JP6521021B2 - ROBOT, ROBOT CONTROL DEVICE, AND ROBOT CONTROL METHOD - Google Patents

Description

  The present invention relates to a robot, a robot control device, and a control method of the robot.

In recent years, technological advances in industrial robots have been remarkable, and as such robots, for example, a human-type double-arm robot having two arms (hereinafter simply referred to as "robot") is known (see, for example, Patent Document 1) ).
The robot described in Patent Document 1 includes a base, a body rotatably connected to the base, and two articulated arms rotatably connected to the body. This robot can drive each arm independently, and can perform conveyance, assembly, etc. of components.

On the other hand, it may be preferable for a human to perform work requiring high accuracy such as fine positioning of parts. By simultaneously performing the work that can be performed only by this human and the work that can be performed only by the robot described above, that is, by sharing the work space between the human and the robot, the production efficiency can be achieved. Can be improved.
By the way, in general, each arm of the robot is set to have the same movement area, movement speed, structure and the like. When a robot and a human having such a configuration work together, it is necessary to ensure sufficient human safety. Furthermore, when a human and a robot alternate (take over) work, the replacement work can not be performed smoothly. Thus, it was difficult for robots and humans to work together.

Japanese Patent Application Publication No. 2006-167902

  An object of the present invention is to provide a robot, a robot control device, and a control method of the robot that can exhibit excellent safety when working with human beings.

Such an object is achieved by the present invention described below.
The robot according to the present invention includes a base, a body connected to the base, and a robot body having a first arm and a second arm provided on the body via the central axis of the body and operable. ,
A control unit configured to control driving of the first arm and the second arm;
The control unit may be controlled such that a first operation area in which the first arm operates is smaller than a second operation area in which the second arm operates.
Thus, when the human and the robot work together, the human can work safely on the side of the first arm. Therefore, when working in collaboration with human beings, the robot can exhibit excellent safety.

In the robot of the present invention, when x, y, and z axes orthogonal to one another are set,
The first arm and the second arm operate in the x-axis direction, the y-axis direction, and the z-axis direction, and
The control unit preferably controls the volume of the first operation area to be 10% or more and 70% or less of the volume of the second operation area.
This enables the robot to exhibit better safety when working with humans.

In the robot of the present invention, when x, y, and z axes orthogonal to one another are set,
In the control unit, the lengths in the x-axis, y-axis and z-axis directions of the first operation area are shorter than the lengths in the x-axis, y-axis and z-axis directions of the second operation area, respectively. It is preferable to control so that
This enables the robot to exhibit better safety when working with humans.

In the robot of the present invention, the work area in which the tip of the first arm can operate and the work area in which the tip of the second arm can operate have an overlapping area in which a part of them overlaps.
The control unit preferably controls the second arm to operate preferentially in the overlapping area.
Thereby, the movement of the first arm can be reduced, and the robot can exhibit better safety when working in collaboration with a human.

In the robot according to the present invention, a human work area where a human works is provided on the side of the first arm,
Preferably, the control unit controls the first operation area so as not to overlap with the human work area.
This enables the robot to exhibit better safety when working with humans.

In the robot according to the present invention, preferably, the control unit controls the operating speed of the first arm to be slower than the operating speed of the second arm.
This enables the robot to exhibit better safety when working with humans.
The robot according to the present invention comprises a first drive motor for driving the first arm, and a second drive motor for driving the second arm,
The control unit preferably controls the voltage applied to the first drive motor to be smaller than the voltage applied to the second drive motor.
Thereby, the operating speed of the first arm can be made slower than the operating speed of the second arm. Therefore, the robot can exhibit better safety when working with human beings.

The robot according to the present invention comprises a first drive motor for driving the first arm, and a second drive motor for driving the second arm,
Preferably, the control unit controls the rotational speed of the first drive motor to be lower than the rotational speed of the second drive motor.
Thereby, the operating speed of the first arm can be made slower than the operating speed of the second arm. Therefore, the robot can exhibit better safety when working with human beings.

The robot according to the present invention comprises a first drive motor for driving the first arm, and a second drive motor for driving the second arm,
The control unit preferably controls the amount of heat generation of the first drive motor to be smaller than the amount of heat generation of the second drive motor.
Thereby, the operating speed of the first arm can be made slower than the operating speed of the second arm. Therefore, the robot can exhibit better safety when working with human beings. Furthermore, since the amount of heat generation of the first drive motor is smaller than the amount of heat generation of the second drive motor, it is possible to suppress the occurrence of problems due to heat generation.

The robot according to the present invention comprises a first drive motor for driving the first arm, and a second drive motor for driving the second arm,
The control unit preferably controls the torque of the first drive motor to be smaller than the torque of the second drive motor.
Thereby, the operating speed of the first arm can be made slower than the operating speed of the second arm. Therefore, the robot can exhibit better safety when working with human beings. Furthermore, since the torque of the first drive motor is smaller than the torque of the second drive motor, for example, when the first arm and the second arm unintentionally collide, the first arm is the second arm. It breaks preferentially. Therefore, the robot can be reused by replacing or repairing only the first arm.

In the robot of the present invention, the robot performs an assembly operation of assembling the first structure and the second structure,
When the assembling operation is performed, the control unit causes the first arm to stop the first structure, and the second arm causes the second structure to approach the first structure. It is preferable to control as follows.
As a result, the movement of the first arm can be reduced, so that the robot can exhibit better safety.

In the robot according to the present invention, preferably, the control unit controls the second arm to be activated earlier than the first arm when activating the first arm and the second arm.
This allows a person at the side of the first arm to see that the second arm has been activated and then to easily predict that the first arm will be activated.

In the robot according to the present invention, a work area where a human works is provided on the side of one of the first arm and the second arm,
The control unit controls the first operation area to be smaller than the second operation area when the work area is set to the side of the first arm, and the work area is the second In the state set to the side of the arm, it is preferable to control so that the second operation area is smaller than the first operation area.
Thereby, a working area can be provided on either the side of the first arm or the side of the second arm.

A robot control apparatus according to the present invention is a robot having a base, a body connected to the base, and a first arm and a second arm provided on the body via the central axis of the body and operable. A robot control device that controls driving of the first arm and the second arm of a main body,
The driving of the first arm and the second arm is controlled such that a first operation area in which the first arm operates is smaller than an operation area in which the second arm operates.
Thus, when the human and the robot work together, the human can work safely on the side of the first arm. Therefore, when working in collaboration with humans, the robot control apparatus can exhibit excellent safety.

A robot control method according to the present invention is a robot having a base, a body connected to the base, and a movable first arm and a second arm provided on the body via the central axis of the body and operable. A control method for controlling driving of the first arm and the second arm of a main body, comprising:
The first arm and the second arm are controlled such that a first operation area in which the first arm operates is smaller than a second operation area in which the second arm operates.
Thus, when the human and the robot work together, the human can work safely on the side of the first arm. Therefore, when performing a joint work with human beings, it becomes a control method that can exhibit excellent safety.

It is a perspective view which shows the preferred embodiment of the robot of this invention. It is a schematic block diagram showing the rotational axis of the robot shown in FIG. It is a figure which shows the end effector attached to the robot shown in FIG. It is a block diagram which shows the control system of the robot shown in FIG. It is a block diagram which shows the drive control of the robot shown in FIG. It is a figure which shows the action | operation state of the robot shown in FIG. It is a figure for demonstrating the operation | movement area | region of the articulated arm shown in FIG. It is the figure seen from the arrow A direction in FIG. It is a figure which shows the action | operation state of the robot shown in FIG. It is a flowchart which shows the control method of a robot control apparatus.

Hereinafter, preferred embodiments of a robot, a robot control device, and a control method of the robot will be described with reference to the attached drawings.
1 is a perspective view showing a preferred embodiment of a robot according to the present invention, FIG. 2 is a schematic configuration diagram showing a pivot of the robot shown in FIG. 1, and FIG. 3 is mounted on the robot shown in FIG. 4 is a block diagram showing a control system of the robot shown in FIG. 1, FIG. 5 is a block diagram showing drive control of the robot shown in FIG. 1, and FIG. 6 is a block diagram of the robot shown in FIG. FIG. 7 is a view showing an operation state, FIG. 7 is a view for explaining an operation area of the articulated arm shown in FIG. 6, FIG. 8 is a view seen from the direction of arrow A in FIG. FIG. 10 is a flowchart showing a control method of the robot control device. 6-9, the x-axis, the y-axis, and the z-axis are illustrated as three axes orthogonal to each other for convenience of description.
The robot 100 shown in FIG. 1 can be used, for example, in a manufacturing process for manufacturing a precision instrument such as a wristwatch, and includes a robot body 200 and a robot control device (control unit) 900 for controlling the operation of the robot body 200. Have. Hereinafter, the robot body 200 and the robot control device 900 will be described in order.

(Robot body)
As shown in FIG. 1, the robot main body 200 is a double arm robot, and is provided and operable via a base 210, a body 220 connected to the base 210, and a central axis of the body 220. An articulated arm (first arm) 230 and an articulated arm (second arm) 240, a stereo camera 250 provided on the front of the body 220, and a hand camera provided on each articulated arm 230, 240 It has a signal light 260 provided on the body 220 and a monitor 270 provided on the back side of the body 220 (not shown).

  According to such a robot 100, the operation can be performed while confirming the positions of parts, tools and the like on the work bench 800B using the stereo camera 250 and the hand camera (see FIG. 6). Further, the signal light 260 can easily confirm the state of the robot 100 (drive state, normal stop state, abnormal stop state, etc.). Further, since information on the robot 100 is displayed on the monitor 270, the state of the robot 100 can be easily confirmed. The monitor 270 is, for example, a touch panel, and can operate the touch panel to switch the display screen, give a command to the robot 100, or change the given command.

-Base-
The base 210 includes a plurality of wheels (rotating members) for facilitating movement of the robot 100, a lock mechanism (not shown) for locking the wheels, and a handle (grip portion) for gripping the robot 100 when moving it. And 211 are provided. The robot 100 can be freely moved by releasing the lock mechanism and holding and pushing or pulling the handle 211, and the robot 100 is fixed at a predetermined position by locking the wheels by the lock mechanism. be able to. Thus, by making the robot 100 easy to move, the convenience of the robot 100 is improved. The wheel, the lock mechanism, and the handle 211 may be omitted.

Further, the base 210 is provided with a bumper 213 for contacting the work table 800B (not shown). By bringing the bumper 213 into contact with the side surface of the workbench 800B, the robot 100 can face the workbench 800B at a predetermined interval. Therefore, unintended contact or the like between the robot 100 and the workbench 800B can be prevented. The bumper 213 has an abutting portion 213a that abuts on the work table 800B and a fixing portion 213b fixed to the base 210. In FIG. 1, the abutting portion 213a is positioned below the fixing portion 213b. Is mounted on the base 210. Such a bumper 213 is attachable to and detachable from the base 210, and the direction of the bumper 213 can be reversed up and down. That is, as opposed to FIG. 1, the bumper 213 can be attached to the base 210 such that the abutting portion 213a is positioned above the fixing portion 213b. In a production site, since work benches 800B having heights of about 700 mm and about 1000 mm are generally used, the work height can be changed by changing the height of the contact portion 213a. It becomes possible.
Further, the base 210 is provided with an emergency stop button 214, and in an emergency, pressing the emergency stop button 214 can cause the robot 100 to make an emergency stop.

-Torso-
As shown in FIG. 2, the body 220 is pivotally coupled to the base 210 via a joint mechanism 310 around a pivot axis O1. Further, as described above, the body 220 is provided with the stereo camera 250 and the signal light 260.
The configuration of the joint mechanism 310 is not particularly limited as long as the body 220 can be rotated about the rotational axis O1 with respect to the base 210, but as shown in FIG. And a position sensor 312 for detecting the rotation angle of the motor 311. As the motor 311, for example, a servomotor such as an AC servomotor or a DC servomotor can be used. As the reduction gear, for example, a planetary gear type reduction gear, harmonic drive ("Harmonic Drive" is a registered trademark), etc. As the position sensor 312, for example, an encoder, a rotary encoder, a resolver, a potentiometer or the like can be used.

-Articulated arm-
As shown in FIG. 1, the articulated arm 230 is connected to the first shoulder 231 connected to the body 220 via the joint mechanism 410 and to the first shoulder 231 via the joint mechanism 420. The second shoulder 232, the upper arm 233 connected to the tip of the second shoulder 232 via the twisting mechanism 430, and the first forearm 234 connected to the tip of the upper arm 233 via the joint mechanism 440 A second forearm 235 connected to the tip of the first forearm 234 via the twisting mechanism 450, and a wrist 236 connected to the tip of the second forearm 235 via the joint mechanism 460; And a connecting portion 237 connected to the tip of the wrist 236 via the twisting mechanism 470. In addition, a hand portion 238 is provided in the connection portion 237, and as shown in FIG. 3, the end effector 610 according to the operation to be performed by the robot 100 is attached to the hand portion 238 via the force sensor 740. Be done.

  Further, as shown in FIG. 2, the joint mechanism 410 rotates the first shoulder 231 with respect to the body 220 about the rotation axis O 2 orthogonal to the rotation axis O 1, and the joint mechanism 420 has a second shoulder The torsion mechanism 430 rotates the upper arm portion 233 with respect to the second shoulder 232 about the rotational axis O3 with respect to the second shoulder 232. The joint mechanism 440 rotates the first forearm 234 relative to the upper arm 233 about the rotational axis O5 orthogonal to the rotational axis O4, and twists it. The mechanism 450 rotates (twists) the second forearm portion 235 with respect to the first forearm portion 234 about the rotation axis O6 orthogonal to the rotation axis O5, and the joint mechanism 460 rotates the wrist portion 236 for the second forearm Rotate around rotation axis O7 orthogonal to rotation axis O6 with respect to Structure 470, it rotates around the rotation axis O8 perpendicular to the rotation axis O7 the connecting portion 237 with respect to the wrist section 236 (twist). According to such an articulated arm 230, bending of the joints (shoulders, elbows, wrists), and twisting of the upper and forearms can be realized by a relatively simple configuration, as with human arms.

  The configurations of the joint mechanism 410, the joint mechanism 420, the twisting mechanism 430, the joint mechanism 440, the twisting mechanism 450, the joint mechanism 460 and the twisting mechanism 470 are not particularly limited, but in the present embodiment, It has the same configuration. That is, as shown in FIG. 4, the joint mechanism 410 includes a motor 411 as a drive source, a reduction gear (not shown) for reducing the rotational speed of the motor 411, and a position sensor 412 for detecting the rotational angle of the motor 411. have. The joint mechanism 420 also includes a motor 421 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 421, and a position sensor 422 that detects the rotational angle of the motor 421. The torsion mechanism 430 also has a motor 431 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 431, and a position sensor 432 that detects the rotational angle of the motor 431. The joint mechanism 440 further includes a motor 441 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 441, and a position sensor 442 that detects the rotational angle of the motor 441. The torsion mechanism 450 also includes a motor 451 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 451, and a position sensor 452 that detects the rotational angle of the motor 451. The joint mechanism 460 also includes a motor 461 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 461, and a position sensor 462 that detects the rotational angle of the motor 461. The torsion mechanism 470 also includes a motor 471 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 471, and a position sensor 472 that detects the rotational angle of the motor 471. Such an articulated arm 230 can operate in three directions (three dimensions) in the x-axis direction, the y-axis direction, and the z-axis direction.

  The articulated arm 240 has the same configuration as the articulated arm 230 described above. That is, as shown in FIG. 1, the articulated arm 240 is connected to the first shoulder 241 connected to the body 220 through the joint mechanism 510 and to the first shoulder 241 through the joint mechanism 520. A second shoulder 242, an upper arm 243 connected to the tip of the second shoulder 242 via a twist mechanism 530, and a first forearm connected to the tip of the upper arm 243 via an articulation mechanism 540 Section 244, a second forearm 245 connected to the tip of the first forearm 244 via a twisting mechanism 550, and a wrist 246 connected to the tip of the second forearm 245 via an articulation mechanism 560. And a connecting part 247 connected to the tip of the wrist part 246 via the twisting mechanism 570. In addition, a hand unit 248 is provided in the connection unit 247, and an end effector 620 according to an operation to be performed by the robot 100 is attached to the hand unit 248 via the force sensor 750. Such an articulated arm 240 can operate in three directions (three dimensions) in the x-axis, y-axis and z-axis directions.

  Further, as shown in FIG. 2, the joint mechanism 510 rotates the first shoulder 241 about the rotation axis O 2 ′ orthogonal to the rotation axis O 1 with respect to the body 220, and the joint mechanism 520 The shoulder 242 is pivoted relative to the first shoulder 241 about a pivot axis O3 'orthogonal to the pivot axis O2', and the twisting mechanism 530 pivots the upper arm 243 relative to the second shoulder 242 The joint mechanism 540 rotates the first forearm portion 244 with respect to the upper arm portion 243 at a rotation axis O5 'perpendicular to the rotation axis O4'. The torsion mechanism 550 rotates (twist) the second forearm 245 with respect to the first forearm 244 about the rotation axis O6 ′ orthogonal to the rotation axis O5 ′. Is a pivot axis O7 'perpendicular to the pivot axis O6' with respect to the second forearm section 245. Warini is rotated, twisting mechanism 570 is rotated around the 'pivot axis O8 perpendicular to' the pivot axis O7 the connecting portion 247 with respect to the wrist section 246 (twist). According to such an articulated arm 230, bending of the joints (shoulders, elbows, wrists), and twisting of the upper and forearms can be realized by a relatively simple configuration, as with human arms.

  The configurations of the joint mechanism 510, the joint mechanism 520, the torsion mechanism 530, the joint mechanism 540, the torsion mechanism 550, the joint mechanism 560, and the torsion mechanism 570 are not particularly limited, but in the present embodiment, the above-described joint mechanism 310 and It has the same configuration. That is, as shown in FIG. 4, the joint mechanism 510 includes a motor 511 as a drive source, a reduction gear (not shown) for reducing the rotational speed of the motor 511, and a position sensor 512 for detecting the rotational angle of the motor 511. have. The joint mechanism 520 also includes a motor 521 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 521, and a position sensor 522 that detects the rotational angle of the motor 521. The torsion mechanism 530 also includes a motor 531 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 531, and a position sensor 532 that detects the rotational angle of the motor 531. The joint mechanism 540 also includes a motor 541 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 541, and a position sensor 542 that detects the rotational angle of the motor 541. The twisting mechanism 550 also includes a motor 551 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 551, and a position sensor 552 that detects the rotational angle of the motor 551. The joint mechanism 560 also has a motor 561 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 561, and a position sensor 562 that detects the rotational angle of the motor 561. The twisting mechanism 570 also includes a motor 571 as a drive source, a reduction gear (not shown) that reduces the rotational speed of the motor 571, and a position sensor 572 that detects the rotational angle of the motor 571.

-End effector-
The end effectors 610 and 620 have, for example, a function of gripping an object. Although the configuration of the end effectors 610 and 620 varies depending on the operation to be performed, for example, as shown in FIG. 3, the end effectors 610 and 620 can be configured to have first fingers 611 and 621 and second fingers 612 and 622. In the end effector 610, 620 having such a configuration, the object can be gripped by adjusting the distance between the first finger 611, 621 and the second finger 612, 622.
In addition, as shown in FIGS. 6 and 7, the end effectors 610 and 620 can operate in three directions (three dimensions): x-axis direction, y-axis direction and z-axis direction.

-Force sensor-
Force sensors 740 and 750 are attached between the coupling portions 237 and 247 and the end effectors 610 and 620 (see FIG. 3). The force sensors 740, 750 have a function of detecting an external force applied to the end effectors 610, 620. Then, by feeding back the force detected by the force sensors 740 and 750 to the robot control device 900, the robot 100 can execute work more precisely. Further, contact or the like of the end effector 610 or 620 with an obstacle can be detected by the force or moment detected by the force sensor 740 or 750. Therefore, the obstacle avoidance operation, the object damage avoidance operation and the like can be easily performed.
The force sensors 740 and 750 are not particularly limited as long as they can detect force components and moment components of three axes orthogonal to each other, and known force sensors can be used.

(Robot controller)
As shown in FIG. 4, the robot control device 900 has a storage unit 930, and can operate the body 220 and the articulated arms 230 and 240 independently.
The storage unit 930 includes a storage medium (also referred to as a recording medium) in which various types of information, data, tables, arithmetic expressions, programs, and the like are stored (also referred to as a recording medium). Volatile memory, nonvolatile memory such as ROM, EPROM, EEPROM, flash memory etc. Rewritable (erasable, rewritable) nonvolatile memory etc., various semiconductor memories, IC memory etc.

  In addition, the robot control device 900 is configured such that each joint mechanism 310, 410, 420, 440, 460, 510, 520, 540, 560 and each twisting mechanism 430, 450, 470, 530, 550, 570, through a motor driver or the like. The drive of the motor 311 and the motors (first drive motors) 411 to 471, 511 to 571 (second drive motors) can be independently controlled.

  In this case, the robot control device 900 detects the angular velocity, the rotation angle, and the like for each of the motors 311, 411 to 471, and 51 to 511, using the position sensors 312, 412 to 472, and 512 to 572. , And controls the driving of the motors 311, 411 to 471, and 51 to 511, respectively. The control program is stored in advance in a recording medium (not shown) built in the robot control device 900.

Specifically, as shown in FIG. 4, the robot control device 900 includes a first drive source control unit 901 that controls the drive of the motor 311, and a second drive source control unit 902 that controls the drive of the motor 411; A third drive source control unit 903 that controls the drive of the motor 421, a fourth drive source control unit 904 that controls the drive of the motor 431, a fifth drive source control unit 905 that controls the drive of the motor 441, and a motor 451 Drive source control unit 906 for controlling the drive of the motor, a seventh drive source control unit 907 for controlling the drive of the motor 461, an eighth drive source control unit 908 for controlling the drive of the motor 471, and drive of the motor 511 Ninth drive control unit 909 for controlling the drive, a tenth drive control unit 910 for controlling the drive of the motor 521, and an eleventh drive control unit for controlling the drive of the motor 531 11, a twelfth drive source control unit 912 that controls the drive of the motor 541, a thirteenth drive source control unit 913 that controls the drive of the motor 551, and a fourteenth drive source control unit 914 that controls the drive of the motor 561 , And a fifteenth drive source control unit 915 that controls the drive of the motor 571.
The configurations of the first to fifteenth drive source control units 901 to 915 are similar to each other, and therefore, the first drive source control unit 901 will be representatively described below.

  As shown in FIG. 5, the first drive source controller 901 includes a subtractor 901a, a position controller 901b, a subtractor 901c, an angular velocity controller 901d, a rotation angle calculator 901e, and an angular velocity calculator 901f. And. Then, in addition to the position command Pc of the motor 311, a detection signal from the position sensor 312 is input to the first drive source control unit 901. In the first drive source control unit 901, the rotation angle (position feedback value Pfb) of the motor 311 calculated from the detection signal of the position sensor 312 becomes the position command Pc, and the angular velocity feedback value ωfb described later is an angular velocity described later The motor 311 is driven by feedback control using each detection signal so as to become the command ωc.

  That is, the position command Pc is input to the subtractor 901a, and a position feedback value Pfb, which will be described later, is input from the rotation angle calculation unit 901e. The rotation angle calculation unit 901e counts the number of pulses input from the position sensor 312, and outputs the rotation angle of the motor 311 according to the count value to the subtractor 901a as a position feedback value Pfb. The subtractor 901a outputs the deviation between the position command Pc and the position feedback value Pfb (the value obtained by subtracting the position feedback value Pfb from the target value of the rotation angle of the motor 311) to the position control unit 901b.

The position control unit 901b performs a predetermined calculation process using the deviation input from the subtractor 901a and a proportional gain, which is a predetermined coefficient, to obtain a target value of the angular velocity of the motor 311 according to the deviation. Calculate The position control unit 901 b outputs a signal indicating the target value (command value) of the angular velocity of the motor 311 to the subtractor 901 c as an angular velocity command ωc.
The angular velocity calculation unit 901f calculates the angular velocity of the motor 311 based on the frequency of the pulse signal input from the position sensor 312, and the angular velocity is output to the subtractor 901c as an angular velocity feedback value ωfb.

The angular velocity command ωc and the angular velocity feedback value ωfb are input to the subtractor 901c. The subtractor 901c outputs the deviation between the angular velocity command ωc and the angular velocity feedback value ωfb (the value obtained by subtracting the angular velocity feedback value ωfb from the target value of the angular velocity of the motor 311) to the angular velocity control unit 901d.
The angular velocity control unit 901d performs predetermined arithmetic processing including integration using a deviation input from the subtractor 901c and a proportional gain, an integral gain, etc., which are predetermined coefficients, to obtain a motor according to the deviation. A drive signal of 311 is generated and supplied to the motor 311 via the motor driver.
As a result, feedback control is performed so that the position feedback value Pfb becomes as equal as possible to the position command Pc, and the angular velocity feedback value ωfb becomes as equal as possible to the angular velocity command ωc, thereby driving the motor 311 (body 220 Rotation) is controlled.

Now, such a robot 100 may assemble a product etc. in collaboration with a worker (human) 1000. Hereinafter, an example of this case will be described.
As shown in FIG. 6, the robot 100 performs an assembly operation of assembling the first structure K1 and the second structure K2. Further, the worker 1000 manufactures the first structural body K1 and supplies it to the robot 100. These tasks are performed on workbench 800A and workbench 800B.

The work bench 800A and the work bench 800B are rectangular when viewed from the z-axis positive side, and are arranged in parallel along the x-axis direction.
A worker 1000 is disposed in front of the work bench 800A (left in FIG. 6), and a robot 100 is disposed in front of the work bench 800B (left in FIG. 6). Thus, the robot 100 and the worker 1000 are adjacent to each other.
In this adjacent state, the worker 1000 works on the work bench 800A. Hereinafter, a space where the worker 1000 works is referred to as a human work area N.

On the other hand, the robot 100 performs work on the work bench 800B. The articulated arm 230 of the robot 100 works on the proximal side of the worker 1000, and the articulated arm 240 works on the distal side of the worker 1000.
The articulated arm 230 can move the end effector 610 independently from the first shoulder 231. At this time, as described above, the articulated arm 230 can operate in three directions (three dimensions): the x-axis direction, the y-axis direction, and the z-axis direction. Hereinafter, a space in which the articulated arm 230 can operate is referred to as a first operation area 230A. In FIG. 7, the first operation region 230A is a portion indicated by hatching in the lower right.

In the first operation area 230A, a space where the end effector 610 can operate is referred to as a first work area 230B. The first work area 230B is a space where the end effector 610 performs, for example, an operation such as gripping of the first structure K1, and in FIG. It is.
The articulated arm 240 can move the end effector 620 independently from the first shoulder 241. At this time, as described above, the articulated arm 240 can operate in three directions (three dimensions), the x-axis direction, the y-axis direction, and the z-axis direction. Hereinafter, a space in which the articulated arm 240 can operate is referred to as a second operation area 240A. In FIG. 7, the second operation region 240A is a portion indicated by hatching rising to the right.

In the second operation area 240A, a space where the end effector 620 can operate is referred to as a second work area 240B. The second work area 240B is a space where the end effector 620 carries out work such as gripping of the second structure K2, for example, and in FIG. It is.
Further, as shown in FIG. 7, a part of the first work area 230B and a part of the second work area 240B overlap each other, and an overlapping area S which is the overlapping area (shown by cross hatching in FIG. 7). In the above-mentioned area, the above-described assembly operation is performed. This assembly operation is performed as follows.

As shown in FIG. 6, the articulated arm 230 grips the first structure K1 and moves it to the overlapping area S, and stands still. On the other hand, the articulated arm 240 holds the second structure K2 and assembles it so as to approach the first structure K1 in the overlapping region S in the direction of arrow B in FIG. .
As described above, when the robot 100 and the worker 1000 perform joint work, it is necessary to secure the safety of the worker 1000 sufficiently. In the robot 100, the following operating conditions are stored in the storage unit 930 of the robot control device 900 in order to realize that.

First, as shown in FIG. 6, the first operation region 230A is set to be located closer to the workbench 800B than a boundary 2000 between the workbench 800A and the workbench 800B. Thereby, it can be reliably prevented that the first operation area 230A and the human work area N overlap. Thus, contact between the worker 1000 and the articulated arm 230 can be prevented.
Furthermore, the first operation area 230A is located on the work bench 800B at a predetermined distance from the boundary 2000. Thereby, the worker 1000 can obtain a sense of security. Furthermore, even if the worker 1000 enters the work bench 800B side beyond the boundary line 2000 temporarily, the first operation area 230A is positioned at a predetermined distance from the boundary line 2000, the first operation The area 230A can be moved away from the human work area N, and the robot 100 is more secure.

Further, as shown in FIG. 6, the first operation region 230A is located on the x-axis negative side with respect to an imaginary line 3000 in the y-axis direction passing through the first shoulder 231. As a result, the worker 1000 can recognize the position of the first operation area 230A with the position of the first shoulder 231 as a standard, so that a sense of security can be obtained.
Furthermore, for example, even if the length of work table 800B in the x-axis direction is short and the distance between robot 100 and worker 1000 is smaller than the illustrated configuration, first shoulder 231 is larger than boundary line 2000. By disposing the robot 100 so as to be located on the negative side of the x-axis, the security as described above can be obtained.

  On the other hand, the x-axis negative side limit of the second operation area 240A is up to the x-axis negative side of the work bench 800B. Thereby, the second operation area 240A can secure a working space as large as possible. Therefore, since the articulated arm 240 can freely change its posture within this sufficient working space, the working efficiency of the articulated arm 240 is improved. As a result, work efficiency can be maintained for the robot 100 as a whole.

  Further, the first operation area 230A is set to be smaller than the second operation area 240A. That is, the volume of the first operation area 230A is set to be smaller than the volume of the second operation area 240A. The volume of the first operation area 230A is preferably set to be 10% or more and 70% or less of the volume of the second operation area 240A, and is more preferably set to be 30% or more and 50% or less . As a result, the multi-joint arm 230 can ensure the safety as described above, and the work space can be reduced due to the desire to ensure the safety, and the work efficiency can be prevented from decreasing. Therefore, both safety and productivity (work efficiency) can be achieved.

  The volume of the first operation area 230A may be set to be smaller than the volume of the second operation area 240A, and the width (length in the x-axis direction) W1 of the first operation area 230A and the height (height Length in the z-axis direction) H1 and depth (length in the y-axis direction) L1, width (length in the x-axis direction) W2 of the second operation area 240A, height (length in the z-axis direction) H2 and The respective magnitude relationships with the depth (length in the y-axis direction) L2 are not particularly limited. In this embodiment, the width W1, height H1 and depth L1 of the first operation area 230A are preferably set smaller than the width W2, height H2 and depth L2 of the second operation area 240A, respectively. . Thereby, the safety as described above can be reliably ensured even in the case of entering work table 800B from any direction of the x-axis direction, y-axis direction and z-axis direction (FIGS. 6 and 8). reference).

  Here, when the worker 1000 intrudes into the first operation area 230A to supply the first structure K1 to the workbench 800B, or the worker 1000 mistakenly intrudes into the first operation area 230A. It is assumed that it will happen. However, even in these cases, since the storage unit 930 stores the following operation conditions, the robot 100 can exhibit excellent safety.

  The operating speed of the articulated arm 230 is set to be slower than the operating speed of the articulated arm 240. Thereby, worker 1000 can obtain a further sense of security, and even when worker 1000 intrudes into the first operation area 230A, the operating speed of articulated arm 230 is compared with articulated arm 240. The operator 1000 is likely to escape from the first movement area 230A before coming into contact with the articulated arm 230. Furthermore, even if the worker 1000 unintentionally contacts the articulated arm 230, the impact that the worker 1000 receives is reduced. Thus, the robot 100 is more secure.

  The operating speed (average operating speed) of the articulated arm 230 is preferably set to be 0% or more and 70% or less of the operating speed (average operating speed) of the articulated arm 240, preferably 20% or more and 50%. It is more preferable to set as follows. As a result, the worker 1000 can obtain a sense of security as described above, and the articulated arm 230 can perform work sufficiently.

  In order to make the movement speed of the articulated arm 230 slower than the movement speed of the articulated arm 240, for example, a voltage applied to the motors 411 to 471 of the articulated arm 230 is applied to the motors 511 to 571 of the articulated arm 240 It is set to be smaller than the required voltage. Thereby, as described above, in addition to the robot 100 having excellent safety, further effects can be obtained.

As an effect thereof, the rotational speeds of the motors 411 to 471 become slower than the rotational speeds of the motors 511 to 511, respectively. That is, the number of rotations of the motors 411 to 471 is smaller than the number of rotations of the motors 511 to 511. As a result, the amount of wear of the motors 411 to 471 can be reduced, and hence the life of the motors 411 to 471 can be extended.
Furthermore, the current flowing to the motors 411 to 471 is smaller than the current flowing to the motors 511 to 511. As a result, the amount of heat generation of the motors 411 to 471 can be made smaller than the amount of heat generation of the motors 511 to 511. Therefore, it is possible to suppress a failure, deterioration or the like due to heat generation of the articulated arm 230.

  Furthermore, the torques of the motors 411 to 471 can be smaller than the torques of the motors 511 to 511, respectively. Thus, for example, in the case where the articulated arm 230 and the articulated arm 240 collide due to, for example, an earthquake or the like, the articulated arm 230 breaks preferentially to the articulated arm 240. Therefore, by replacing or repairing only the articulated arm 230, the robot 100 can be reused.

  Further, as described above, in the overlapping region S, the multi-joint arm 230 keeps the first structure K1 in a stationary state, and the multi-joint arm 240 sets the second structure K2 to the first structure K1. It is set to be assembled in such a way as to approach in the direction of arrow B in FIG. As described above, in the robot 100, the operation of the articulated arm 230 and the operation of the articulated arm 240 are set to be different. As a result, the dynamic work of the articulated arm 230 on the proximal side of the worker 1000 can be reduced as much as possible, and the worker 1000 can obtain a further sense of security.

  Further, in the overlapping region S, when the articulated arm 230 and the articulated arm 240 are about to contact, the operation of the articulated arm 230 is suppressed and the articulated arm 240 is set to perform the operation preferentially. ing. As a result, it is possible to prevent the multi-joint arm 230 and the multi-joint arm 240 from unintentionally colliding with each other, and the movement of the multi-joint arm 230 can be reduced.

Further, in the robot 100, when activating the articulated arm 230 and the articulated arm 240 from the state where the robot body 200 is not driven yet, the articulated arm 240 is set to be activated earlier than the articulated arm 230. There is. That is, when activating the articulated arm 230 and the articulated arm 240, after activating the articulated arm 240, the articulated arm 230 is set to activate with a predetermined time difference. As a result, the worker 1000 can confirm that the articulated arm 240 is activated, and can predict that the articulated arm 230 is activated next to the articulated arm 240. Therefore, the robot 100 can exhibit higher security.
The robot control device 900 controls the driving of the articulated arm 230 and the articulated arm 240 with the settings as described above, whereby the safety of the worker 1000 can be reliably ensured.

  Although the case where the worker 1000 works sideways of the articulated arm 230 has been described above, it may be preferable for the worker 1000 to work sideways of the articulated arm 240. In this case, the setting can be switched so that the second operation area 240A is smaller than the first operation area 230A. That is, as shown in FIG. 9, the size of the second operation area 240A is the size of the first operation area 230A shown in FIG. 6, and the size of the first operation area 230A is the second operation area 240A shown in FIG. It can be sized. As a result, the worker 1000 can safely operate even on the side of the articulated arm 240. At this time, it is preferable that the movement speed and the dynamic operation of the articulated arm 230 and the articulated arm 240 be reversed as well as the size relationship between the first movement area 230A and the second movement area 240A.

As described above, in the robot 100, the multi-joint arm 230 is set as a small "deprecated arm" in the movement range, and the multi-joint arm 240 is set as a large "dominated arm" in the movement range. , And can be switched to the state in which the articulated arm 230 is set as the “dominant arm”.
The selection of whether to set the human work area N to the side of the first operation area 230A or the side of the second operation area 240A can be made, for example, by operating a button or the like displayed on the monitor 270. It is configured to be done.

Next, the operation of the robot 100 will be described based on the flowchart shown in FIG.
First, the worker 1000 operates the monitor 270 provided on the back side of the robot 100 to set either of the articulated arm 230 or the articulated arm 240 as the “dominant arm” and which one as the “poor arm”. To choose.

The robot control apparatus 900 determines the setting selected by operating the monitor 270 (step 1).
In step 1, as shown in FIGS. 6-8, when the articulated arm 230 is set to be the “poor arm” and the articulated arm 240 is the “dominant arm”, first, the motor of the articulated arm 230 is The voltage applied to the terminals 411 to 471 is set to be smaller than the voltage applied to the motors 511 to 51 of the articulated arm 240 (step 2).

Next, the first movement area 230A of the articulated arm 230 is set smaller than the second movement area 240A of the articulated arm 240 (step 3).
Next, the robot 100 is driven with the contents set in step 2 and step 3 (step 6). As a result, the worker 1000 can safely perform work in the human work area N on the side of the articulated arm 230.

  In step 1, as shown in FIG. 9, when the robot control apparatus 900 determines that the articulated arm 240 is the “poor arm” and the articulated arm 230 is the “dominant arm”, Conversely, the voltage applied to the motors 511 to 571 of the articulated arm 240 is set smaller than the voltage applied to the motors 411 to 471 of the articulated arm 230 (step 4).

Next, the second movement area 240A of the articulated arm 240 is set smaller than the first movement area 230A of the articulated arm 230 (step 5).
Next, the robot 100 is driven with the contents set in step 4 and step 5 (step 6). Thus, the worker 1000 can safely perform work in the human work area N set to the side of the articulated arm 240.

  As described above, one operation area of the first operation area 230A in which the articulated arm 230 operates and the second operation area 240A in which the articulated arm 240 operates is smaller than the other operation area. By being set, the worker 1000 working on the side of the small operation area of the first operation area 230A and the second operation area 240A comes into contact with the articulated arm operating in the small operation area. This worker 1000 can work safely.

In addition, the distance between the worker 1000 and the robot 100 can be narrowed. As a result, in the production line of a predetermined size, more robots 100 and more workers 1000 can be arranged as the distance between the worker 1000 and the robot 100 is smaller, and therefore, the production efficiency is improved. Can.
In addition, even when the worker 1000 performs the operation on either side of the articulated arm 230 of the robot 100 or on the side of the articulated arm 240, this can be coped with, and the robot 100 has excellent safety. It can be demonstrated.

  Also, the motion of the articulated arm 230 is simpler than the motion of the articulated arm 240. For this reason, the possibility that the articulated arm 230 will cause a failure is low. Thus, when monitoring the operation of the robot 100 with the above-described stereo camera 250 or the like, it is possible to recognize a defect in the robot 100 by monitoring only the articulated arm 240. Thus, the robot 100 can be easily monitored.

Although the robot, the robot control device and the control method of the robot according to the present invention have been described above with reference to the illustrated embodiment, the present invention is not limited to this, and the robot and each part constituting the robot control device are the same. It can be replaced with any configuration capable of exerting the function of Also, any component may be added.
In the embodiment, the motor for driving one articulated arm of the two articulated arms and the motor of the other articulated arm have the same configuration, but the present invention is limited thereto. Alternatively, motors having different rotational speeds, torques, etc. may be mounted on each articulated arm in advance. As a result, even when the robot control device applies the same voltage to each articulated arm, the operating range, the operating speed, and the like of each articulated arm can be made different.

Further, in the above embodiment, the robot is used in a line production method in which a large number of workers and a large number of robots are side by side to perform collaborative work, but the present invention is not limited thereto. It may be used in a cell production system in which a worker and a few robots collaborate.
Further, in the above embodiment, the robot has two articulated arms, but the present invention is not limited to this, and the robot may have three or more articulated arms. In this case, the robot control device controls the movement area of the articulated arm close to the area where the worker works, so as to be smaller than the movement areas of other articulated arms.

Moreover, although the movable robot has been described in the above embodiment, the robot may be fixed to the floor, ceiling, wall or the like of the work room by a bolt or the like.
Further, in the above embodiment, the number of rotational axes of the robot is 15, but the present invention is not limited to this, and the number of rotational axes of the robot may be 1 to 14, or 16 It may be more than. Moreover, as a robot, it is not limited to a double arm robot, A single arm robot may be sufficient.
Further, in the above embodiment, the robot has been described as performing assembly work, but the present invention is not limited to this, and for example, processing such as screwing may be performed on parts. In this case, it is preferable that the "recessed arm" be set so that the component is fixed to the work bench, and the "predominant arm" grips a tool such as a driver to perform a screwing operation.

  100: Robot 200: Robot main body 210: Base 211: Handle 213: Bumper 213a: Abutment portion 213b: Fixing portion 214: Emergency stop button 220: Torso 230: Articulated arm 230A ... ... 1st movement area 230B ... 2nd work area 231 ... 1st shoulder 232 ... 2nd shoulder 233 ... upper arm 234 ... 1st forearm 235 ... 2nd forearm 236 ... wrist 237 ...... connecting portion 238 ...... hand section 240 ...... articulated arm 240A ...... the second operating region 240B ...... the second work area 241 ...... first shoulder 242 ...... the second shoulder portion 243 ...... upper arm 244 ...... 1st forearm part 245 ...... 2nd forearm part 246 ...... wrist part 247 ...... connecting part 248 ハ ン ド hand part 250 ス テ レ オ stereo camera 260 ...... Traffic light 270 ...... monitor 310 ...... joint mechanism 311 ...... motor 312 ...... position sensor 410 ...... joint mechanism 411 ...... motor 412 ...... position sensor 420 ...... joint mechanism 421 ...... motor 422 ...... position sensor 430 ...... Torsion mechanism 431 ... motor 432 ... position sensor 440 ... joint mechanism 441 ... motor 442 ... position sensor 450 ... torsion mechanism 451 ... motor 452 ... position sensor 460 ... joint mechanism 461 ... motor 462 ... ... Position sensor 470 ... Torsion mechanism 471 ... Motor 472 ... Position sensor 510 ... Joint mechanism 511 ... Motor 512 ... Position sensor 520 ... Joint mechanism 521 ... Motor 522 ... Position sensor 530 ... Torsion mechanism31 ...... Motor 532 ...... Position sensor 540 ...... Joint mechanism 541 ...... Motor 542 位置 Position sensor 550 ...... Torch mechanism 551 ...... Motor 552 ...... Position sensor 560 ...... Joint mechanism 561 ...... Motor 562 ...... position Sensor 570: torsion mechanism 571: motor 572: position sensor 610: end effector 611: first finger 612: second finger 620: end effector 621: first finger 622: second 2 finger 740 ... force sensor 750 ... force sensor 800A, 800B ... work table 900 ... robot control device 901 ... first drive source control section 901a ... subtractor 901b ... position control section 901c ... ... Subtractor 901 d ... Angular velocity control unit 901 e ... Rotation angle calculation Unit 901f ... Angular velocity calculation unit 902 ... Second drive source control unit 903 ... Third drive source control unit 904 ... Fourth drive source control unit 905 ... Fifth drive source control unit 906 ... Sixth drive source Control unit 907: seventh drive source control unit 908: eighth drive source control unit 909: ninth drive source control unit 910: tenth drive source control unit 911: eleventh drive source control unit 912: 12th drive source control unit 913 ... 13th drive source control unit 914 ... 14th drive source control unit 915 ... 15th drive source control unit 930 ... storage unit 1000 ... worker 2000 ... boundary line 3000 ... ... imaginary lines O1, O2, O2 ', O3, O3', O4, O4 ', O5, O5', O6, O6 ', O7, O7', O8, O8 '... rotation axis S ... overlap area N ...... Human work area K1 ...... First structure K2 ...... second structure W1, W2 ...... width L1, L2 ...... depth H1, H2 ...... height

Claims (25)

The first arm,
The second arm,
A control unit configured to control driving of the first arm and the second arm;
The control unit
Control for switching between a first state in which the first arm is a recessive arm and the second arm is a dominant arm, and a second state in which the first arm is a dominant arm and the second arm is a recessive arm When,
A robot that performs control to activate the dominant arm before the inferior arm when activating the inferior arm and the dominant arm. The control unit
The robot according to claim 1, wherein a volume of a first movement area in which the inferior arm operates is smaller than a volume of a second movement area in which the dominant arm operates. The control unit
The robot according to claim 2, wherein the volume of the first movement area is controlled to be 10% or more and 70% or less of the volume of the second movement area. The inferior arm and the dominant arm operate in an axial direction of an x axis, an axial direction of ay axis orthogonal to the x axis, and an axial direction of az axis orthogonal to the x axis and the y axis. ,
The control unit
A volume having a first width in the axial direction of the x axis, a first height in the axial direction of the y axis, and a first depth in the axial direction of the z axis with respect to the first operation region Set,
A volume having a second width in the axial direction of the x axis, a second height in the axial direction of the y axis, and a second depth in the axial direction of the z axis with respect to the second operation region Set,
The first width is shorter than the second width,
The first height is shorter than the second height,
The robot according to claim 2, wherein the first depth is shorter than the second depth. The control unit
In the work area in which the tip of the inferior arm operates and the work area in which the tip of the dominant arm operates, an overlapping area in which a part of them overlaps is set.
The robot according to any one of claims 1 to 4, wherein in the overlapping area, the dominant arm is controlled to perform motion. The control unit
In the side of the inferior arm, a human work area in which a human works is set.
The robot according to any one of claims 2 to 4 , wherein the first operation area is controlled so as not to overlap with the human work area. The control unit
The robot according to any one of claims 1 to 6, wherein the movement speed of the inferior arm is controlled to be slower than the movement speed of the dominant arm. A first drive motor for driving the inferior arm, and a second drive motor for driving the dominant arm;
The control unit
The robot according to any one of claims 1 to 7, wherein a voltage applied to the first drive motor is controlled to be smaller than a voltage applied to the second drive motor. A first drive motor for driving the inferior arm, and a second drive motor for driving the dominant arm;
The control unit
The robot according to any one of claims 1 to 8, wherein a rotation speed of the first drive motor is controlled to be slower than a rotation speed of the second drive motor. A first drive motor for driving the inferior arm, and a second drive motor for driving the dominant arm;
The control unit
The robot according to any one of claims 1 to 9, wherein a heat generation amount of the first drive motor is controlled to be smaller than a heat generation amount of the second drive motor. A first drive motor for driving the inferior arm, and a second drive motor for driving the dominant arm;
The control unit
The robot according to any one of claims 1 to 10, wherein a torque of the first drive motor is controlled to be smaller than a torque of the second drive motor. The robot performs an assembly operation of assembling the first structure and the second structure,
The control unit
When performing the assembly operation, the inferior arm keeps the first structure at rest, and the dominant arm controls the second structure to approach the first structure. The robot according to any one of 11. A robot control device that controls driving of the first arm of a robot having a first arm and a second arm, and the second arm,
Control for switching between a first state in which the first arm is a recessive arm and the second arm is a dominant arm, and a second state in which the first arm is a dominant arm and the second arm is a recessive arm When,
A robot control apparatus that performs control to activate the dominant arm earlier than the inferior arm when activating the inferior arm and the dominant arm. A robot control method for controlling driving of the first arm of a robot having a first arm and a second arm, and the second arm,
Control for switching between a first state in which the first arm is a recessive arm and the second arm is a dominant arm, and a second state in which the first arm is a dominant arm and the second arm is a recessive arm When,
A control method of performing activation of the dominant arm prior to the inferior arm when activating the inferior arm and the dominant arm.   The robot control method according to claim 14, wherein the volume of the first movement area in which the inferior arm operates is smaller than the volume of the second movement area in which the dominant arm operates.   The robot control method according to claim 15, wherein the volume of the first operation area is controlled to be 10% or more and 70% or less of the volume of the second operation area. The robot control method for operating the inferior arm and the dominant arm in the axial direction of the x axis, the axial direction of the y axis orthogonal to the x axis, and the axial direction of the z axis orthogonal to the x axis and the y axis And
A volume having a first width in the axial direction of the x axis, a first height in the axial direction of the y axis, and a first depth in the axial direction of the z axis with respect to the first operation region Set,
A volume having a second width in the axial direction of the x axis, a second height in the axial direction of the y axis, and a second depth in the axial direction of the z axis with respect to the second operation region Set,
The first width is shorter than the second width,
The first height is shorter than the second height,
The robot control method according to claim 15, wherein the first depth is shorter than the second depth. In the work area in which the tip of the inferior arm operates and the work area in which the tip of the dominant arm operates, an overlapping area in which a part of them overlaps is set.
The robot control method according to any one of claims 14 to 17, wherein in the overlapping area, the dominant arm is controlled to perform an operation. In the side of the inferior arm, a human work area in which a human works is set.
The robot control method according to any one of claims 15 to 17 , wherein the first operation area is controlled not to overlap with the human work area.   The robot control method according to any one of claims 14 to 19, wherein the movement speed of the inferior arm is controlled to be lower than the movement speed of the dominant arm. A robot control method for controlling a robot having a first drive motor for driving the inferior arm and a second drive motor for driving the dominant arm,
The robot control method according to any one of claims 14 to 20, wherein the voltage applied to the first drive motor is controlled to be smaller than the voltage applied to the second drive motor. A robot control method for controlling a robot having a first drive motor for driving the inferior arm and a second drive motor for driving the dominant arm,
The robot control method according to any one of claims 14 to 21, wherein the rotational speed of the first drive motor is controlled to be slower than the rotational speed of the second drive motor. A robot control method for controlling a robot having a first drive motor for driving the inferior arm and a second drive motor for driving the dominant arm,
The robot control method according to any one of claims 14 to 22, wherein the heat generation amount of the first drive motor is controlled to be smaller than the heat generation amount of the second drive motor. A robot control method for controlling a robot having a first drive motor for driving the inferior arm and a second drive motor for driving the dominant arm,
The robot control method according to any one of claims 14 to 23, wherein the torque of the first drive motor is controlled to be smaller than the torque of the second drive motor. A robot control method for controlling a robot performing an assembly operation of assembling a first structure and a second structure, the robot controlling method comprising:
When performing the assembly operation, the inferior arm keeps the first structure at rest, and the dominant arm controls the second structure to approach the first structure. 24. The robot control method according to any one of to 24.

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