by the coordinate management unit 710 match the coordinates of the SCARA robot 3 restarted. If they match, the process moves to S135. If they do not match, wait for the program to resume until they match.
  • step 135 (S135), the program resuming unit 714 restarts the program from the interrupted position of the program managed by the program management unit.
  • the cause of the stop of the SCARA robot 3 is specified to be a human body contact and an external relic contact, even if the robot is safely stopped, an obstacle (a human body or an external relic) in the robot motion trajectory is immediately thereafter. It is possible to confirm the safety of whether or not it has been removed, and if the safety is confirmed, it is possible to immediately re-execute the remaining steps of the current tact that has been stopped from contact, and the process is interrupted for a short time. There is no problem in continuing the process because the reason for stopping "choco stop" is clear. Therefore, even if the stop operation occurs, there is an advantage that the stoppage of the process is not abandoned and only the stoppage for an extremely short time does not affect other processes, and the handling at the site is simplified.
  • the robot control system 1 causes the scalar robot 3 to immediately perform a retreat operation in a minute section from the point of contact stop, immediately after the retreat operation, confirms safety and restarts the robot.
  • the time required for the safety stop operation can be minimized without further damage to the contacted obstacle.
  • the SCARA robot 3 after the restart passes the contact stop point for the first time, by running the rest of the program before the stop, it is possible to recover in a short time (the category of a short stop).

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  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

This robot control system has a trajectory storage unit for storing a trajectory of operation of a robot, a forward movement unit for causing the robot to operate, a sensing unit for sensing contact with an obstacle by the robot operated by the forward movement unit, a reverse movement unit for causing the robot to move in reverse from the position of contact with the obstacle on the basis of a trajectory stored by the trajectory storage unit when contact with an obstacle is sensed by the sensing unit, and a stopping unit for stopping operation of the robot moved in reverse by the reverse movement unit.

Description

ロボット制御システム、ロボット制御方法、及びプログラムRobot control system, robot control method, and program
本発明は、ロボット制御システム、ロボット制御方法、及びプログラムに関するものである。 The present invention relates to a robot control system, a robot control method, and a program.
例えば、特許文献１では、ロボットが物体と接触する接触位置を検出するための装置において、前記ロボットに取り付けられ、物体と接触する方向に弾性的に変位可能なプローブと、動作中の前記ロボットに対して前記プローブの位置を計算するプローブ位置計算部と、前記プローブが物体と接触した状態を検出する接触検出部と、前記プローブの接触状態が検出された場合、計算された前記プローブの位置に基づいて前記接触位置を導出する、接触位置計算部と、を備えることを特徴とする、装置が開示されている。 For example, in Patent Literature 1, in a device for detecting a contact position where a robot contacts an object, a probe attached to the robot and elastically displaceable in a direction in which the robot contacts the object is provided. A probe position calculation unit for calculating the position of the probe, a contact detection unit for detecting a state in which the probe is in contact with an object, and a contact state of the probe, the calculated position of the probe And a contact position calculation unit that derives the contact position based on the contact position.
特開２０１１‐２３０２３４号公報JP 2011-230234 A
　本発明は、ロボットをより安全かつ効率的に制御するロボット制御システムを提供することを目的とする。 The object of the present invention is to provide a robot control system that controls a robot more safely and efficiently.
　本発明に係るロボット制御システムは、ロボットの動作の軌跡を記憶する軌跡記憶部と、前記ロボットを動作させる前進部と、前記前進部により動作する前記ロボットが障害物に接触したことを検知する検知部と、前記検知部により障害物への接触が検知された場合に、前記ロボットを、前記軌跡記憶部により記憶された軌跡に基づいて、障害物との接触位置から逆進させる逆進部と、前記逆進部により逆進した前記ロボットの動作を停止する停止部とを有する。 A robot control system according to the present invention includes a trajectory storage unit that stores a trajectory of an operation of a robot, a forward unit that operates the robot, and a detection that detects that the robot that is operated by the forward unit contacts an obstacle. And a reversing unit for reversing the robot from the contact position with the obstacle, based on the trajectory stored by the trajectory storage unit, when contact with the obstacle is detected by the detection unit. And a stop unit that stops the operation of the robot that has reversed by the reversing unit.
　好適には、前記検知部により障害物との接触を検知した時のロボットの座標を保持する座標管理部と、前記検知部により障害物との接触により中断したプログラムの中断位置を保持するプログラム管理部と、前記停止部により中断されたプログラムを再開するプログラム再開部と、をさらに有し、前記座標管理部により保持された座標と、再稼働した前記ロボットの座標とが一致した場合に、前記プログラム再開部は、前記プログラム管理部により保持される中断した位置からプログラムを再開する。 Preferably, a coordinate management unit that holds the coordinates of the robot when the detection unit detects the contact with the obstacle, and a program management unit that holds the interruption position of the program interrupted by the contact with the obstacle by the detection unit And a program resuming unit for resuming the program interrupted by the stopping unit, further comprising a program resuming unit, wherein the coordinates held by the coordinate management unit and the coordinates of the restarted robot match, The program restart unit restarts the program from the interrupted position held by the program management unit.
　好適には、前記前進部は、前記逆進部により逆進した軌跡を戻り、前記プログラム再開部は、前記前進部により軌跡を戻るロボットの座標と前記座標管理部により保持された座標とが一致した場合に、プログラムを再開する。 Preferably, the advancing unit returns a trajectory reversed by the reversing unit, and the program resuming unit matches the coordinates of the robot returning the trajectory by the advancing unit with the coordinates held by the coordinate management unit. If so, restart the program.
　好適には、前記ロボットは、サーボモータの発生推力と、減速機構による増加推力と、前記ロボット筐体の最大のモーメント長との合計推力値が４０Ｎ以下である。 Preferably, the total thrust value of the thrust generated by the servomotor, the increased thrust by the speed reduction mechanism, and the maximum moment length of the robot housing is 40 N or less.
　本発明に係るロボット制御方法は、ロボットの動作の軌跡を記憶するステップと、前記ロボットを動作させるステップと、前記動作させるステップにより動作する前記ロボットが障害物に接触したことを検知するステップと、前記検知するステップにより障害物への接触が検知された場合に、前記ロボットを、前記記憶するステップにより記憶された軌跡に基づいて、障害物との接触位置から逆進させるステップと、前記逆進するステップにより逆進した前記ロボットの動作を停止するステップとを有する。 The robot control method according to the present invention includes a step of storing a trajectory of the operation of the robot, a step of operating the robot, and a step of detecting that the robot operated by the step of operating contacts an obstacle, When the contact with the obstacle is detected by the detecting step, the robot moves backward from a contact position with the obstacle based on the trajectory stored in the storing step; Stopping the operation of the robot that has reversed in the reverse direction.
　本発明に係るプログラムは、ロボットの動作の軌跡を記憶するステップと、前記ロボットを動作させるステップと、前記動作させるステップにより動作する前記ロボットが障害物に接触したことを検知するステップと、前記検知するステップにより障害物への接触が検知された場合に、前記ロボットを、前記記憶するステップにより記憶された軌跡に基づいて、障害物との接触位置から逆進させるステップと、前記逆進するステップにより逆進した前記ロボットの動作を停止するステップとをコンピュータに実行させる。 The program according to the present invention includes a step of storing a trajectory of the operation of the robot, a step of operating the robot, a step of detecting that the robot operated by the step of operating has contacted an obstacle, When the contact with the obstacle is detected by the step of performing, the step of causing the robot to move backward from the position of contact with the obstacle based on the trajectory stored by the storing step; and the step of moving backward. Stopping the operation of the robot that has moved backward by the computer.
本発明によれば、ロボットをより安全かつ効率的に制御することができる。 According to the present invention, a robot can be controlled more safely and efficiently.
ロボット制御システム１の全体構成を例示する図である。FIG. 1 is a diagram illustrating an overall configuration of a robot control system 1. スカラロボット３とロボットコントローラ７との相互作用を表す図である。FIG. 3 is a diagram illustrating an interaction between the SCARA robot 3 and a robot controller 7. ロボットコントローラ７の機能構成を例示する図である。FIG. 3 is a diagram illustrating a functional configuration of a robot controller 7; ロボット制御システム１における人体と接触時のロボット制御のシーケンス図である。FIG. 3 is a sequence diagram of robot control when the robot control system 1 makes contact with a human body. ロボット制御システム１における、スカラロボット３の再開処理（Ｓ１０）を説明するフローチャートである。6 is a flowchart illustrating a restart process (S10) of the SCARA robot 3 in the robot control system 1.
　スカラ型協働ロボットの安全動作は、ロボットを構成するサーボモータと減速機を含むアクチュエータ系が発生する最大推力を安全規格の既定値以内に抑えることで実現されてきた。つまり、これまでの安全動作は、作業者とロボットとが作業中に接触した場合に、人体に損傷を与えることなく、ロボットが動作を停止できることという最低限の要求を満たすに過ぎず、ロボットの再稼働について確立した手法は存在しなかった。 安全 Safe operation of the SCARA type cooperative robot has been realized by keeping the maximum thrust generated by the actuator system including the servo motor and the reduction gear that compose the robot within the specified value of the safety standard. In other words, the safe operation up to now only fulfills the minimum requirement that the robot can stop its operation without damaging the human body when the worker and the robot come into contact during the work, There was no established method for restarting.
　従来の協働ロボットの安全動作に係る一連の手続き（動作）は、ロボットが人体との接触による停止動作を実行し、ロボットの操作者が停止動作を確認し、人体の安全を確認し、作業途中のロボットのプログラムを破棄し、ロボットの作業開始点であるロボット原点へ復帰させ、次のロボット動作の再スタート指令を待つという時間のかかる作業手順が必要であった。この作業の中断により復旧プロセスとして「原点復帰動作」及び「ワーク廃棄」が必要となり、時間がかかるためにタクトタイムが増加し、生産ライン内の他のロボットとの同期動作が難しくなり、生産ライン全体のタクト調整が必要となる可能性もあった。 A series of procedures (operations) related to the safety operation of a conventional collaborative robot are as follows: the robot executes a stop operation due to contact with the human body, the robot operator confirms the stop operation, confirms the safety of the human body, performs work A time-consuming work procedure was required in which the program of the robot in the middle was discarded, the robot was returned to the robot origin, which is the starting point of the work, and a restart command for the next robot operation was waited. Due to the interruption of this work, "origin return operation" and "work discarding" are required as a recovery process, which increases the tact time because it takes time, making it difficult to synchronize with other robots in the production line. There was a possibility that tact adjustment of the whole was necessary.
　具体的には、スカラ型協働ロボットの設置要件は、作業者とロボットの協働作業を円滑に行えることが必須とされるために、作業者の周りに近く設置されることが多い。そのため、共同作業中に誤って作業者がロボットの筐体に接触してしまうことが有り得るこの場合、人体に損傷を与えないことが最大の仕様項目となる。そして、一旦接触が発生した場合、いかに短い時間で再起動し、接触で中断したロボットの作業を復旧させるかが次の要求項目となる。短時間復旧の仕様はロボットの接触が発生した実行中のタクトの取り扱いで決まってくる。つまり、従来は、接触が起きたタクトは廃棄し、一旦ロボットを原点位置まで戻し、ワークを廃棄し、ロボットを初期条件まで戻してから次の新しいタクトに入る。一般のロボットは、作業中に停止が発生した場合は、何らかの異常事態が発生したと捉えられ、ロボット管理者は、直ちにメイン電源を切り、安全を確認するための調査作業に入る。この作業には、それなりの時間がかかる。 Specifically, the installation requirement of a scalar-type cooperative robot is often that it is installed close to the worker because it is essential that the worker and the robot can cooperate smoothly. Therefore, it is possible that the worker may accidentally come into contact with the housing of the robot during the joint work. In this case, the biggest specification item is not to damage the human body. Then, once contact occurs, the next requirement is how to restart the robot in a short time and restore the work of the robot interrupted by the contact. The specification of the short-time recovery is determined by the handling of the running tact when the robot touches. That is, conventionally, the tact in which contact has occurred is discarded, the robot is returned to the origin position once, the work is discarded, the robot is returned to the initial condition, and then the next new tact is entered. If a general robot is stopped during operation, it is considered that some abnormal situation has occurred, and the robot administrator immediately turns off the main power supply and starts an investigation operation for confirming safety. This will take some time.
　そこで、本発明は、これらの課題を解決するために、作業者がスカラ型協働ロボットと接触した場合に、ロボットは、退避動作を実行した後に停止し、再起動後に停止前のプログラムの続きを実行し、人体の安全確保を行うとともに、作業途中のロボットのプログラムを破棄することなく処理を続けるロボット制御システムを提供するものである。 In order to solve these problems, the present invention solves these problems. When an operator comes into contact with a scalar-type cooperative robot, the robot stops after performing a retreat operation, and restarts after restarting. To ensure the safety of the human body, and to provide a robot control system that continues processing without destroying the program of the robot in the middle of work.
　図１は、ロボット制御システム１の全体構成を例示する図である。
　図１に例示するように、ロボット制御システム１は、スカラロボット３及びロボットコントローラ７を有する。
　スカラロボット３は、多関節ロボットであり、サーボモータ９の力で関節を可動させ、アームの先端に取り付けるエンドエフェクタを目的の位置に移動させ、物を掴んで移動させたり、溶接を行ったり、塗装を行ったりする。各関節は、サーボアクチュエータ１１を有し、これにより、サーボモータ９の位置や速度の制御を行う。本例におけるスカラロボット３は、旋回軸、第一水平軸、第二水平軸、及び上下垂直軸の４軸を有する。また、本例におけるスカラロボット３は、１．８度ステップのハイブリッド・ステッピングモーターを多極の同期電動機と捉え、２００パルス／１回転のエンコーダをモータ回転軸上に配置したモータをブラシレスサーボアクチュエータとする制御方式を用いた電動機を全ての構成軸用アクチュエータとして用いた。スカラロボット３は、本発明に係るロボットの一例である。 FIG. 1 is a diagram illustrating an overall configuration of the robot control system 1.
As illustrated in FIG. 1, the robot control system 1 has a SCARA robot 3 and a robot controller 7.
The SCARA robot 3 is an articulated robot, which moves a joint by the force of a servomotor 9, moves an end effector attached to the end of an arm to a target position, grasps and moves an object, performs welding, Or painting. Each joint has a servo actuator 11, which controls the position and speed of the servo motor 9. The SCARA robot 3 in this example has four axes of a turning axis, a first horizontal axis, a second horizontal axis, and a vertical axis. Further, the SCARA robot 3 in this example regards a 1.8-degree step hybrid stepping motor as a multi-pole synchronous motor, and uses a brushless servo actuator as a motor in which an encoder of 200 pulses / 1 rotation is arranged on the motor rotation axis. The electric motor using the control method described above was used as the actuator for all the constituent axes. The SCARA robot 3 is an example of the robot according to the present invention.
通常の４軸スカラロボットは、旋回軸とは別の場所に上下垂直軸を設けるためにロボット筐体が複雑に変形し、その変形により、ロボット作業空間を減少させることになる。
　一方で、本例の４軸のサーボアクチュエータ１１は、全てスカラロボット３の筐体の中に内蔵しており、その構造は、旋回軸の真上に上下垂直軸を設けているためシンプルな構造である。 In a normal four-axis SCARA robot, the robot housing is complicatedly deformed because the vertical axis is provided at a place different from the turning axis, and the deformation reduces the robot working space.
On the other hand, the four-axis servo actuator 11 of this example is all built in the housing of the SCARA robot 3, and its structure is simple because the vertical axis is provided directly above the turning axis. It is.
　ロボットコントローラ７は、サーボモータ９を制御するサーボアンプや基板などが収納された制御装置であり、スカラロボット３の動きを総合的にコントロールする。具体的には、ロボットコントローラ７は、スカラロボット３の座標管理、推力管理等を行う。なお、図１において、ロボットコントローラ７は、スカラロボット３から独立しているが、小型化により、旋回軸直上のスカラロボット３の筐体内に入れ込まれてもよい。小型化によりスカラロボット３の作業空間の有効活用が可能になる。また、ロボットコントローラ７は、特許第４３３２８７９号をベースとして従来のプログラム言語（ロボットプログラム言語を含む）を用いない、ビジュアルプログラムを採用し、プログラム初心者の負担を極端に軽減した。 The robot controller 7 is a control device in which a servo amplifier for controlling the servomotor 9 and a board are stored, and controls the movement of the SCARA robot 3 comprehensively. Specifically, the robot controller 7 performs coordinate management, thrust management, and the like of the SCARA robot 3. In FIG. 1, the robot controller 7 is independent of the SCARA robot 3, but may be inserted into the housing of the SCARA robot 3 immediately above the turning axis due to miniaturization. The downsizing enables the working space of the SCARA robot 3 to be effectively used. The robot controller 7 employs a visual program based on Japanese Patent No. 4332879, which does not use a conventional programming language (including a robot programming language), thereby greatly reducing the burden on program beginners.
　図２は、スカラロボット３とロボットコントローラ７との相互作用を表す図である。
　図２に例示するように、ロボットコントローラ７は、サーボコントローラ５と信号の送受信を行い、サーボコントローラ５を介してサーボモータ９を制御する。
　スカラロボット３の接触検知部は、障害物の接触を検知した場合に、サーボコントローラ５及びロボットコントローラ７に接触を通知する。サーボコントローラ５は、各サーボモータ９を停止させ、ロボットコントローラ７は、停止したロボットの停止座標を管理する。再起動スイッチにより再起動の信号が送信された場合に、ロボットコントローラ７は、サーボコントローラ５に再起動の通知を行い、スカラロボット３が再起動後に初めて停止座標に到達した時に、中断したプログラムを再開する。 FIG. 2 is a diagram illustrating the interaction between the SCARA robot 3 and the robot controller 7.
As illustrated in FIG. 2, the robot controller 7 transmits and receives signals to and from the servo controller 5 and controls the servo motor 9 via the servo controller 5.
The contact detection unit of the SCARA robot 3 notifies the servo controller 5 and the robot controller 7 of the contact when detecting contact with an obstacle. The servo controller 5 stops each servomotor 9, and the robot controller 7 manages stop coordinates of the stopped robot. When the restart signal is transmitted by the restart switch, the robot controller 7 notifies the servo controller 5 of the restart, and when the SCARA robot 3 reaches the stop coordinates for the first time after the restart, the robot controller 7 executes the interrupted program. To resume.
　図３は、ロボットコントローラ７の機能構成を例示する図である。
　図３に例示するように、ロボットコントローラ７には、ロボット制御プログラム７０がインストールされる。ロボット制御プログラム７０は、軌跡記憶部７００、前進部７０２、停止検知部７０４、逆進部７０６、停止部７０８、座標管理部７１０、プログラム管理部７１２、プログラム再開部７１４、及び推力管理部７０８を有する。
　軌跡記憶部７００は、スカラロボット３の動作の軌跡を記憶する。
　前進部７０２は、スカラロボット３を動作させる。また、前進部７０２は、スカラロボット３の再稼働時に、逆進部７０６（後述）により逆進した軌跡に基づいて、逆進した移動量と等しい移動量をサーボコントローラ５にセットし、スカラロボット３に戻らせる。
　停止検知部７０４は、前進部７０２により動作するスカラロボット３が障害物に接触したことを検知する。具体的には、スカラロボット３が障害物と接触した場合に、スカラロボット３の接触検知部が接触を検知し、停止検知部７０４に通知する。また、停止検知部７０４は、スカラロボット３が実行中であったプログラムを中断する。停止検知部７０４は、本発明に係る検知部の一例である。 FIG. 3 is a diagram illustrating a functional configuration of the robot controller 7.
As illustrated in FIG. 3, a robot control program 70 is installed in the robot controller 7. The robot control program 70 includes a trajectory storage section 700, a forward section 702, a stop detection section 704, a reverse section 706, a stop section 708, a coordinate management section 710, a program management section 712, a program restart section 714, and a thrust management section 708. Have.
The trajectory storage unit 700 stores the trajectory of the operation of the SCARA robot 3.
The advance unit 702 operates the SCARA robot 3. When the SCARA robot 3 is restarted, the forward section 702 sets a movement amount equal to the backward movement amount to the servo controller 5 based on the trajectory reversed by the backward movement section 706 (described later), and Return to 3.
The stop detection unit 704 detects that the SCARA robot 3 operated by the advance unit 702 has contacted an obstacle. Specifically, when the SCARA robot 3 comes into contact with an obstacle, the contact detection unit of the SCARA robot 3 detects the contact and notifies the stop detection unit 704. In addition, the stop detection unit 704 interrupts the program being executed by the SCARA robot 3. The stop detection unit 704 is an example of a detection unit according to the present invention.
　逆進部７０６は、停止検知部７０４により障害物への接触が検知された場合に、スカラロボット３を、軌跡記憶部７００により記憶された軌跡に基づいて、障害物との接触位置から逆進させる。具体的には、逆進部７０６は、停止検知部７０４により障害物への接触が検知された場合に、移動用逆進用パルスをサーボコントローラ５に出力し、スカラロボット３を、接触検知時から一定の距離で逆進させる。これにより、障害物とスカラロボット３との距離が保たれ、安全が確保される。
　停止部７０８は、逆進部７０６により逆進したスカラロボット３の動作を停止する。
　座標管理部７１０は、停止検知部７０４により障害物との接触を検知した時のロボットの座標を保持する。具体的には、座標管理部７１０は、停止検知部７０４により接触を検知した場合に、スカラロボット３の構成軸の全座標をメモリに記憶する。
　プログラム管理部７１２は、停止検知部７０４により障害物との接触により中断したプログラムの中断位置を保持する。 The reversing unit 706 reversely moves the SCARA robot 3 from the contact position with the obstacle based on the trajectory stored by the trajectory storage unit 700 when the stop detection unit 704 detects the contact with the obstacle. Let it. More specifically, when the stop detection unit 704 detects contact with an obstacle, the reversing unit 706 outputs a reversing pulse for movement to the servo controller 5 and causes the SCARA robot 3 to detect the contact when the contact is detected. Reverse at a certain distance from. Thereby, the distance between the obstacle and the SCARA robot 3 is maintained, and safety is ensured.
The stop unit 708 stops the operation of the SCARA robot 3 that has been moved backward by the backward movement unit 706.
The coordinate management unit 710 holds the coordinates of the robot when the stop detection unit 704 detects contact with an obstacle. Specifically, when the stop detection unit 704 detects a contact, the coordinate management unit 710 stores all the coordinates of the constituent axes of the SCARA robot 3 in the memory.
The program management unit 712 holds the interruption position of the program interrupted by the stop detection unit 704 due to contact with an obstacle.
　プログラム再開部７１４は、プログラム管理部７１２により保持されたプログラムの中断位置からプログラムを再開する。具体的には、プログラム再開部７１４は、座標管理部７１０により保持された座標と、再稼働したスカラロボット３の座標とが一致した場合に、プログラム管理部７１２により保持される中断した位置からプログラムを再開する。より具体的には、プログラム再開部７１４は、前進部７０２により、逆進した軌跡を戻るロボットの座標と前記座標管理部７１２により保持された座標とが一致した場合に、プログラムを再開する。すなわち、プログラム再開部７１４は、再起動したスカラロボット３が、座標管理部７１０により管理される停止座標を通過した時点で接触停止以降の残りのプログラムに切り替える。これにより、最小のロスタイムでロボットの一つのシーケンスを完了することができる。
　推力管理部７１６は、スカラロボット３のアームの推力を制御し、サーボアクチュエータ１１の最大推力は、４０N以下である。具体的には、推力管理部７１６は、サーボモータ９の発生推力と、減速機構による増加推力と、スカラロボット３筐体の最大のモーメント長との合計推力値が４０Ｎ以下になるよう制御する。すなわち、本例において、４軸のサーボアクチュエータ各々の発生最大推力は４０Ｎ以下である。これにより、スカラロボット３は、人体または外部移動動物体との接触時、４０Ｎの力でつり合いが取られ、人体または外部移動動物体に損傷を受けることなく停止することができる。 The program resuming unit 714 restarts the program from the interrupted position of the program held by the program management unit 712. More specifically, when the coordinates held by the coordinate management unit 710 match the coordinates of the restarted SCARA robot 3, the program resuming unit 714 starts the program from the interrupted position held by the program management unit 712. Resume. More specifically, the program resuming unit 714 restarts the program when the coordinates of the robot returning on the backward trajectory by the advancing unit 702 match the coordinates held by the coordinate management unit 712. That is, the program resuming unit 714 switches to the remaining program after the contact stop when the restarted SCARA robot 3 passes the stop coordinates managed by the coordinate management unit 710. Thereby, one sequence of the robot can be completed with the minimum loss time.
The thrust management unit 716 controls the thrust of the arm of the SCARA robot 3, and the maximum thrust of the servo actuator 11 is 40N or less. Specifically, the thrust management unit 716 controls the total thrust value of the generated thrust of the servomotor 9, the increased thrust by the speed reduction mechanism, and the maximum moment length of the SCARA robot 3 case to be 40 N or less. That is, in this example, the generated maximum thrust of each of the four-axis servo actuators is 40 N or less. Thus, when the SCARA robot 3 comes into contact with a human body or an external moving animal, the SCARA robot 3 is balanced by a force of 40N, and can be stopped without being damaged by the human body or the external moving animal.
　図４は、ロボット制御システム１における人体との接触時のロボット制御のシーケンス図である。
　図４に例示するように、スカラロボット３は、障害物との接触を検知した場合に、スカラロボット３の動作を減速し、停止させる。続いて、スカラロボット３を既定の移動量で逆進させ停止させる。その後、スカラロボット３の操作者により安全確認がなされ、スカラロボット３の再稼働スイッチが押下され、中断したプログラムの中断位置からプログラムが再開される。 FIG. 4 is a sequence diagram of robot control at the time of contact with a human body in the robot control system 1.
As illustrated in FIG. 4, when detecting the contact with the obstacle, the SCARA robot 3 slows down and stops the operation of the SCARA robot 3. Subsequently, the SCARA robot 3 is moved backward by a predetermined movement amount and stopped. Thereafter, safety is confirmed by the operator of the SCARA robot 3, the restart switch of the SCARA robot 3 is pressed, and the program is restarted from the interrupted position of the interrupted program.
　図５は、ロボット制御システム１における、スカラロボット３の停止処理（Ｓ１０）を説明するフローチャートである。
　図５に例示するように、ステップ１００（Ｓ１００）において、スカラロボット３は、前進部７０２により動作し、作業を実施する。軌跡記憶部７００は、前進部７０２によるスカラロボット３の動作の軌跡を記憶する。
　ステップ１０５（Ｓ１０５）において、スカラロボット３の接触検知部は、障害物との接触を検知し、ロボットコントローラ７の停止検知部７０４へ接触を通知する。停止検知部７０４は、停止部７０８に接触の検知を通知する。
　ステップ１１０（Ｓ１１０）において、スカラロボット３の接触検知部は、サーボコントローラ５を介してサーボモータ９を停止させる。また、停止検知部７０４は、実行中のプログラムを中断し、プログラム管理部７１２は、プログラムの中断位置を記憶する。さらに、座標管理部７１０は、スカラロボット３の停止座標を保持する。 FIG. 5 is a flowchart illustrating stop processing (S10) of the SCARA robot 3 in the robot control system 1.
As illustrated in FIG. 5, in step 100 (S100), the SCARA robot 3 is operated by the advance unit 702 to perform an operation. The trajectory storage unit 700 stores the trajectory of the operation of the SCARA robot 3 by the advance unit 702.
In step 105 (S105), the contact detection unit of the SCARA robot 3 detects the contact with the obstacle, and notifies the stop detection unit 704 of the robot controller 7 of the contact. The stop detection unit 704 notifies the stop unit 708 of the detection of the contact.
In step 110 (S110), the contact detection unit of the SCARA robot 3 stops the servo motor 9 via the servo controller 5. Further, the stop detection unit 704 interrupts the program being executed, and the program management unit 712 stores the interruption position of the program. Further, the coordinate management unit 710 holds the stop coordinates of the SCARA robot 3.
　ステップ１１５（Ｓ１１５）において、逆進部７０６は、スカラロボット３を、軌跡記憶部７００により記憶された軌跡に基づいて、停止した位置から微小区間だけ逆進させる。障害物が人体である場合、スカラロボット３が人体との接触位置から定められた移動量を逆進することにより、人体から遠ざかり安全を確保することができる。
　ステップ１２０（Ｓ１２０）において、停止部７０８は、逆進したスカラロボット３を再停止させる。
　ステップ１２５（Ｓ１２５）において、スカラロボット３の操作者は、スカラロボット３の動作軌跡内に人体又は外部移動物体が存在していないことを確認し、スカラロボット３を再稼働させるため、再起動スイッチを押下する。ロボットコントローラ７は、再起動スイッチの押下を検知した場合にＳ１３０へ移行し、押下を検知していない場合は待機する。
　ステップ１３０（Ｓ１３０）において、前進部７０２は、逆進した軌跡をスカラロボット３に前進させる。プログラム管理部７１２は、座標管理部７１０により保持されたスカラロボット３の停止座標と再稼働したスカラロボット３の座標とが一致しているか否かを判定する。一致している場合は、Ｓ１３５へ移行する。一致していない場合は、一致するまでプログラムの再開を待つ。
　ステップ１３５（Ｓ１３５）において、プログラム再開部７１４は、プログラム管理部により管理されるプログラムの中断位置からプログラムを再開する。 In step 115 (S115), the reversing unit 706 retreats the SCARA robot 3 by a minute section from the stopped position based on the trajectory stored by the trajectory storage unit 700. When the obstacle is a human body, the SCARA robot 3 moves away from the human body by reversing a predetermined amount of movement from the contact position with the human body, so that safety can be ensured.
In step 120 (S120), the stopping unit 708 stops the backward moving SCARA robot 3 again.
In step 125 (S125), the operator of the SCARA robot 3 confirms that a human body or an external moving object does not exist in the movement trajectory of the SCARA robot 3, and restarts the SCARA robot 3 in order to restart the SCARA robot 3. Press. The robot controller 7 proceeds to S130 when detecting depression of the restart switch, and stands by when not detecting depression.
In step 130 (S130), the forward moving section 702 advances the backward trajectory to the SCARA robot 3. The program management unit 712 determines whether the stop coordinates of the SCARA robot 3 held by the coordinate management unit 710 match the coordinates of the SCARA robot 3 restarted. If they match, the process moves to S135. If they do not match, wait for the program to resume until they match.
In step 135 (S135), the program resuming unit 714 restarts the program from the interrupted position of the program managed by the program management unit.
　ロボット制御システム１において、スカラロボット３の停止要因が人体接触と外部遺物接触と特定されているために、ロボットが安全停止しても、その後直ちにロボット動作軌跡内障害物（人体あるいは外部遺物）が取り除かれているか否かの安全確認が可能であり、安全確認がされれば直ちに接触から停止が発生した現タクトの残りの工程を再実行することが可能であり、短時間工程が中断する「チョコ停」停止理由が明確であるため、工程を継続させることに問題は発生しない。したがって、停止動作が発生しても、その工程を破棄することなく、極短時間の停止のみで他工程に影響を及ぼすようなものではなく現場での取り扱いが簡単となる利点を有する。 In the robot control system 1, since the cause of the stop of the SCARA robot 3 is specified to be a human body contact and an external relic contact, even if the robot is safely stopped, an obstacle (a human body or an external relic) in the robot motion trajectory is immediately thereafter. It is possible to confirm the safety of whether or not it has been removed, and if the safety is confirmed, it is possible to immediately re-execute the remaining steps of the current tact that has been stopped from contact, and the process is interrupted for a short time. There is no problem in continuing the process because the reason for stopping "choco stop" is clear. Therefore, even if the stop operation occurs, there is an advantage that the stoppage of the process is not abandoned and only the stoppage for an extremely short time does not affect other processes, and the handling at the site is simplified.
　以上説明したように、ロボット制御システム１は、スカラロボット３が接触停止したところから瞬時に微小区間の退避動作を実行させ、退避動作後、直ちに安全確認しロボットを再起動させる。これにより接触した障害物に対し更なる被害を与えることなく、安全停止動作に要する時間を最小にすることができる。さらに、再起動後のスカラロボット３が最初に接触停止点を通過する時、停止前の残りのプログラムの続きを走らせることで、短時間（チョコ停の範疇）で復旧できることを可能にする。 As described above, the robot control system 1 causes the scalar robot 3 to immediately perform a retreat operation in a minute section from the point of contact stop, immediately after the retreat operation, confirms safety and restarts the robot. As a result, the time required for the safety stop operation can be minimized without further damage to the contacted obstacle. Furthermore, when the SCARA robot 3 after the restart passes the contact stop point for the first time, by running the rest of the program before the stop, it is possible to recover in a short time (the category of a short stop).
１…ロボット制御システム
３…スカラロボット
５…サーボコントローラ
７…ロボットコントローラ
９…サーボモータ
１１…サーボアクチュエータ DESCRIPTION OF SYMBOLS 1 ... Robot control system 3 ... SCARA robot 5 ... Servo controller 7 ... Robot controller 9 ... Servo motor 11 ... Servo actuator

Claims (6)

  1. 　ロボットの動作の軌跡を記憶する軌跡記憶部と、
    　前記ロボットを動作させる前進部と、
    　前記前進部により動作する前記ロボットが障害物に接触したことを検知する検知部と、
    　前記検知部により障害物への接触が検知された場合に、前記ロボットを、前記軌跡記憶部により記憶された軌跡に基づいて、障害物との接触位置から逆進させる逆進部と、
    　前記逆進部により逆進した前記ロボットの動作を停止する停止部と
    　を有するロボット制御システム。     A trajectory storage unit that stores a trajectory of the operation of the robot;
    An advance unit for operating the robot,
    A detection unit that detects that the robot operated by the advance unit has contacted an obstacle,
    When the contact with the obstacle is detected by the detection unit, based on the trajectory stored by the trajectory storage unit, the robot, a reversing unit that reverses from the position of contact with the obstacle,
    A stopping unit that stops the operation of the robot that has moved backward by the reversing unit.
  2. 　前記検知部により障害物との接触を検知した時のロボットの座標を保持する座標管理部と、
    　前記検知部により障害物との接触により中断したプログラムの中断位置を保持するプログラム管理部と、
    　前記停止部により中断されたプログラムを再開するプログラム再開部と、
    　をさらに有し、
    　前記座標管理部により保持された座標と、再稼働した前記ロボットの座標とが一致した場合に、前記プログラム再開部は、前記プログラム管理部により保持される中断した位置からプログラムを再開する
    　請求項１に記載のロボット制御システム。     A coordinate management unit that holds the coordinates of the robot when the contact with the obstacle is detected by the detection unit;
    A program management unit that holds an interruption position of a program interrupted by contact with an obstacle by the detection unit,
    A program resuming unit for resuming a program interrupted by the stopping unit,
    Further having
    The program resuming unit resumes the program from the interrupted position held by the program management unit when the coordinates held by the coordinate management unit match the coordinates of the restarted robot. The robot control system according to 1.
  3. 　前記前進部は、前記逆進部により逆進した軌跡を戻り、
    　前記プログラム再開部は、前記前進部により軌跡を戻るロボットの座標と前記座標管理部により保持された座標とが一致した場合に、プログラムを再開する
    　請求項２に記載のロボット制御システム。     The forward section returns a trajectory that has been reversed by the reverse section,
    The robot control system according to claim 2, wherein the program resuming unit restarts the program when the coordinates of the robot returning the trajectory by the advancing unit match the coordinates held by the coordinate management unit.
  4. 　前記ロボットは、サーボモータの発生推力と、減速機構による増加推力と、前記ロボット筐体の最大のモーメント長との合計推力値が４０Ｎ以下である
    　請求項１に記載のロボット制御システム。     The robot control system according to claim 1, wherein the robot has a total thrust value of a thrust generated by a servomotor, an increased thrust by a deceleration mechanism, and a maximum moment length of the robot housing of 40N or less.
  5. 　ロボットの動作の軌跡を記憶するステップと、
    　前記ロボットを動作させるステップと、
    　前記動作させるステップにより動作する前記ロボットが障害物に接触したことを検知するステップと、
    　前記検知するステップにより障害物への接触が検知された場合に、前記ロボットを、前記記憶するステップにより記憶された軌跡に基づいて、障害物との接触位置から逆進させるステップと、
    　前記逆進するステップにより逆進した前記ロボットの動作を停止するステップと
    　を有するロボット制御方法。     Storing a trajectory of the movement of the robot;
    Operating the robot;
    Detecting that the robot operating by the operating step has contacted an obstacle,
    When the contact with the obstacle is detected by the detecting step, based on the trajectory stored by the storing step, the robot reversely moves from the contact position with the obstacle,
    Stopping the operation of the robot that has moved backward by the step of moving backward.
  6. 　ロボットの動作の軌跡を記憶するステップと、
    　前記ロボットを動作させるステップと、
    　前記動作させるステップにより動作する前記ロボットが障害物に接触したことを検知するステップと、
    　前記検知するステップにより障害物への接触が検知された場合に、前記ロボットを、前記記憶するステップにより記憶された軌跡に基づいて、障害物との接触位置から逆進させるステップと、
    　前記逆進するステップにより逆進した前記ロボットの動作を停止するステップと
    　をコンピュータに実行させるプログラム。     Storing a trajectory of the movement of the robot;
    Operating the robot;
    Detecting that the robot operating by the operating step has contacted an obstacle,
    When the contact with the obstacle is detected by the detecting step, based on the trajectory stored by the storing step, the robot reversely moves from the contact position with the obstacle,
    Stopping the operation of the robot that has moved backward by the step of moving backward.
PCT/JP2018/032717 2018-07-30 2018-09-04 Robot control system, robot control method, and program WO2020026457A1 (en)

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