Robot controller
A robot controller includes a storage unit that stores load information including a mass and a center of gravity position of a load to be attached to a robot; a lead-through control unit that controls the robot comprising a sensor that detects an external force, based on the external force detected by the sensor and the load information stored in the storage unit; and a load suitability determining unit that determines whether or not the load information stored in the storage unit is suitable. In response to the load suitability determining unit determining that the load information has a possibility of being unsuitable, the lead-through control unit performs a restriction on a movement of the robot.
1 . A robot controller, comprising:
at least one memory configured to store user-input load information including a mass and a center of gravity position of a load to be attached to a robot; and
at least one processor configured to:
execute lead-through control of the robot based on an external force detected by a sensor on the robot and the load information;
determine whether or not the load information is suitable; and
estimate, in response to a command from a user to estimate the load information, the load information based on the external force detected by the sensor in a state of the robot being set in a predetermined posture,
wherein the at least one processor is configured to determine whether or not the load information is suitable, based on information obtained during the lead-through control, and to determine that the load information has a possibility of being unsuitable in a case in which the estimating of the load information has not been performed according to the command from the user, or in a case in which a value obtained based on the external force detected by the sensor exceeds a predetermined threshold, and
wherein, in response to determining that the load information has the possibility of being unsuitable, the at least one processor is configured to restrict the lead-through control to only a wrist axis of the robot.
2 . The robot controller according to claim 1 , further comprising a switch,
wherein:
the at least one processor is configured to execute position control of the robot based on a position command,
the switch switches between the position control and the lead-through control,
in a case of switching to the lead-through control via the switch, if an estimated force value applied by the user, which is estimated based on the external force detected by the sensor and the load information, exceeds the predetermined threshold value, at least one processor is configured to determine that the load information has a possibility of being unsuitable.
3 . The robot controller according to claim 2 ,
wherein, if the estimated value becomes equal to or less than the threshold value after the lead-through control is restricted to only the wrist axis of the robot by the estimated value exceeding the threshold, the restriction is lifted.
4 . The robot controller according to claim 1 , wherein, if it is determined that the load information has a possibility of being unsuitable, sensitivity of the wrist axis of the robot to the external forces is reduced.
5 . The robot controller according to claim 1 , wherein, if it is determined that the load information has a possibility of being unsuitable, a distance of the movement of the wrist axis of the robot in response to the external force is restricted.
6 . The robot controller according to claim 1 ,
wherein the at least one processor is configured to record the external force detected by the sensor and a position of a motor of the robot in a state in which the robot is set in a plurality of postures, and to estimate the load information based on the recorded external force and the recorded motor position.
7 . The robot controller according to claim 1 , wherein the restriction of the lead-through control is applied based on the external force estimated at a start of the lead-through control.