A robot for performing an assembly operation is provided. The robot comprises a processor configured to determine a control law for controlling a plurality of motors of the robot to move a robotic arm according to an original trajectory, execute a self-exploration program to produce training data indicative of a space of the original trajectory, and learn, using the training data, a non-linear compliant control law including a non-linear mapping that maps measurements of a force sensor of the robot to a direction of corrections to the original trajectory defining the control law. The processor transforms the original trajectory according to a new goal pose to produce a transformed trajectory, update the control law according to the transformed trajectory to produce the updated control law, and command the plurality of motors to control the robotic arm according to the updated control law corrected with the compliance control law.

A robot for performing an assembly operation is provided. The robot comprises a processor configured to determine a control law for controlling a plurality of motors of the robot to move a robotic arm according to an original trajectory, execute a self-exploration program to produce training data indicative of a space of the original trajectory, and learn, using the training data, a non-linear compliant control law including a non-linear mapping that maps measurements of a force sensor of the robot to a direction of corrections to the original trajectory defining the control law. The processor transforms the original trajectory according to a new goal pose to produce a transformed trajectory, update the control law according to the transformed trajectory to produce the updated control law, and command the plurality of motors to control the robotic arm according to the updated control law corrected with the compliance control law.

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm.

A robot control apparatus includes a processor that is configured to: receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of a force detected by a force detector should be executed; determine an initial value of one of a mass coefficient and a viscosity coefficient that should be used in the force control of the first operation based on specific information on a configuration of a robot stored in a memory unit and the first position information; and store the initial value in the memory.

Provided is a force control device and the like that can, even in the case of torque saturation, reduce positional deviation between a virtual object and a control target by using an algebraic loop to feedback a position of the virtual object, and improve stability while improving followability. The force control device includes: a position detector that detects a position of the control target; a force sensor 11 that detects a force by which the control target is in contact with an object; a moving mechanism 41 that movably holds the control target; a driving unit 42 that includes a motor that uses a torque command value as an input to operate the moving mechanism 41; and a computing unit 40 that determines the torque command value. The computing unit 40 stores a virtual object 12 having predetermined dynamic characteristics, and a position controller 13, and is configured to: calculate a position at a next time, the position being calculated by simulating a motion of the virtual object when a target force exerted on the control target and a measured value of the force sensor 11 are given to the virtual object; obtain a torque calculated when the calculated position is given to the position controller 13 as a target position at the next time; and, when the obtained torque is outside the predetermined range set previously, determine the position of the virtual object 12 at the next time based on a boundary value of the predetermined range and the obtained torque.

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm.

The controller acquires a force applied to a manipulator of a robot, to generate, based on the acquired data, force state data containing information related to the force applied to the manipulator and control command adjustment data indicating an adjustment behavior of a control command related to the manipulator as state data, thereby executing, based on the generated state data, a process of machine learning related to the adjustment behavior of the control command related to the manipulator.

A robot control apparatus includes a processor that is configured to: receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of a force detected by a force detector should be executed; determine an initial value of one of a mass coefficient and a viscosity coefficient that should be used in the force control of the first operation based on specific information on a configuration of a robot stored in a memory unit and the first position information; and store the initial value in the memory.

The controller acquires a force applied to a manipulator of a robot, to generate, based on the acquired data, force state data containing information related to the force applied to the manipulator and control command adjustment data indicating an adjustment behavior of a control command related to the manipulator as state data, thereby executing, based on the generated state data, a process of machine learning related to the adjustment behavior of the control command related to the manipulator.

A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot that includes a robot arm including a force detector, wherein the processor is configured to reset the force detector after moving the robot arm at a first speed, and subsequently moves the robot arm at a second speed faster than the first speed and performs force control based on an output from the force detection unit.