Robot control method, robot control device, robot and robot system

Abstract

The invention provides a robot control method, a robot control device, a robot and a robot system. The robot control method includes a first step of selecting a holding form in which a robot holds an object and a second step of determining whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form. In the second step, it is determined that the object can continue to be stably held when a force which should be generated by a contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the contact portion and enlarged by a suction force from the suction mechanism.

Description

technical field [0001] The invention relates to a robot control method, a robot control device, a robot and a robot system. Background technique [0002] Conventionally, as a method of controlling a suction-type robot, there is the following method (see Patent Document 1). First, the robot hand is advanced to the workpiece grasping target position, and the grasping state is confirmed. If the grasping state is not good, the workpiece grasping target position is changed, and the robot hand is advanced until the grasping state is reached. In addition, when the gripping state is good, the robot hand is retracted to take out the workpiece, and the gripping state is checked again. If the gripping state is not good, the workpiece gripping target position is changed, and the robot hand is moved to the workpiece gripping target position again. [0003] Patent Document 1: Japanese Unexamined Patent Publication No. 2010-69542 [0004] However, in the above-mentioned control method, t...

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Problems solved by technology

[0004] However, in the above-mentioned control method, there is a problem that although the gripping state at the time of gripping is confirmed, the workpiece collides with some parts during the operation, inertial force is applied to the workpiece due to acceleration and deceleration, and other parts are attached to the workpiece. When an external force is applied such as increasing the weight or pushing against other parts in order to install other parts, the contact surface between the robot hand and the workpiece often slips, making it impossible to continue to hold, or changing the holding position, etc., making it impossible to continue to hold stably.

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