Abstract: A fitting method includes (a) detecting a first position as a position where fitting of a first object and a second object is determined, (b) moving the first object from the first position toward a determination direction different from a fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value, and (c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.

Abstract: A robot teaching control method includes continuing to detect a position or an attitude of a robot while servo control of the robot is an ON state in a teaching mode for teaching of the robot, and, when receiving a teaching instruction after the servo control is switched from ON to OFF, storing last detected the position or the attitude as a teaching position or a teaching attitude. Further, the position or the attitude is detected at predetermined intervals.

Abstract: A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.

Abstract: A method of controlling a robot that performs work using an end effector on an object transported by a handler includes calculating a target position of the end effector based on a position of the object, calculating a tracking correction amount for correction of the target position in correspondence with a transport amount of the object, controlling the end effector to follow the object based on the target position and the tracking correction amount, acquiring an acting force acting on the end effector from the object using a force sensor, calculating a force control correction amount for correction of the target position to set the acting force to a target force, and controlling the acting force to be the predetermined target force by driving the manipulator based on the force control correction amount.

Abstract: A teaching method of driving a robot arm by a drive unit based on a detection result of a force detection unit and storing a position and a posture of the driven robot arm in a memory unit, includes determining whether or not the posture of the robot arm is close to a singular posture, and, when determining that the posture of the robot arm is close to the singular posture, selecting and executing one escape posture from a plurality of escape posture candidates escaping from the posture close to the singular posture according to an external force detected by the force detection unit.

Abstract: A robot control device that creates a control program for work of a robot with a force detector, the device includes a processor. the processor is configured to: display an input screen including an operation flow creation area for creating an operation flow of work including a force control operation on a display device; convert the created operation flow into a control program; and execute the control program to control the robot, and when an operation of the robot is not a predetermined operation set in advance after the control program is executed, the processor displays a screen for presenting a countermeasure for realizing the predetermined operation set in advance on the display device.

Abstract: A reset process includes: first processing for resetting a force detection unit; second processing for determining whether a peak output value from the force detection unit is equal to or greater than a predetermined first threshold value in a first period and updating a determination result; third processing for executing the first processing when the peak value is equal to or greater than the first threshold value; fourth processing for executing the second processing when the peak value is not equal to or greater than the first threshold value and a second period did not elapse from the timing when the force detection unit was reset; and fifth processing for calculating an average of the output values in a third period as a first offset value when the peak value is not equal to or greater than the first threshold value and the second period elapsed from the timing.

Abstract: A method of supporting creation of a program for supporting creation of a program for work by a robot, includes detecting an operation by a user on an input device, determining a type of the work by the operation to select the type, displaying a dedicated motion flow showing a sequence of motion of the robot corresponding to the type and containing a dedicated object showing the motion for which a change of the sequence is not allowed on a display device, and converting the dedicated object into a versatile object showing the motion for which a change of the sequence is allowed by the operation to convert the dedicated object.

Abstract: A method for supporting creation of a program for supporting creation of a program for a robot that performs work on an object by force control for controlling a force acting on the object to be a target force, includes displaying a mark having an aspect indicating the target force on a display device, changing the aspect of the mark according to an operation on an input device by a user, and presenting a parameter in the force control corresponding to the aspect of the mark to the user.

Abstract: There is provided a display control method for controlling a display section configured to display a display image including a virtual robot, which is a simulation model of a robot including a robot arm that performs work according to force control, the display control method including a receiving step for receiving information concerning force control parameters including first information concerning a target force, which is a target of force received by the robot arm during the work, and a display step for displaying, in the display image, the virtual robot, a first indicator indicating the first information, and a second indicator indicating second information concerning force applied to the robot arm during the work, the virtual robot, the first indicator, and the second indicator temporally overlapping one another and being distinguished from one another.

Abstract: There is provided a control method for a robot including a robot arm, the control method including a first step in which the robot arm grips a first target object and performs work for assembling the first target object and a second target object while changing a position or a posture of the first target object, a second step for setting, based on information concerning the position or the posture of the first target object during the work in the first step, a determination reference serving as a reference for starting the change of the position or the posture of the first target object or ending the change of the position or the posture of the first target object.

Abstract: A fitting method includes (a) detecting a first position as a position where fitting of a first object and a second object is determined, (b) moving the first object from the first position toward a determination direction different from a fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value, and (c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.

Abstract: A control device includes a control unit which executes a control force to a movable unit according to an output of a force detection unit. The control unit executes a stop control of the movable unit when a predetermined stop condition is satisfied. The stop control includes a second control which continues the force control to control the movable unit when the stop condition is satisfied during the execution of a first control including a force control.

Abstract: The control device for controlling a robot having a force detector includes an input device, a display, a memory, and a processor. The processor executes a program to repeat receiving of an input via the input device, selecting of an object of operation objects based on the input, and displaying of the selected object a predetermined number of times to complete an object operation flow. The processor converts the completed object operation flow into a control program for controlling the operations of the robot. The display displays a selection for selecting whether an integrator is applied to a difference between time series target force and time series measuring force for a specific control direction. The processor receives an adjusting input via the input device for adjusting an integral gain of the integrator when a result of the execution of the control program is in a predetermined condition.

Abstract: A robot control device that creates a control program for work of a robot with a force detector, the device includes a processor, wherein the processor is configured to: display an input screen including an operation flow creation area for creating an operation flow of work on a display device; convert the created operation flow into a control program; and execute the control program to control the robot, wherein the input screen is configured to display a plurality of operation objects indicating a plurality of operations including an operation using force control, and one or more conditional branch objects indicating a conditional branch, as options, and wherein the operation flow creation area is configured to create an operation flow including the conditional branch by graphically placing an operation object selected from the plurality of operation objects and the conditional branch object.

Abstract: A robot control apparatus includes a processor that is configured to: receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of a force detected by a force detector should be executed; determine an initial value of one of a mass coefficient and a viscosity coefficient that should be used in the force control of the first operation based on specific information on a configuration of a robot stored in a memory unit and the first position information; and store the initial value in the memory.

Abstract: In a control method for a robot including a manipulator and a force detector that detects an external force acting on the manipulator on three detection axes orthogonal to one another, a direction of the external force is detected by the force detector, and a degree of freedom of motion of a tool center point set for the manipulator according to the external force is limited based on the direction of the external force.

Abstract: A control device includes a robot control section that controls a robot including a hand and a force detecting section; and an operation-mode switching section that switches, when storing a position and a posture of the robot, a first mode for moving the robot by the robot control section until an external force applied to the hand satisfies a predetermined condition and a second mode for moving the robot by the robot control section on the basis of an external force applied to a first part included in the robot.

Abstract: A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.

Abstract: A teaching method of driving a robot arm by a drive unit based on a detection result of a force detection unit and storing a position and a posture of the driven robot arm in a memory unit, includes determining whether or not the posture of the robot arm is close to a singular posture, and, when determining that the posture of the robot arm is close to the singular posture, selecting and executing one escape posture from a plurality of escape posture candidates escaping from the posture close to the singular posture according to an external force detected by the force detection unit.