System and method for judging success or failure of work of robot

1. A system for judging success or failure of a work of a robot, the system comprising:

a position command generating unit that generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot;

a contact position detecting unit that calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit; and

a work success/failure judging unit that judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.

2. The system according to claim 1 ,

wherein the position and posture detecting unit is elastically transformed in at least one direction out of directions including a direction from an installation position at the fingertip toward the tip end and two directions other than the one direction.

3. The system according to claim 1 ,

wherein the position and posture detecting unit is configured to be detachable from the fingertip and has a sphere-shaped tip end portion.

4. The system according to claim 1 ,

wherein the contact position detecting unit calculates the position of the tip end at a time point when the external force rises as the contact position based on time-series data of the value of the external force and the position of the tip end.

5. The system according to claim 1 ,

wherein the work success/failure judging unit judges whether the work is successful or failed based on whether a difference between an ideal contact position known in advance and the calculated contact position is within a predetermined threshold value.

6. The system according to claim 1 ,

wherein the predetermined positions are equal to at least two in number, and

wherein the work success/failure judging unit judges whether the work is successful or failed based on whether relative positional relationship between the contact position calculated for one of the predetermined positions and the contact position calculated for the other one is within predetermined positional relationship.

7. The system according to claim 1 , further comprising:

an external force monitoring unit that monitors a value of the external force and transmits a signal indicating detection of a contact to the position command generating unit when the value of the external force exceeds a predetermined threshold value,

wherein the position command generating unit generates a position command enabling decelerating and stopping of the robot in response to reception of the signal.

8. The system according to claim 3 , further comprising:

a fingertip position calculating unit that calculates the position of the tip end by calculating a position of the fingertip by sequentially transforming values of encoders installed to respective shafts of the robot, calculating a center position of the sphere-shaped tip end portion by adding the dimension of the position and posture detecting unit to the position of the fingertip, and adding a radius of the tip end portion to the center position in accordance with an approach direction of the position and posture detecting unit with respect to the predetermined position.

9. A system for judging success or failure of a work of a robot, the system comprising:

a position command generating means that generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting means, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot;

a contact position detecting means that calculates a contact position that is a position of a tip end of the position and posture detecting means at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting means; and

a work success/failure judging means that judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.

10. A method of judging success or failure of a work of a robot, the method comprising:

generating a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot;

calculating a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit; and

judging the predetermined work to be successful when the calculated contact position is within a predetermined range and to be failed when the calculated contact position is not within the predetermined range.