CONTROL DEVICE, ROBOT SYSTEM AND ROBOT

• Main Author: SESHIMO ISAMU
• Format: Patent
• Language: English; Japanese
• Published: 27.02.2020
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To provide a technique that can prevent a situation where a reference output value of a force detection part deviates during stoppage when operation is stopped during execution of force-control, so that the force-control cannot be performed precisely.SOLUTION: The control device stops a movable part if a predetermined stopping condition is satisfied when the movable part is in contact with an object in force-control, executes separation-control by which the movable part is separated from the object if a predetermined resumption condition is satisfied after stopping the movable part, then executes resetting of the force detection part, and resumes the force-control after executing the resetting. In the other mode, the control device stops the movable part after executing the separation-control by which the movable part is separated from the object, if the predetermined stopping condition is satisfied when the movable part is in contact with the object in the force-control, and resumes the force-control after executing the resetting of the force detection part, if a predetermined resumption condition is satisfied after stopping the movable part.SELECTED DRAWING: Figure 5 【課題】力制御の実行中に動作を停止した場合に停止中に力検出部の基準出力値がずれて正確な力制御ができなくなることを防止する技術を提供する。【解決手段】制御装置は、力制御において可動部が対象物に接触しているときに予め定められた停止条件を満たした場合に可動部を停止させ、可動部の停止後に予め定められた再開条件を満たした場合には、対象物から可動部を離間させる離間制御を実行した後に力検出部のリセットを実行し、リセットの実行後に前記力制御を再開する。他の形態では、制御装置は、力制御において可動部が対象物に接触しているときに予め定められた停止条件を満たした場合に、対象物から可動部を離間させる離間制御をした後に可動部を停止させ、可動部の停止後に予め定められた再開条件を満たした場合には、力検出部のリセットを実行した後に力制御を再開する。【選択図】図５