JP4882990B2 - Robot controller - Google Patents

Description

  The present invention relates to a robot control device, and more particularly to a robot control device that changes parameters to be applied according to the control accuracy of a robot required for each operation region.

In an industrial robot system, it is necessary to identify various parameters with high accuracy in order to increase control accuracy during operation. The robot includes, for example, an actuator that generates a driving force, an encoder that detects the position of the actuator, a link mechanism that transmits the driving force of the actuator to an arm, and the like. Therefore, slight errors occurring in these actuators, encoders, links, and the like are corrected using parameters (see Patent Document 1).
JP-A-6-304893

In the case of Patent Document 1, calibration is performed in order to set parameters for the purpose of improving the accuracy of an arbitrary motion in an arbitrary motion region assumed by the robot. For this reason, the average accuracy of each motion in the motion region of the robot is improved.
However, this only improves the average accuracy of each motion, and the accuracy is worse than the average accuracy in a limited motion within a limited motion area, such as a motion that changes the posture at the same motion point. Therefore, there may be a problem that sufficient accuracy cannot be secured.

  Therefore, the present invention has been made in view of the above-described problems, and the purpose of the present invention is compatible with various operations in the entire movable region assumed for the robot and specific operations in a specific region of the robot. An object of the present invention is to provide a robot control device that ensures high accuracy.

  According to the first aspect of the present invention, there are provided general-purpose parameter acquisition means for acquiring general-purpose parameters and dedicated parameter acquisition means for acquiring dedicated parameters. The general-purpose parameters acquire general-purpose parameters that serve as a basis for lot control with respect to the target points and various operations that are uniformly selected from the entire movable region of the robot. On the other hand, the dedicated parameter acquires a dedicated parameter dedicated to a specific operation in a specific area set as a part of the movable area. The motion control adjustment means determines that the robot motion is not a specific motion in the specific region, while the robot operation based on the execution program is a specific motion in the specific region to control the robot by applying a dedicated parameter. When the robot is controlled by applying general parameters. In this way, the motion control adjustment means controls the robot by applying the dedicated parameter when the motion of the robot is the specific motion in the specific region, and controls the robot by applying the general parameter otherwise. Therefore, when the robot motion is in a specific motion in a specific region, the robot is controlled with high accuracy by a dedicated parameter set exclusively for the specific motion in the specific region. On the other hand, when the movement of the robot is not a specific movement in a specific area, the robot is controlled with high accuracy by the general-purpose parameters set as the basis of the robot control. Therefore, it is possible to achieve both ensuring accuracy in an arbitrary operation in an arbitrary region of the robot and ensuring accuracy in a specific operation in a specific region of the robot.

Hereinafter, an embodiment of a robot control apparatus according to the present invention will be described with reference to the drawings.
1 and 2 show a robot system 10 to which the robot control apparatus according to the present embodiment is applied. FIG. 1 is a block diagram showing the configuration of the robot system 10. FIG. 2 is a schematic diagram showing the configuration of the robot system 10. The robot system 10 includes a robot 11 and a control device 12. The robot 11 is a robot having an arbitrary configuration, for example, for assembling parts or for inspecting parts. The control device 12 is connected to a teaching pendant 13 constituting an operation pendant as a peripheral device, a personal computer 14 for program input, and the like.

  The robot 11 is configured as a six-axis vertical articulated robot, for example. As is well known, the robot 11 has an arm 16 that is driven by a driving force from a servo motor 15 that is an actuator. The arm 16 has an end effector 17 at the tip. For example, when parts are transported or assembled by the robot 11, a hand for holding these parts is used as the end effector 17. For example, when a part 11 is inspected by the robot 11, a camera for photographing a target part is used as the end effector 17. Thus, the end effector 17 can be arbitrarily selected according to the process of applying the robot 11. Between the servo motor 15 and the end effector 17 of the arm 16, a driving force transmission mechanism such as a speed reduction mechanism or a link (not shown) is provided. As a result, the end effector 17 provided at the tip of the arm 16 is driven by the driving force from the servo motor 15. The robot 11 and the control device 12 are connected by a connection cable 18. Accordingly, the servo motor 15 that drives each axis of the robot 11 and the end effector 17 that performs the work are controlled by the control device 12.

  The teaching pendant 13 is configured, for example, in such a size that the user can carry it or carry it in his hand. The teaching pendant 13 is formed in a thin, substantially rectangular box shape, for example. The teaching pendant 13 has a display part 21 made of, for example, a liquid crystal display at the center of the surface part. Various screens are displayed on the display unit 21. The display unit 21 is configured with a touch panel. Further, the teaching pendant 13 is provided with various key switches 22 around the display unit 21. The touch panel and the key switch 22 constitute a key operation unit 23 for inputting various instructions to the control device 12.

  Inside the teaching pendant 13, a control circuit 24 and an interface (not shown) are provided. The control circuit 24 is mainly composed of a microcomputer. The teaching pendant 13 performs high-speed data transfer with the control device 12 via the interface. The teaching pendant 13 is connected to the control device 12 via a cable 25. An operation signal or the like input from the key operation unit 23 of the teaching pendant 13 is transmitted from the teaching pendant 13 to the control device 12 via the cable 25. Further, the control device 12 supplies driving power to the teaching pendant 13 together with a control signal and a display signal.

  The user can execute various functions such as operation and setting of the robot 11 using the teaching pendant 13 described above. Specifically, the user can call the program of the robot 11 stored in advance by operating the key operation unit 23 to execute the activation of the robot 11 and the setting of various parameters. Also, various teaching operations can be executed by operating the robot 11 by manual operation. At this time, a desired screen such as a menu screen, a setting input screen, and a status display screen is displayed on the display unit 21 as necessary.

  As the personal computer 14, for example, a general-purpose notebook personal computer or the like is applied. By executing the programming software on the personal computer 14, the user can create a robot program describing the operation procedure of the robot 11 according to the application. In this case, the user can create an operation program for the robot 11 relatively easily by combining package commands or adding corrections according to the application executed by the robot 11. The personal computer 14 is connected to the control device 12 via a cable 26. The operation program of the robot 11 created by the personal computer 14 is input from the personal computer 14 to the control device 12 via the cable 26.

  In the control device 12, a control unit 31 is incorporated in a box-shaped frame. The control unit 31 is mainly configured by a microcomputer including a CPU, a ROM, a RAM, and the like. The control unit 31 inputs each of the axes of the robot 11 via the servo control unit 32 based on the operation program of the robot 11 input and stored in advance, various data and parameters, operation signals from the teaching pendant 13, and the like. The servo motor 15 is driven. Thereby, the control device 12 controls the operation of the robot 11.

  In addition to the above configuration, the control device 12 includes an encoder 33, a storage unit 34, a general-purpose parameter acquisition unit 35, a dedicated parameter acquisition unit 36, a determination unit 37, and an operation control adjustment unit 38. The encoder 33 detects the operation amount of the servo motor 15. The encoder 33 detects, for example, the rotation angle of the servo motor 15. The encoder 33 outputs the detected rotation angle of the servo motor 15 to the control unit 31 as an electrical signal. The storage unit 34 stores an operation program, various data, parameters, and the like of the robot 11. The storage unit 34 includes a nonvolatile storage element such as an EPPROM, an HDD, and the like. Further, the storage unit 34 may be configured by a ROM and a RAM configuring the control unit 31.

  The general parameter acquisition unit 35 acquires general parameters to be applied to the operation of the robot 11. The general-purpose parameters are acquired by executing calibration for the target points and various operations that are uniformly selected from the entire movable region of the robot 11. The general-purpose parameters can be applied to all operations assumed in all the movable regions assumed for the robot 11. That is, the general-purpose parameters are parameters that serve as a basis for control of the robot 11 that is applied to all operations in all the movable regions of the robot 11. The general-purpose parameter acquisition unit 35 executes calibration of the robot 11 by repeating the operation of the robot 11 input from the teaching pendant 13 or the personal computer 14 or by repeating the operation of the robot 11 by a preset general-purpose parameter acquisition program. And get general parameters.

  The general-purpose parameter acquisition unit 35 executes calibration applicable to all operations in the entire operation region of the robot 11 and acquires general-purpose parameters. The general-purpose parameter acquisition unit 35 performs calibration of a representative region of the motion region of the robot 11 and the representative motion, and calculates general-purpose parameters that are applied to all motions in the entire motion region. It is good also as a structure. The general parameter acquisition unit 35 stores the general parameters acquired as a result of the calibration in the storage unit 34.

  The dedicated parameter acquisition unit 36 acquires a dedicated parameter applied to the operation of the robot 11. The dedicated parameter is acquired by executing calibration for some specific operations among the operations set in the robot 11 in a specific region set in a part of the movable region of the robot 11. . The dedicated parameter is applied only to a specific operation that is a part of the motion assumed for the robot 11 in a specific region that is a part of the movable region assumed for the robot 11. That is, the dedicated parameter is applied only to a specific operation in the specific area of the robot 11 and is a parameter dedicated to the specific operation in the specific area. The dedicated parameter acquisition unit 36 performs calibration of the robot 11 by repeating the operation of the robot 11 input from the teaching pendant 13 or the personal computer 14 or by repeating the operation of the robot 11 by a preset dedicated parameter acquisition program. And get the dedicated parameters. At this time, the dedicated parameter acquisition unit 36 repeats the specific operation in the specific area by the robot 11. Thereby, the calibration for the specific operation in the specific region is executed. The dedicated parameter acquisition unit 36 stores the dedicated parameter acquired as a result of the calibration in the storage unit 34.

  The general parameter acquisition unit 35 and the dedicated parameter acquisition unit 36 acquire the following parameters for each axis of the robot 11. The general-purpose parameter acquisition unit 35 and the dedicated parameter acquisition unit 36 include, for example, the rotation angle θi of the rotation axis i, the link Li driven by the rotation axis i, the link length ai between the rotation axis i and the rotation axis i + 1, and the link Li All or part of the rotation angle αi around the xi axis from the z axis to the z axis of the link Li + 1, the offset amount Δθi of the rotation angle θi, and the like are acquired as parameters.

  The operations of the robot 11 to which the general-purpose parameters are applied are all operations assumed for the robot 11. The general-purpose parameters and the dedicated parameters include arbitrary parameters such as the offset amount of the encoder 33, the error amount of the driving force transmission mechanism, and the squareness. Examples of the operation of the robot 11 to which the dedicated parameter is applied include an attitude change operation at the same point, an image shooting operation for the same point, a plurality of operations set in a certain region, a palletizing operation, and the like. . As described above, the dedicated parameter is applied to the control of the robot 11 by the control device 12 when the operation of the robot 11 is a limited specific operation in a specific region where the operation of the robot 11 is limited.

  The determination unit 37 determines whether the operation of the robot 11 is a specific operation in a specific area. Then, as a result of determining the motion region and motion of the robot 11 by the determination unit 37, the motion control adjustment unit 38 determines whether it is a region and motion to which general parameters are applied or a region and motion to which dedicated parameters are applied. To do. An operation to be executed by the robot 11 is input to the control device 12 from the teaching pendant 13 or the personal computer 14. The operation control adjustment unit 38 determines whether or not the input operation is a specific operation in a specific area. The motion control adjustment unit 38 determines the motion region of the robot 11 based on the application input to the control unit 31 and the type of parameter to be applied from the motion, as shown in FIG. Specifically, when the motion region of the robot 11 is within the specific region and the motion of the robot 11 is the specific motion, the motion control adjustment unit 38 determines to apply the dedicated parameter. On the other hand, when the motion area of the robot 11 is within the specific area but not the specific motion, the motion area of the robot 11 is outside the specific area even when the motion of the robot 11 is the specific motion, and the motion area of the robot 11 is the specific area When it is outside and is not a specific operation, the operation control adjustment unit 38 determines that any of the general-purpose parameters is applied.

Next, the operation of the robot system 10 having the above configuration will be described.
(Acquiring parameters by calibration)
Based on FIG. 4, the calibration of the robot system 10 will be described.
When calibration is started, the control unit 31 first acquires a dedicated parameter by the dedicated parameter acquisition unit 36. The dedicated parameter acquisition unit 36 determines an application to be calibrated (S101). The application to be calibrated is determined by the operation program of the robot 11 input from the personal computer 14. When the application is determined, the dedicated parameter acquisition unit 36 determines the operation area (S102). One or more operation areas are set for each application. The dedicated parameter acquisition unit 36 determines an operation area for executing calibration from the operation area.

  When the operation area is determined, the dedicated parameter acquisition unit 36 determines the calibration position and orientation (S103). When the calibration position and orientation are determined, the dedicated parameter acquisition unit 36 stores the DH parameters of the robot 11 (S104). When the calibration position and orientation are determined, the dedicated parameter acquisition unit 36 acquires DH parameters that are initial positions of the robot 11 such as the positions of the servo motor 15, the arm 16, and the end effector 17 of the robot 11. The dedicated parameter acquisition unit 36 stores the acquired DH parameter in the storage unit 34.

  When the DH parameter of the robot 11 at the initial position is acquired, the dedicated parameter acquisition unit 36 moves the robot 11 to the measurement position to be measured (S105). The robot 11 moves to the measurement position according to a control signal from the dedicated parameter acquisition unit 36. When the robot 11 moves to the measurement position to be measured, the dedicated parameter acquisition unit 36 acquires the position and orientation of the robot 11 at the measurement position (S106). The position and posture of the robot 11 at the measurement position are acquired by an external device (not shown). That is, the position and posture of the robot 11 at the measurement position are the actual position and the actual posture acquired by the external device. As the external device, for example, various measuring devices such as a laser displacement meter are applied. The dedicated parameter acquisition unit 36 stores the actual position and actual posture acquired by an external device (not shown) in the storage unit 34. Further, the dedicated parameter acquisition unit 36 stores the command position and orientation or command angle output when the robot 11 is moved to the measurement position to be measured in the storage unit (S107).

  When the acquisition and storage of the actual position and actual posture of the robot 11 in step S106 and the acquisition and storage of the command position, posture, or command angle in step S107 are completed, the dedicated parameter acquisition unit 36 completes the calibration operation. Is determined (S108). Calibration is executed at a plurality of measurement points with respect to the calibration position and orientation determined in step S103. Therefore, the dedicated parameter acquisition unit 36 returns to step S105 until the calibration operation is completed, and repeats the calibration operation at each measurement point.

  When the dedicated parameter acquisition unit 36 determines in step S108 that the calibration operation has been completed, that is, the calibration operation at each measurement point has been completed, the dedicated parameter acquisition unit 36 performs calibration and creates calibration data (S109). The calibration data includes the DH parameter acquired in step S104, the actual position and posture of the robot 11 at the measurement position acquired in step S106, and the command position and posture or command angle to the robot 11 at the measurement position acquired in step S107. It is calculated by the calculation based on The dedicated parameter acquisition unit 36 stores the calibration data calculated in step S109 in the storage unit 34 (S110). At this time, the dedicated parameter acquisition unit 36 creates calibration data for each operation of the application and each operation region of the application, and stores the calibration data in the storage unit 34.

The dedicated parameter acquisition unit 36 determines whether to create calibration data in another operation region of the application (S111). When the dedicated parameter acquisition unit 36 determines that it is necessary to create calibration data in another operation region, the process returns to step S102 and repeats the processing from step S103 to step S110.
When the dedicated parameter acquisition unit 36 determines that the creation of calibration data in each area of the application is complete, it determines whether to create calibration data in another application (S112). If the dedicated parameter acquisition unit 36 determines that it is necessary to create calibration data for another application, it returns to S101 and repeats the processing from step S102 to step S111.

As described above, by executing the processing from step S101 to step S112 in all operation regions of the application set in the robot 11, the dedicated parameter acquisition unit 36 is dedicated to the specific operation in the specific region of the robot 11. Create calibration data. Then, the dedicated parameter acquisition unit 36 acquires a dedicated parameter based on the created calibration data. The dedicated parameter acquisition unit 36 stores the acquired dedicated parameter in the storage unit 34.
When the processing from step S101 to step S112 by the dedicated parameter acquisition unit 36 is completed, the control unit 31 proceeds to acquisition of a general parameter by the general parameter acquisition unit 35. The general-purpose parameter acquisition unit 35 first determines a general-purpose calibration position and orientation (S113). Here, the general-purpose calibration position is a representative position and posture of the robot 11 where calibration is performed for all motions in all motion regions of the robot 11.

  When the general-purpose parameter acquisition unit 35 determines the general-purpose calibration position and orientation, the general-purpose parameter acquisition unit 35 operates the measurement position to be measured by the robot 11 (S114). The robot 11 moves to the measurement position according to the control signal from the general parameter acquisition unit 35. When the robot 11 moves to the measurement position to be measured, the general-purpose parameter acquisition unit 35 acquires the position and orientation of the robot 11 at the measurement position (S115). The position and posture of the robot 11 at the measurement position are acquired by an external device (not shown). That is, the position and orientation of the robot 11 at the measurement position are the actual position and orientation acquired by an external device including various measurement devices such as a laser displacement meter. The general-purpose parameter acquisition unit 35 stores the acquired actual position and actual posture in the storage unit 34. The general-purpose parameter acquisition unit 35 stores the command position and orientation or command angle output when the robot 11 is moved to the measurement position to be measured in the storage unit 34 (S116).

  When the acquisition and storage of the actual position and actual posture of the robot 11 in step S115 and the acquisition and storage of the command position, posture, and command angle in step S116 are completed, the general-purpose parameter acquisition unit 35 determines whether the calibration operation is completed. Is determined (S117). Calibration is performed at a plurality of measurement points with respect to the calibration position and orientation determined in step S113. Therefore, the general-purpose parameter acquisition unit 35 returns to step S114 until the calibration operation is completed, and repeats the calibration operation at each measurement point.

  If the general-purpose parameter acquisition unit 35 determines in step S117 that the calibration operation is completed, that is, the calibration operation at each measurement point is completed, the general-purpose parameter acquisition unit 35 executes calibration and creates calibration data (S118). The calibration data is calculated by calculation based on the actual position and actual posture of the robot 11 at the measurement position acquired in step S115 and the command position and posture or command angle to the robot 11 at the measurement position acquired in step S116. The general-purpose parameter acquisition unit 35 stores the calibration data calculated in step S1018 in the storage unit 34 (S119). At this time, the general-purpose parameter acquisition unit 35 creates calibration data applicable to all operations in all operation regions of the robot 11 and stores the calibration data in the storage unit 34.

  As described above, by executing the processing from step S113 to step S119, the general-purpose parameter acquisition unit 35 creates calibration data that is the basis for all operations in all operation regions of the robot 11. Then, the general parameter acquisition unit 35 acquires a general parameter based on the created calibration data. The general-purpose parameter acquisition unit 35 stores the acquired general-purpose parameter in the storage unit 34.

(Applying parameters)
The control unit 31 controls the operation of the robot 11 using the dedicated parameter and the general-purpose parameter acquired by the flow shown in FIG. The parameter selection and parameter application will be described below with reference to FIG.
When operating the robot 11, the user inputs an operation program to be applied to the robot 11 (S201). The operation program is input from the personal computer 14 to the control device 12, for example. A plurality of operation programs may be input to the control device 12. Therefore, the program selected by the control device 12 and executed by the robot 11 among the plurality of operation programs corresponds to the execution program of the claims.

  The determination unit 37 analyzes an execution program executed by the robot 11 among the input operation programs (S202). The determination unit 37 and the operation control adjustment unit 38 cooperate to determine whether the execution program should apply a dedicated parameter or a general-purpose program. Specifically, the determination unit 37 determines whether a specific operation is included in the execution program (S203). That is, the determination unit 37 determines whether an application with a specific operation is included in the execution program. When determining that the execution program includes an application with a specific operation, the determination unit 37 determines whether the operation is within a specific area (S204). That is, the determination unit 37 determines whether or not the operation of the robot 11 according to the execution program is an operation in a specific area.

  If the execution program includes an application with a specific operation of the robot 11 in step S203 and the operation of the robot 11 is determined to be in the specific area in step S204, the operation control adjustment unit 38 reads the dedicated parameter from the storage unit 34. (S205). On the other hand, when the operation control adjustment unit 38 determines in step S203 that the execution program does not include an application with the specific operation of the robot 11 or in step S204 that the operation of the robot 11 is outside the specific region, the operation control adjustment unit 38 reads the general-purpose information from the storage unit 34. The parameter is read (S206).

  When the operation control adjustment unit 38 reads the dedicated parameter in step S205 or reads the general parameter in step S206, the operation control adjustment unit 38 applies the read dedicated parameter or general parameter to calculate the correction value (S207). That is, when the operation control adjustment unit 38 reads the dedicated parameter in step S205, the operation control adjustment unit 38 applies the dedicated parameter to the control of the robot 11. On the other hand, when the operation control adjustment unit 38 reads the general parameter in step S206, the operation control adjustment unit 38 applies the general parameter to the control of the robot 11.

  The control unit 31 executes the execution program by applying the correction value calculated in step S207, and controls the robot 11 (S208). As described above, when the operation of the robot 11 according to the execution program includes a specific operation in a specific area, the control device 12 controls the robot 11 by applying a dedicated parameter. On the other hand, when the operation of the robot 11 according to the execution program does not include the specific operation in the specific region, the control device 12 controls the robot 11 by applying general-purpose parameters.

  In the embodiment of the present invention described above, the robot 11 is controlled by applying a dedicated parameter or a general-purpose parameter in accordance with the motion region and motion of the robot 11. For example, in the case where the robot 11 performs a highly dedicated motion that is a limited motion in a limited region where very high accuracy is required, a general-purpose parameter that can be applied to the entire movable region of the robot 11 is applied. When the robot 11 is controlled, it is difficult to ensure the accuracy of minute operations in this minute region. On the other hand, if the accuracy of the minute operation in this minute region is applied to the entire movable region of the robot 11, data to be applied to the correction of the operation of the robot 11 becomes enormous. Therefore, in one embodiment of the present invention, the dedicated parameter is applied to control the robot 11 only when the application included in the execution program that defines the operation of the robot 11 is a specific operation in the specific region, In operation, the robot 11 is controlled by applying general-purpose parameters. Therefore, when the robot 11 performs a specific operation in a specific area, the robot 11 is controlled by applying a dedicated parameter that ensures high accuracy, and in the other areas and operations, a general-purpose parameter with a small amount of data is applied. Is controlling. Accordingly, it is possible to achieve both ensuring accuracy in various operations in the entire movable region of the robot 11 and ensuring accuracy in specific operations in the specific region of the robot 11.

(Other embodiments)
The control unit 31 may control the robot 11 by applying general-purpose parameters without being based on the determination shown in FIG. The robot 11 hardly performs a specific operation in a specific specific area simultaneously with the start or immediately after the start. Therefore, when the robot 11 is activated, the control unit 31 controls the robot 11 by applying general-purpose parameters. Therefore, the time required for activation can be shortened.

  Incidentally, the robot 11 may shift from an arbitrary operation outside the specific region to a specific operation in the specific region depending on its operation. At this time, after the operation of the robot 11 completes one step, the control device 12 may be configured to switch application of parameters in step S207 shown in FIG. That is, the control device 12 does not switch between the dedicated parameter and the general-purpose parameter while the operation of the robot 11 is continuously performed. There is a possibility that a deviation or an error occurs in the operation when the robot 11 is controlled by applying the dedicated parameter and when the robot 11 is controlled by applying the general-purpose parameter. For example, when shifting from a specific area to a specific operation in the specific area, if the parameters are switched, the control accuracy changes when the robot 11 moves from the specific area to the specific area. As a result, there may be a slight shift in the position and angle of the robot 11. Therefore, when the operation of the robot 11 shifts from the condition for applying the dedicated parameter to the condition for applying the general-purpose parameter and vice versa, the operation of the robot 11 completes one step. Do not switch parameters. That is, when the robot 11 performs a series of operations, the control device 12 does not switch parameters until the operations are completed. Accordingly, it is possible to reduce the deviation of the operation during the operation of the robot 11.

The block diagram which shows the outline of the robot system by one Embodiment of this invention Schematic which shows the structure of the robot system by one Embodiment of this invention. FIG. 3 is a schematic diagram showing a motion region and a relationship between motion and parameters in the robot system according to the embodiment of the present invention. Schematic showing a flow of calibration by a robot system according to an embodiment of the present invention. Schematic showing the flow of parameter selection and application by a robot system according to an embodiment of the present invention.

Explanation of symbols

  In the drawings, 11 is a robot, 12 is a control device (robot control device), 34 is a storage unit (storage unit), 35 is a general-purpose parameter acquisition unit (general-purpose parameter acquisition unit), and 36 is a dedicated parameter acquisition unit (dedicated parameter acquisition unit). , 37 indicates a determination unit (determination unit), and 38 indicates an operation control adjustment unit (operation control adjustment unit).

Claims (1)

A robot control device for controlling the operation of the robot according to a program set in a robot operation unit,
It is applicable to various assumed motions in the entire assumed movable region by executing calibration for the target points and various motions uniformly selected from the entire movable region of the robot. A general parameter acquisition means for acquiring a general parameter,
In an operation in a specific area set as a part of the movable area of the robot, calibration is performed for a specific action set as a part of the actions that the robot can perform, and the specific area and the A dedicated parameter acquisition means for acquiring a dedicated parameter dedicated to a specific operation;
Storage means for storing the general parameters acquired by the general parameter acquisition means, and the dedicated parameters acquired by the dedicated parameter acquisition means;
Determining means for determining whether or not the operation of the robot based on the execution program to be executed is the specific operation in the specific region;
When the determination means determines that the robot motion is the specific motion in the specific area, the robot controls the robot operation by applying the dedicated parameter stored in the storage means. An operation control adjusting unit that controls the operation of the robot by applying the general-purpose parameter stored in the storage unit when it is determined that the operation is not the specific operation in the specific region ,
The robot control apparatus, wherein the motion control adjusting unit switches between motion control using the general-purpose parameter and motion control based on the dedicated parameter after the robot stops motion in one step .

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