Control apparatus and control method for robot arm, assembly robot, control program for robot arm, and control-purpose integrated electronic circuit for robot arm

• US 9,211,646 B2
• Filed: 04/13/2011
• Issued: 12/15/2015
• Est. Priority Date: 08/21/2009
• Status: Active Grant

• Current Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Inventors: Tsusaka, Yuko, Okazaki, Yasunao
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US13/085,560
• Publication Number:
  US 20110190932A1
• Time in Patent Office: 1,707 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: G05B 19/423 Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
• CPC Class Codes: G05B 2219/36432 By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
• CPC Class Codes: G05B 2219/36433 Position assisted teaching
• CPC Class Codes: G05B 2219/39319 Force control, force as reference, active compliance
• CPC Class Codes: G05B 2219/39338 Impedance control, also mechanical
• CPC Class Codes: G05B 2219/40028 Insert flexible rod, beam into hole
• CPC Class Codes: G05B 2219/40033 Assembly, microassembly

Abstract

Provided is a control apparatus for a robot arm performing assembly. The control apparatus includes an operation database recording information as to an operation of the robot arm, and includes a correction operation type determining unit determining a correction type for the operation. The control apparatus also includes a force detecting unit detecting a force of a person, and an operation correction unit correcting an operation in accordance with the force of the person and the correction type, while the robot arm is performing a task.

Claims

1. A control apparatus for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control apparatus comprising:

a force detecting unit that detects a force of a person acting on the robot arm;

an information acquiring unit that acquires information regarding the operation of the robot arm, the acquired information including a position of the robot arm in the assembly task, and the force of the person detected by the force detecting unit;

a target object force detecting unit that detects a force applied to the target object by the robot arm;

an operation database that stores the information regarding the operation of the robot arm including the position of the robot arm in the assembly task;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on the information regarding the operation of the robot arm including the position of the robot arm acquired by the information acquiring unit, the force of the person acting on the robot arm acquired by the information acquiring unit, and the force applied to the target object detected by the target object force detecting unit, and the correction operation type being determined when the force detecting unit detects the force of the person acting on the robot arm during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database.

2. The control apparatus according to claim 1, wherein the acquired information regarding the operation of the robot arm includes, in correspondence to the assembly task performed by the robot arm, at least one of:

information regarding the position and an orientation of the robot arm;

information regarding a force applied to an assembly task plane by the robot arm;

information regarding a direction of the robot arm;

speed information regarding the robot arm; and

task disapproved region information regarding a region where no task of the robot arm is performed.

3. The control apparatus according to claim 1, further comprising a display unit that displays information regarding the correction operation type based on the correction operation type determined by the correction operation type determining unit.

4. An assembly robot comprising:

a robot arm; and

the control apparatus according to claim 1 which controls the robot arm.

5. A control apparatus for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control apparatus comprising:

a force detecting unit that detects a force of a person acting on the robot arm;

an information acquiring unit that acquires information regarding the operation of the robot arm, the acquired information including a position of the robot arm in the assembly task, and the force of the person detected by the force detecting unit;

a target object force detecting unit that detects a force applied to the target object by the robot arm;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on the information regarding the operation of the robot arm acquired by the information acquiring unit, and the force applied to the target object detected by the target object force detecting unit; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the assembly task of the robot arm previously determined,

wherein the acquired information regarding the operation of the robot arm includes, in correspondence to the assembly task performed by the robot arm, at least information regarding a force applied to a task plane by the robot arm, and

wherein, based on the acquired information regarding the operation of the robot arm, (i) the operation correction unit sets a force control mode in which the robot arm performs the operation having a preset force acted on the task plane, for each of x-axis, y-axis, and z-axis directions in which the robot arm is shiftable and (ii), while the robot arm is performing the operation, the operation correction unit corrects, in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit, one of a magnitude and a direction of a set force included in the acquired information regarding the operation of the robot arm before a correction operation.

6. A control apparatus for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control apparatus comprising:

a force detecting unit that detects a force of a person acting on the robot arm;

an information acquiring unit that acquires information regarding the operation of the robot arm, the acquired information including a position of the robot arm in the assembly task, and the force of the person detected by the force detecting unit;

a target object force detecting unit that detects a force applied to the target object by the robot arm;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on the information regarding the operation of the robot arm acquired by the information acquiring unit, and the force applied to the target object detected by the target object force detecting unit; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the assembly task of the robot arm previously determined,

wherein the acquired information regarding the operation of the robot arm includes, in correspondence to the assembly task performed by the robot arm;

information regarding the position and an orientation of the robot arm;

information regarding a direction of the robot arm;

speed information regarding the robot arm; and

task disapproved region information regarding a region where no task of the robot arm is performed, and

wherein, based on the acquired information regarding the operation of the robot arm, (i) the operation correction unit sets an impedance control mode in which the robot arm actuates in accordance with a force applied to the robot arm by the person while operating in a position control mode in which the position of the robot arm is controlled, the impedance control mode being set for each of x-axis, y-axis, and z-axis directions in which the robot arm is shiftable and, (ii) while the robot arm is operating the task, the operation correction unit corrects, in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit, the operation of the acquired information regarding the operation of the robot arm in the impedance control.

7. A control apparatus for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control apparatus comprising:

a force detecting unit that detects a force of a person acting on the robot arm;

an information acquiring unit that acquires information regarding the operation of the robot arm, the acquired information including a position of the robot arm in the assembly task, and the force of the person detected by the force detecting unit;

a target object force detecting unit that detects a force applied to the target object by the robot arm;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on the information regarding the operation of the robot arm acquired by the information acquiring unit, and the force applied to the target object detected by the target object force detecting unit; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the assembly task of the robot arm previously determined,

wherein the correction operation type determining unit detects a shift amount of the position and an orientation of the hand of the robot arm,

wherein, when the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit is less than a first threshold value and when the shift amount of the position and the orientation of the hand of the robot arm detected by the correction operation type determining unit is equal to or more than a third threshold value, the correction operation type determining unit determines a task plane position-and-orientation shift type as the correction operation type, and

wherein the operation correction unit corrects the position and the orientation of the hand of the robot arm, in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit.

8. The control apparatus for a robot arm according to claim 7, further comprising a display unit that displays information regarding the correction operation type based on the correction operation type determined by the correction operation type determining unit.

9. A control apparatus for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control apparatus comprising:

a force detecting unit that detects a force of a person acting on the robot arm;

an information acquiring unit that acquires information regarding the operation of the robot arm, the acquired information including a position of the robot arm in the assembly task, and the force of the person detected by the force detecting unit;

a target object force detecting unit that detects a force applied to the target object by the robot arm;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on the information regarding the operation of the robot arm acquired by the information acquiring unit, and the force applied to the target object detected by the target object force detecting unit; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the assembly task of the robot arm previously determined,

wherein the correction operation type determining unit detects a shift amount of the position and an orientation of the hand of the robot arm,

wherein, when the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit is less than a first threshold value and when the shift amount of the position and the orientation of the hand of the robot arm detected by the correction operation type determining unit is less than a third threshold value, the correction operation type determining unit determines a speed correction type as the correction operation type, and

wherein the operation correction unit corrects a speed of the robot arm, in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit.

10. A control apparatus for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control apparatus comprising:

a force detecting unit that detects a force of a person acting on the robot arm;

an information acquiring unit that acquires information regarding the operation of the robot arm, the acquired information including a position of the robot arm in the assembly task, and the force of the person detected by the force detecting unit;

a target object force detecting unit that detects a force applied to the target object by the robot arm;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on the information regarding the operation of the robot arm acquired by the information acquiring unit, and the force applied to the target object detected by the target object force detecting unit; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the assembly task of the robot arm previously determined,

wherein the correction operation type determining unit detects a shift amount of the position and an orientation of the hand of the robot arm,

wherein, when (i) a component of the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit exceeds a certain threshold value for a certain time period, (ii) the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit is equal to or less than another certain threshold value for a certain time period, and (iii) the shift amount of the position and the orientation of the hand of the robot arm detected by the correction operation type determining unit is equal to or more than a certain threshold value, the correction operation type determining unit determines a position-and-orientation correction type as the correction operation type, and

wherein the operation correction unit corrects the position and the orientation of the robot arm, in accordance with the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit.

11. A control apparatus for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control apparatus comprising:

a force detecting unit that detects a force of a person acting on the robot arm;

an information acquiring unit that acquires information regarding the operation of the robot arm, the acquired information including a position of the robot arm in the assembly task, and the force of the person detected by the force detecting unit;

a target object force detecting unit that detects a force applied to the target object by the robot arm;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on the information regarding the operation of the robot arm acquired by the information acquiring unit, and the force applied to the target object detected by the target object force detecting unit; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the assembly task of the robot arm previously determined,

wherein, when (i) a component of the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit exceeds a certain threshold value for a certain time period, and (ii) the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit exceeds another certain threshold value for a certain time period, the correction operation type determining unit determines a force correction type as the correction operation type, and

wherein the operation correction unit corrects the position and an orientation of the robot arm, in accordance with the force applied to the target object detected by the target object force detecting unit and acquired by the information acquiring unit and the correction operation type determined by the correction operation type determining unit.

12. A control method for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control method being performed by a control apparatus and comprising:

detecting, via a force detecting unit of the control apparatus, a force of a person acting on the robot arm;

detecting, via a target object force detecting unit of the control apparatus, a force applied to the target object by the robot arm;

storing, via an operation database, information acquired by an information acquiring unit and regarding the operation of the robot arm including a position of the robot arm in the assembly task;

determining, via a correction operation type determining unit of the control apparatus, a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on (i) the stored information regarding the operation of the robot arm including the position of the robot arm acquired by the information acquiring unit, (ii) the force of the person acting on the robot arm detected by the force detecting unit, and (iii) the force applied to the target object detected by the target object force detecting unit, and the correction operation type being determined when the force detecting unit detects the force of the person acting on the robot arm during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database; and

correcting the operation of the robot arm, via an operation correction unit of the control apparatus, by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database.

13. A non-transitory computer-readable recording medium having a control program recorded thereon, the control program being for controlling a robot arm of an assembly task-performing robot and for controlling an operation of the robot arm for the assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control program causing a computer to execute a method comprising:

storing, via an operation database, information acquired by an information acquiring unit and regarding the operation of the robot arm including a position of the robot arm in the assembly task;

determining, via a correction operation type determining unit, a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on (i) the stored information regarding the operation of the robot arm including the position of the robot arm acquired by the information acquiring unit, (ii) a force of a person acting on the robot arm detected by a force detecting unit, and (iii) a force applied to the target object, as detected by a target object force detecting unit, and the correction operation type being determined when the force detecting unit detects the force of the person acting on the robot arm during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database; and

correcting the operation of the robot arm, via an operation correction unit, by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database.

14. A control-purpose integrated electronic circuit for controlling an operation of a robot arm of an assembly task-performing robot to perform an assembly task of assembling a target object gripped by the robot arm with respect to a targeted object, the control-purpose integrated electronic circuit comprising:

an operation database that stores information acquired by an information acquiring unit and regarding the operation of the robot arm including a position of the robot arm in the assembly task;

a correction operation type determining unit that determines a correction operation type for correcting the operation of the robot arm, the correction operation type being determined based on (i) the stored information regarding the operation of the robot arm including the position of the robot arm acquired by the information acquiring unit, (ii) a force of a person acting on the robot arm detected by a force detecting unit, and (iii) a force applied to the target object by the robot arm and detected by a target object force detecting unit, and the correction operation type being determined when the force detecting unit detects the force of the person acting on the robot arm during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database; and

an operation correction unit that corrects the operation of the robot arm by controlling the robot arm in accordance with the force of the person detected by the force detecting unit and the correction operation type determined by the correction operation type determining unit, the operation of the robot arm being corrected during the performance of the assembly task of the robot arm based on the information regarding the operation of the robot arm stored by the operation database.