Robot control apparatus and robot system
In order to set control with a high degree of freedom while taking into account a time response waveform, a robot control apparatus includes a control section that acquires a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and controls the driving section based on the detection value, a first setting value, and a second setting value; a first display section that displays a detection waveform that is a time response waveform of the detection value; a second display section that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance; and a receiving section that receives setting of at least the second setting value.
1. A robot control apparatus comprising:
a controller that is configured to acquire a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and the controller being configured to control the driving section based on the detection value, a setting value, a virtual inertia parameter, and a virtual viscosity parameter;
a first display that displays a detection waveform that is a time response waveform of the detection value;
a second displays that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance; and
a receiving section that receives setting of the virtual inertia parameter and the virtual viscosity parameter,
wherein a ratio of the virtual inertia parameter and the virtual viscosity parameter is constant.
2. The robot control apparatus according to claim 1 ,
wherein the receiving section receives setting of the setting value, and
wherein the second display acquires the storage waveform corresponding to the setting value among a plurality of the storage waveforms stored in the storage medium in advance and displays the acquired storage waveform.
3. The robot control apparatus according to claim 1 ,
wherein control of the controller is impedance control, and
wherein the setting value is a virtual elastic parameter.
4. The robot control apparatus according to claim 3 ,
wherein the receiving section receives setting of the virtual inertia parameter and the virtual viscosity parameter by an operation of a single operation section.
5. A robot system comprising:
a driving section that drives a robot;
a force detector that detects a force operating on the robot;
a controller that is configured to control the driving section based on a detection value of the force detector, a setting value, a virtual inertia parameter, and a virtual viscosity parameter;
a first display that displays a detection waveform that is a time response waveform of the detection value detected by the force detector;
a second displays that displays a storage waveform that is a time response waveform stored in a storage medium in advance; and
a receiving section that receives setting of the virtual inertia parameter and the virtual viscosity parameter,
wherein a ratio of the virtual inertia parameter and the virtual viscosity parameter is constant.