Robot control method
Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.
1. A robot control method for operating an arm of a robot including a plurality of joint portions in accordance with a predetermined operation program, the method comprising:
inputting load information on a load to be attached to the arm and collision sensitivity indicating a threshold value for detection of a collision of the arm:
comparing load information set in advance at the time of creation of the operation program with load information newly input before execution of the op eration program; and
modifying the operation program if a difference between the load information set and the load information input is larger than a predetermined threshold value:
calculating by a processor gravitational torque to be applied to the joint portion based on the load information;
calculating by the processor a deflection amount of the arm based on the gravitational torque;
calculating by the processor a correction amount for correcting the deflection amount based on the collision sensitivity; and
correcting the deflection amount based on the correction amount.
2. The robot control method of claim 1 , wherein
the calculating the deflection amount is executed in real time during movement of the robot.
3. The robot control method of claim 1 , wherein
the calculating the deflection amount, the calculating the correction amount, and the correcting the deflection amount are each executed at a plurality of interpolation points on a travel path of the robot.
4. A robot control method for operating an arm of a robot including a plurality of joint portions in accordance with a predetermined operation program, the method comprising:
inputting load information on a load to be attached to the arm and collisi on sensitivity indicating a threshold value for detection of a collision of the arm;
comparing collision sensitivity set in advance at the time of creation of the operation program with collision sensitivity newly input before execution of the operation program;
modifying the operation program when a difference between the collision sensitivity set and the collision sensitivity input is larger than a predetermined threshold value;
calculating by a processor gravitational torque to be applied to the joint p ortion based on the load information;
calculating by the processor a deflection amount of the arm based on the gravitational torque;
calculating by the processor a correction amount for correcting the deflec tion amount based on the collision sensitivity; and
correcting the deflection amount based on the correction amount.
5. The robot control method of claim 1 , comprising:
comparing collision sensitivity set in advance at the time of creation of the operation program with collision sensitivity newly input before execution of the operation program; and
modifying the operation program when a difference between the collision sensitivity set and the collision sensitivity input is larger than a predetermined threshold value.
6. The robot control method of claim 4 , wherein
the calculating the deflection amount is executed in real time during movement of the robot.
7. The robot control method of claim 4 , wherein
the calculating the deflection amount, the calculating the correction amount, and the correcting the deflection amount are each executed at a plurality of interpolation points on a travel path of the robot.