阅读说明：本技术 控制装置、机器人系统以及控制方法 (Control device, robot system, and control method ) 是由 濑下勇 于 2019-08-21 设计创作，主要内容包括：本发明提供控制装置、机器人系统以及控制方法,防止在正在执行力控制时停止了动作的情况下力检测部的基准输出值在停止期间偏移而无法再进行准确的力控制。在力控制中可动部与对象物接触时满足预定的停止条件的情况下,控制装置使可动部停止,在可动部停止后满足预定的重新开始条件的情况下,控制部在执行使可动部从对象物分离的分离控制之后执行力检测部的重置,并在执行重置之后重新开始所述力控制。在其它方面中,在力控制中可动部与对象物接触时满足预定的停止条件的情况下,控制装置在进行使可动部从对象物分离的分离控制之后使可动部停止,在可动部停止后满足预定的重新开始条件的情况下,控制装置在执行力检测部的重置后重新开始力控制。(The invention provides a control device, a robot system and a control method, which prevent a reference output value of a force detection part from deviating during a stop period when an action is stopped when force control is executed and accurate force control can not be carried out any more. The control device stops the movable part when a predetermined stop condition is satisfied when the movable part is in contact with the object during the force control, and the control device resets the force detection part after performing separation control for separating the movable part from the object and restarts the force control after performing the reset when a predetermined restart condition is satisfied after the movable part is stopped. In another aspect, the control device stops the movable part after performing separation control for separating the movable part from the object when a predetermined stop condition is satisfied when the movable part is in contact with the object during the force control, and restarts the force control after resetting the force detecting unit when a predetermined restart condition is satisfied after the movable part is stopped.)

1. A control device for controlling a robot including a movable unit and a force detection unit for detecting a force applied to the movable unit,

the control device includes a control unit that performs force control on the movable unit based on an output of the force detection unit,

the control unit stops the force control when a predetermined stop condition is satisfied when the movable unit is in contact with an object during the force control, and performs a reset of the force detection unit after performing a separation control for separating the movable unit from the object and restarts the force control after performing the reset when a predetermined restart condition is satisfied after the movable unit is stopped.

2. A control device for controlling a robot including a movable unit and a force detection unit for detecting a force applied to the movable unit,

the control device includes a control unit that performs force control on the movable unit based on an output of the force detection unit,

the control unit stops the movable unit after performing separation control for separating the movable unit from the object when a predetermined stop condition is satisfied when the movable unit comes into contact with the object during the force control, and restarts the force control after resetting the force detection unit when a predetermined restart condition is satisfied after the movable unit is stopped.

3. The control device according to claim 1 or 2,

the control device includes a storage unit that stores a position of the movable unit when the force control is being executed,

the separation control performs separation according to the position of the movable portion stored in the storage portion.

4. The control device according to claim 1 or 2,

the separation control performs separation based on an avoidance operation taught in advance.

5. The control device according to claim 1 or 2,

the separation control is force control in which a target force in a direction perpendicular to a separation direction in which the movable portion separates is set smaller than the target force in the separation direction.

6. The control device according to claim 1 or 2,

the work sequence of the robot comprises a plurality of jobs,

the control device includes a receiving unit that receives, for each of the plurality of jobs, a setting of a position at which the movable unit is separated in the separation control.

7. A robot system, characterized in that,

the robot includes a robot and the control device according to any one of claims 1 to 6, wherein the robot includes a movable portion and a force detection portion that detects a force applied to the movable portion.

8. A control method for controlling a robot having a force detection unit for detecting a force and a movable unit for performing force control based on an output of the force detection unit,

the control method includes the steps of:

stopping the operation of the movable portion when a predetermined stop condition is satisfied when the movable portion is in contact with an object during the force control;

separating the movable part from the object when a predetermined restart condition is satisfied after the movable part is stopped;

performing a reset of the force detection part after the movable part is separated; and

restarting the force control after performing the reset.

9. A control method for controlling a robot having a force detection unit for detecting a force and a movable unit for performing force control based on an output of the force detection unit,

the control method includes the steps of:

separating the movable part from an object when a predetermined stop condition is satisfied when the movable part is in contact with the object during the force control;

stopping the operation of the movable part after the movable part is separated;

performing a reset of the force detection section when a predetermined restart condition is satisfied after the movable section is stopped; and

restarting the force control after performing the reset.

Technical Field

The invention relates to a robot control device, a robot system, and a control method.

Background

As a robot, a robot that performs force control using a force detection unit is known. In general, when force control is performed, the force detection unit is reset before the start of force control, and an operation of initializing the reference output value of the force detection unit is performed. Patent document 1 describes a technique of stopping an operation immediately when an interrupt command is received during execution of force control.

Patent document 1: japanese patent laid-open publication No. 2017-56549

However, the inventors of the present application found that: when the operation is stopped during the execution of the force control, the reference output value of the force detection unit may be shifted during the stop, and accurate force control may not be performed any more even if the operation is restarted thereafter.

Disclosure of Invention

According to an aspect of the present invention, there is provided a control device that controls a robot including a movable portion and a force detection portion that detects a force applied to the movable portion. The control device includes a control unit that performs force control of the movable unit based on an output of the force detection unit, and when a predetermined stop condition is satisfied when the movable unit is in contact with an object during the force control, the control unit stops the force control, and when a predetermined restart condition is satisfied after the movable unit is stopped, the control unit performs reset of the force detection unit after performing separation control for separating the movable unit from the object, and restarts the force control after performing the reset.

According to another aspect of the present invention, there is provided a control device that controls a robot including a movable portion and a force detection portion that detects a force applied to the movable portion. The control device includes a control unit that performs force control of the movable unit based on an output of the force detection unit, and when a predetermined stop condition is satisfied when the movable unit comes into contact with an object during the force control, the control unit stops the movable unit after performing separation control for separating the movable unit from the object, and when a predetermined restart condition is satisfied after the movable unit stops, the control unit restarts the force control after performing reset of the force detection unit.

According to another aspect of the present invention, there is provided a robot system including a robot including a movable unit and a force detection unit that detects a force applied to the movable unit, and the control device described above.

According to another aspect of the present invention, there is provided a control method for controlling a robot including a force detection unit for detecting a force and a movable unit for performing force control based on an output of the force detection unit, the control method including: stopping the operation of the movable portion when a predetermined stop condition is satisfied when the movable portion is in contact with an object during the force control; separating the movable part from the object when a predetermined restart condition is satisfied after the movable part is stopped; performing a reset of the force detection part after the movable part is separated; and restarting the force control after performing the reset.

According to another aspect of the present invention, there is provided a control method for controlling a robot including a force detection unit for detecting a force and a movable unit for performing force control based on an output of the force detection unit, the control method including: separating the movable part from an object when a predetermined stop condition is satisfied when the movable part is in contact with the object during the force control; stopping the operation of the movable part after the movable part is separated; performing a reset of the force detection section when a predetermined restart condition is satisfied after the movable section is stopped; and restarting the force control after performing the reset.

Drawings

Fig. 1 is an explanatory diagram of a configuration example of a robot system.

Fig. 2 is a functional block diagram of the robot and the control device.

Fig. 3A is a conceptual diagram illustrating an example of a control device having a plurality of processors.

Fig. 3B is a conceptual diagram illustrating another example of the control device having a plurality of processors.

Fig. 4 is a flowchart showing the working steps of the robot.

Fig. 5 is a flowchart showing the detailed procedure of stop/restart control in the first embodiment.

Fig. 6 is a flowchart showing the detailed procedure of stop/restart control in the second embodiment.

Fig. 7 is a flowchart showing the detailed procedure of stop/restart control in the third embodiment.

Description of the reference numerals

100 … robot; 110 … arms; 112 … arm ends; 114 … actuator; a 120 … base station; 140 … force detection portion; 150 … paws; 160 … object detection part; 200 … control device; 210 … processor; 212 … memory; 221 … orbital planner; 222 … encoder reading section; 223 … arm control part; 224 … a paw control; 225 … force detection control unit; 226 … object detection control section; 230 … notification unit; 240 … receiving part; a 310 … tray; 320 … work bench; 500 … cloud services; 510. 520 … personal computer

Detailed Description

A. The first embodiment:

fig. 1 is an explanatory diagram illustrating an example of a robot system. The robot system includes a robot 100 and a control device 200. The robot 100 performs an insertion operation of gripping the first workpiece WK1 stored in the tray 310 and inserting the first workpiece WK1 into the concave portion of the second workpiece WK2 on the work table 320. The periphery of the working area of the robot 100 is surrounded by a safety fence CG. A safety gate DR that a person can enter and exit is provided on the safety gate CG. A signal indicating the open/close state of the safety door DR is supplied to the control device 200. Three directions X, Y, Z are shown in fig. 1 that are perpendicular to each other. The X and Y directions are horizontal directions, and the Z direction is a vertical direction. In other figures, these directions are also illustrated as desired.

The robot 100 includes an arm 110 and a base 120. The arms 110 are connected in series by six joints. A force detection unit 140 and a gripper 150 as an end effector are attached to the arm end 112, which is the tip end of the arm 110. Gripper 150 is a hand grip for holding an object. In the present embodiment, a six-axis robot is exemplified, but a robot having an arbitrary arm mechanism having one or more joints can be used. In this specification, a mechanism in which the arm 110 and the gripper 150 are coupled is also referred to as a "movable portion". Alternatively, a portion including the workpiece held by the gripper 150 in addition to the arm 110 and the gripper 150 may be referred to as a "movable portion".

The force detection unit 140 is a six-axis force sensor that measures an external force applied to the gripper 150 as an end effector. The force detection unit 140 has three detection axes orthogonal to each other in a sensor coordinate system which is a unique coordinate system, and detects the magnitude of a force parallel to each detection axis and the magnitude of a torque (moment of force) around each detection axis. The force parallel to each detection axis is referred to as "translational force". The torque around each detection axis is referred to as "rotational force". In the present specification, the term "force" is used in a sense of including both a translational force and a rotational force.

The force detection unit 140 need not be a sensor for detecting six-axis force, and a sensor for detecting less force in the direction may be used. Instead of providing the force detection unit 140 at the distal end of the arm 110, a force sensor may be provided as a force detection unit at any or more joints of the arm 110. Note that the "force detection unit" may have a function of detecting a force. That is, the "force detection Unit" may be a device that directly detects a force as in a force sensor, or may be a device that indirectly obtains a force as in an IMU (Inertial Measurement Unit) or a device that detects a force from a current value of an actuator of the arm 110. The "force detection unit" may be external to the robot 100 or may be internal to the robot 100.

The base 120 is provided with an object detection unit 160 for detecting an object approaching the robot 100. As the object detection unit 160, for example, a proximity sensor such as a millimeter wave radar or a light curtain can be used. When the object approaches below the predetermined distance threshold, the object detection unit 160 transmits an output signal indicating the approach of the object to the control device 200. Any number of object detection units 160 may be provided at any position of the robot 100. For example, it is preferable to provide a plurality of object detection units 160 so as to detect the approach of an object over the entire range of 360 degrees around the robot 100.

Fig. 2 is a block diagram showing functions of the robot 100 and the control device 200. A plurality of actuators 114 for driving a plurality of joints are provided on the arm 110 of the robot 100. Each actuator 114 is provided with an encoder not shown.

The control device 200 includes a processor 210, a memory 212, a trajectory planning unit 221, an encoder reading unit 222, an arm control unit 223 that controls the arm 110, a hand control unit 224 that controls the hand 150, a force detection control unit 225 that controls the force detection unit 140, an object detection control unit 226 that controls the object detection unit 160, a notification unit 230 that notifies a person, and a reception unit 240 that receives an input from an operator. The encoder reading unit 222 and the arm control unit 223 control the actuator 114 to move the arm 110.

The control device 200 that executes the functions of the units 221 to 226 corresponds to a "control unit". The processor 210 may execute a computer program stored in the memory 212 to implement a part of each of the units 221 to 226, 230, and 240 of the control device 200. In this case, the processor 210 corresponds to a "control unit".

A work program for performing a work of the robot 100 is stored in the memory 212. The processor 210 reads the operation program stored in the memory 212, instructs the trajectory planning unit 221, the arm control unit 223, the gripper control unit 224, and the force detection control unit 225, determines the execution result, and performs the operation of the robot 100. When starting the job, the processor 210 causes the trajectory planning section 221 to create the trajectory of the arm 110 in accordance with the job program. The trajectory planning unit 221 generates a trajectory including a plurality of coordinate points from information of a plurality of teaching points included in the task program. The arm control unit 223 operates the arm 110 in accordance with the trajectory supplied from the trajectory planning unit 221. The encoder reading unit 222 acquires position information of the arm 110 using output signals of encoders included in the plurality of actuators 114 of the arm 110, and feeds back the position information to the arm control unit 223. When the hand claw control unit 224 is instructed in accordance with the operation program, the gripping and releasing operation of the object is performed.

The notification unit 230 issues a warning or the like to a person located near the robot 100. As the notification unit 230, one or more notification devices such as a speaker that performs notification by sound, a lamp that performs notification by light, and a display device can be used.

Note that various configurations other than the configuration shown in fig. 2 can be adopted as the configuration of the control device 200. For example, the processor 210 and the memory 212 may be deleted from the control device 200 in fig. 2, and the processor 210 and the memory 212 may be provided in another device communicably connected to the control device 200. In this case, the entire apparatus including the other apparatus and the control apparatus 200 functions as a control apparatus of the robot 100. In other embodiments, the control device 200 may have more than two processors 210. Further, in another embodiment, the control device 200 may be implemented by a plurality of devices connected to be able to communicate with each other. In these various embodiments, the control device 200 is configured as a device or a device group including one or more processors 210.

Fig. 3A is a conceptual diagram illustrating an example of a control device for a robot configured by a plurality of processors. In this example, in addition to the robot 100 and the control device 200 thereof, personal computers 510 and 520 and a cloud service 500 provided via a network environment such as a LAN are drawn. The personal computers 510, 520 each include a processor and memory. Further, a processor and memory can also be utilized in the cloud service 500. A control device of the robot 100 can be realized by a part or all of the plurality of processors.

Fig. 3B is a conceptual diagram illustrating another example of the control device of the robot configured by a plurality of processors. In this example, the control device 200 of the robot 100 is different from that in fig. 3A in that it is housed in the robot 100. In this example, the control device of the robot 100 may be implemented by a part or all of the plurality of processors.

Fig. 4 is a flowchart showing the working procedure of force control by the robot 100. Here, it is assumed that the control device 200 controls the robot 100 in accordance with a job program including a plurality of jobs. The "job program" is also referred to as a "job sequence".

In step S100, the operation in the stop/restart control for each job is set. The "stop/restart control" is control performed in step S200 described later when the robot 100 is stopped. In step S200, the contents of the stop/restart control and the setting of the operation at that time will be described.

In step S110, one job is selected, and in step S120, the arm 110 is moved to the start position of the job. In step S130, the force detection unit 140 is reset. By this reset, the output reference value of each axis of the force detection unit 140 is initialized to zero. After the force detection unit 140 is reset, the operation is started in step S140.

In step S150, it is determined whether or not a predetermined stop condition is satisfied. For example, the stop condition can be set to be satisfied when either of the following conditions 1 and 2 is satisfied.

< condition 1> the safety door DR is opened.

< condition 2> the object detection section 160 detects an object within a distance of a predetermined distance threshold or less.

However, as the stop condition, conditions other than the above-described conditions 1 and 2 may be used.

When the stop condition is satisfied, the process proceeds to step S200, and stop/restart control is executed. On the other hand, if the stop condition is not satisfied, the operation is continued and the process proceeds to step S160. In step S160, it is determined whether the job is ended, and if not, the process returns to step S150. When the job ends in step S160, the process proceeds to step S170, and it is determined whether all the jobs of the job program are completed. If all the jobs have not been completed, the process returns to step S110, and the processes in and after step S110 are repeated.

Fig. 5 is a flowchart showing detailed steps of stop/restart control in the first embodiment. In step S210, the contact state flag is set and the operation is stopped. The "contact state flag" is a value indicating whether or not the movable part of the robot 100 is in contact with the object when the stop condition is satisfied. In the present embodiment, the "movable portion" is a portion including the arm 110, the gripper 150, and the first workpiece WK1, and the "object" is the second workpiece WK 2. Whether or not the movable portion is in contact with the object is determined based on whether or not the force detected by the force detection unit 140 is equal to or greater than a predetermined force threshold. The contact state flag is set to 1 when the movable part of the robot 100 is in contact with the object, and is set to 0 when the movable part is not in contact with the object. The contact status flag is stored in the memory 212.

In step S220, it is determined whether or not a predetermined restart condition is satisfied. The restart condition is, for example, a stop condition that is satisfied in step S150 in fig. 4. Specifically, for example, when the security gate DR is closed again, the restart condition is satisfied. If the restart condition is not satisfied, the system stands by, and if the restart condition is satisfied, the process proceeds to step S230. In step S230, it is determined whether or not the contact state is present when the job is stopped. This determination is made by referring to the value of the contact state flag set in step S210.

If the job is not in the contact state when stopped, the separation control in step S240 is skipped and the process proceeds to step S250. On the other hand, if the contact state is established when the job is stopped, the process proceeds to step S240, and separation control is executed. The separation control is control for separating the movable part of the robot 100 from the object. Specifically, in fig. 1, the arm 110 is operated to separate the first workpiece WK1 held by the gripper 150 from the second workpiece WK2 as the target object. In step S100 of fig. 4, a position to which the arm 110 is to be separated in the separation control is set in advance. As a method of the separation control that can be set for each job, for example, the following various methods can be used.

< first mode of separation control >

When force control is being performed, the position of the movable portion is stored in the memory 212, and the position of the movable portion is controlled in accordance with the position of the movable portion stored in the memory 212, thereby separating the movable portion from the object.

The first mode corresponds to control for reversing the movable section along the track. According to the first aspect, since the movable portion is separated from the object in accordance with the position of the movable portion stored in the memory 212, it is possible to reduce the possibility of occurrence of a problem in the movable portion or the object by separation control.

< second mode of separation control >

The movable section is separated from the object by performing position control based on avoidance operation taught in advance.

As the avoidance operation, for example, an operation of moving the arm 110 to a predetermined avoidance position can be taught. According to the second aspect, since the movable section is separated from the object based on the avoidance operation taught in advance, it is possible to reduce the possibility of occurrence of a malfunction in the movable section and the object by the separation control.

< third embodiment of separation control >

The movable portion is separated from the object by executing force control in which a target force in a direction perpendicular to a direction in which the movable portion is separated is zero.

In the example of fig. 1, the "direction of separation" is the Z direction, and the "direction perpendicular to the direction of separation" is the X direction and the Y direction. According to the third aspect, since the movable portion is separated from the object by the force control in which the target force in the direction perpendicular to the direction in which the movable portion is separated is zero, it is possible to reduce the possibility of occurrence of a problem in the movable portion or the object by the separation control. Note that, as a conceptual overview of the third embodiment, the following embodiment may be adopted: "force control is performed in which the target force in the direction perpendicular to the direction in which the movable portion separates is smaller than the target force in the direction in which the movable portion separates". According to this aspect, since the movable portion is separated from the object by the force control in which the target force in the direction perpendicular to the direction in which the movable portion is separated is smaller than the target force in the direction in which the movable portion is separated, it is possible to reduce the possibility of occurrence of a problem in the movable portion or the object by the separation control.

The receiving unit 240 receives parameter settings for separation control in each of a plurality of jobs. Specifically, selection of a mode for which to perform separation control of each job and setting of parameters necessary for execution of the mode are received. As a method of separation control, various methods other than the above-described three methods may be used.

The force detection unit 140 is reset in step S250, and the operation is restarted in step S260.

In summary, in the first embodiment, when a predetermined stop condition is satisfied when the movable portion is in contact with the object during force control, the movable portion is stopped. When a predetermined restart condition is satisfied after the movable unit is stopped, the force detection unit 140 is reset after the separation control for separating the movable unit from the object is performed, and the start force control is resumed after the reset is performed. In other words, since the force detector 140 is reset after the object is separated from the movable unit before the force control is resumed after the movable unit is stopped during the force control, the output reference value of the force detector 140 can be set to an accurate value, and accurate force control can be performed.

B. Second embodiment:

fig. 6 is a flowchart showing detailed steps of stop/restart control in the second embodiment. The second embodiment is different from the first embodiment only in the steps of stop/restart control, and the apparatus configuration and the processing steps of the entire job described in fig. 4 are the same as those of the first embodiment. The stop/restart control of fig. 6 is mainly different from fig. 5 in that the separation control is executed before stopping the job.

In step S310, it is determined whether or not the movable portion is in contact with the object when the stop condition is satisfied. In the case of contact, after the separation control is performed in step S320, the job is stopped in step S330. As a method of the separation control, various methods similar to the first embodiment can be used. On the other hand, if there is no contact, the process proceeds to step S330 by skipping step S320, and the job is immediately stopped.

In step S340, it is determined whether or not a predetermined restart condition is satisfied. If the restart condition is not satisfied, the system stands by, and if the restart condition is satisfied, the process proceeds to step S350. The force detection unit 140 is reset in step S350, and the operation is restarted in step S360.

In summary, in the second embodiment, when the predetermined stop condition is satisfied when the movable portion is in contact with the object during the force control, the movable portion is stopped after the separation control for separating the movable portion from the object is performed. Further, when a predetermined restart condition is satisfied after the movable portion is stopped, the force control is restarted after the reset of the force detecting portion 140 is performed. In other words, the object is separated from the movable unit before the movable unit is stopped during the force control, and then the force detection unit 140 is reset before the force control is restarted. As a result, the output reference value of the force detection unit 140 can be set to an accurate value, and accurate force control can be performed.

C. The third embodiment:

fig. 7 is a flowchart showing detailed steps of stop/restart control in the third embodiment. The third embodiment is different from the first embodiment only in the steps of stop/restart control, and the apparatus configuration and the processing steps of the entire job described in fig. 4 are the same as those of the first embodiment.

When the stop condition is satisfied in step S150 in fig. 4, the process proceeds to step S410 in fig. 7, and the job is stopped. In step S420, it is determined whether or not a predetermined restart condition is satisfied. This determination is the same as step S220 of fig. 5. In step S430, it is determined whether or not force control is being performed at the time of stop. Whether or not the force control is being executed is determined based on whether or not the force detected by the force detection section 140 is equal to or greater than a predetermined force threshold, or from the job program selected in step S110. If the force control is not executed during the stop, steps S441 to S445 are executed. On the other hand, when the force control is executed during the stop, steps S451 to S455 are executed.

If the force control is not executed during the stop, one operation set in step S100 of fig. 4 is selected in step S441. In the example of fig. 7, the operations that can be set when the force control is not executed at the time of stopping are three types of user call, separation control, and continuation work.

When the user call as the set operation is selected, the user call is executed in step S442. The "user call" is an alarm for notifying the worker that some trouble has occurred in the robot 100, and is executed by the notification unit 230 in fig. 2. As the user call, for example, a warning such as blinking a lamp or sounding a buzzer is used.

When the separation control as the set operation is selected, the separation control is performed in step S443, and then the force detection unit 140 is reset in step S444, and the operation is restarted in step S445.

When the job to be continued as the set operation is selected, the process proceeds to step S444 by skipping step S443, resets the force detection unit 140, and resumes the job in step S445.

On the other hand, when the force control is executed during the stop, the process proceeds to step S451, and one of the operations set in step S100 in fig. 4 is selected. In the example of fig. 7, the actions that can be set in the case of performing force control when stopping are both user call and separation control.

When the user call as the set operation is selected, the user call is executed in step S452. On the other hand, when the separation control as the set operation is selected, after the separation control is performed in step S453, the force detection unit 140 is reset in step S454, and the work is restarted in step S455.

The steps S451 to S455 described above are substantially the same as the steps S230 to S260 of fig. 5 of the first embodiment. That is, according to the steps of steps S451 to S455, when the force control is executed at the time of job stop, the reset of the force detection unit 140 is executed after the separation control for separating the movable unit from the object is executed before the job is restarted, and the force control is restarted after the reset is executed. As a result, the output reference value of the force detection unit 140 can be set to an accurate value, and accurate force control can be performed.

In the third embodiment, as in the second embodiment, when the predetermined stop condition is satisfied, the separation control for separating the movable portion from the object may be performed before the movable portion is stopped in step S410. In this case, the separation control in steps S443 and S453 in fig. 7 can be omitted.

D. Other embodiments are as follows:

the present invention is not limited to the above-described embodiments, and can be realized in various aspects without departing from the spirit and scope thereof. For example, the present invention can also be realized by the following aspect (aspect). In order to solve part or all of the technical problems of the present invention or to achieve part or all of the effects of the present invention, technical features in the above-described embodiments corresponding to technical features in the aspects described below can be appropriately replaced or combined. In addition, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

(1) According to a first aspect of the present invention, there is provided a control device for controlling a robot including a movable unit and a force detection unit for detecting a force applied to the movable unit. The control device includes a control unit configured to control the force of the movable unit based on an output of the force detection unit, wherein the control unit is configured to stop the force control when a predetermined stop condition is satisfied when the movable unit comes into contact with an object in the force control, and configured to reset the force detection unit after a separation control for separating the movable unit from the object is performed and to restart the force control after the reset is performed when a predetermined restart condition is satisfied after the movable unit is stopped.

According to this control device, since the reset of the force detection unit is executed after the object is separated from the movable unit before resuming the force control after stopping the movable unit in the force control, the output reference value of the force detection unit can be set to an accurate value, and accurate force control can be performed.

(2) According to a second aspect of the present invention, there is provided a control device for controlling a robot including a movable unit and a force detection unit for detecting a force applied to the movable unit. The control device includes a control unit configured to control the force of the movable unit based on an output of the force detection unit, wherein the control unit is configured to stop the movable unit after performing separation control for separating the movable unit from an object when a predetermined stop condition is satisfied when the movable unit comes into contact with the object in the force control, and configured to restart the force control after resetting the force detection unit when a predetermined restart condition is satisfied after the movable unit is stopped.

According to this control device, since the object is separated from the movable unit and stopped when the movable unit is stopped during the force control, the output reference value of the force detection unit can be set to an accurate value by resetting the force detection unit before resuming the force control after that, and accurate force control can be performed.

(3) The control device may include a storage unit that stores a position of the movable portion when the force control is being executed, and the separation control may perform the separation according to the position of the movable portion stored in the storage unit.

According to this control device, since the movable portion is separated from the object in accordance with the position of the movable portion stored in the storage portion, it is possible to reduce the possibility of occurrence of a problem in the movable portion or the object by separation control.

(4) In the control device, the separation control may perform the separation based on a previously taught avoidance operation.

According to this control device, since the movable section is separated from the object based on the avoidance operation taught in advance, it is possible to reduce the possibility of occurrence of a malfunction in the movable section and the object by the separation control.

(5) In the control device, the separation control may be force control in which a target force in a direction perpendicular to a direction in which the movable portion separates is set smaller than a target force in the direction in which the movable portion separates.

According to this control device, since the movable portion is separated from the object by the force control in which the target force in the direction perpendicular to the direction in which the movable portion is separated is smaller than the target force in the direction in which the movable portion is separated, it is possible to reduce the possibility of occurrence of a problem in the movable portion or the object by the separation control.

(6) In the control device, the operation sequence of the robot may include a plurality of operations, and the control device may include a receiving unit that receives, for each of the plurality of operations, a setting of a position at which the movable unit is to be separated in the separation control.

According to this control device, since the position at which the movable portion is separated during the separation control can be set for each of the plurality of jobs, the movable portion can be separated to an appropriate position according to the content of the job.

(7) According to a third aspect of the present invention, there is provided a robot system including a robot and the control device described in any one of the above, wherein the robot includes a movable portion and a force detection portion that detects a force applied to the movable portion.

According to this robot system, the output reference value of the force detection unit can be set to an accurate value, and accurate force control can be performed.

(8) According to a fourth aspect of the present invention, a robot is provided. The robot includes a force detection unit that detects a force and a movable unit that performs force control based on an output of the force detection unit, wherein the movable unit stops an operation when a predetermined stop condition is satisfied when the movable unit comes into contact with an object in the force control, separates the movable unit from the object when a predetermined restart condition is satisfied after the movable unit stops, and restarts the force control after the force detection unit is reset after the separation.

According to this robot, since the reset of the force detection unit is executed after the object is separated from the movable unit before the force control is restarted after the movable unit is stopped during the force control, the output reference value of the force detection unit can be set to an accurate value, and accurate force control can be performed.

(9) According to a fifth aspect of the present invention, a robot is provided. The robot includes a force detection unit that detects a force and a movable unit that performs force control based on an output of the force detection unit, wherein the movable unit stops operating after being separated from an object when a predetermined stop condition is satisfied when the movable unit comes into contact with the object in the force control, and restarts the force control after resetting of the force detection unit is performed when a predetermined restart condition is satisfied after the movable unit stops.

According to this robot, since the object is separated from the movable unit and stopped when the movable unit is stopped during the force control, the output reference value of the force detection unit can be set to an accurate value by resetting the force detection unit before resuming the force control after that, and accurate force control can be performed.

The present invention can also be realized by various aspects other than those described above. For example, the present invention can be realized by a robot system including a robot and a robot controller, a computer system for realizing the functions of the robot controller, a non-transitory storage medium (non-transitory storage medium) in which the computer program is recorded, and the like.