JP7610200B2 - Robot Control Device - Google Patents

Description

The present invention relates to a robot control device, a robot control method, and a program for controlling a robot.

Conventionally, there are known techniques for preventing a robot from colliding with an object. Patent Document 1 discloses a technique for determining whether or not a robot will collide with another object based on whether or not an object is on an extension line of the motion vector of a robot's part.

JP 2019-202354 A

When a robot's parts move in a straight line, it is possible to appropriately determine whether or not it will collide with another object, based on whether or not an object is on the extension line of the motion vector of the robot's part. However, when a robot's parts do not move in a straight line, there is a problem in that the accuracy of determining whether or not it will collide with another object is insufficient simply by using the motion vector of the robot's part.

Therefore, the present invention was made in consideration of these points, and aims to improve the accuracy of determining whether a part of a robot will collide with another part or another object.

The robot control device of the first aspect of the present invention has an operation information receiving unit that receives operation information from an operation device that generates operation information for operating the robot in response to the action of an operator operating the robot, an object creating unit that creates an object that performs an action corresponding to the movement of the operator based on the operation information, and a robot control unit that controls the robot based on the operation information, and when the robot control unit determines that the object created by the object creating unit based on the operation information received by the operation information receiving unit has reached a predetermined state, it stops controlling the robot based on the operation information.

The object creation unit may change the state of the object by operating at least a portion of the object based on the operation information.

The robot control unit may stop control of the robot based on the operation information when it determines, based on the operation information, that the object is in a state where it cannot move or that the object is in a state where it may fall over.

The robot control unit may stop control of the robot based on the operation information when it determines that changing the state of the object based on the operation information would cause one or more parts of the object to come into contact with other parts of the object or an external object.

The robot control unit may determine whether or not the contact state occurs based on the distance between the one or more parts and the other parts or the external object.

The robot control unit may determine whether or not the contact state will occur based on the movement direction of the one or more parts corresponding to the operation information and the positional relationship between the one or more parts and the other parts or the external object.

The robot control unit may determine whether or not the contact state will occur based on the positional relationship between the one or more parts and the other parts or the external object after a predetermined time period determined based on at least one of the moving speed or moving acceleration of the one or more parts corresponding to the operation information.

The robot control unit may determine whether or not the one or more parts will come into contact based on the position of the other part or the external object with which the one or more parts come into contact, or the acceleration of the one or more parts at the time when the one or more parts come into contact with the other part or the external object.

The robot control device may further have a display processing unit that displays the object on a display unit that is visible to the operator, and the display processing unit may display a part of the object that moves based on the operation information in a color different from other parts.

The robot control device further has a display processing unit that displays the object on a display unit visible to the operator, and when the display processing unit predicts that one or more parts of the object moving based on the operation information will be within a predetermined distance from other parts of the object, it may display information on the display unit indicating a direction in which the one or more parts will move away from the other parts.

The robot control unit may switch between suspending and resuming control of the robot based on the operation information based on a change in the operation content indicated by the operation information.

A robot control method according to a second aspect of the present invention includes the steps of receiving operation information from an operation device that creates operation information for operating the robot in response to the movement of an operator who operates the robot, creating an object that performs an action corresponding to the movement of the operator based on the operation information, determining whether or not one or more parts of the object are in a predetermined state based on the received operation information, and stopping control of the robot based on the operation information when it is determined that one or more parts of the object are in the predetermined state.

The program of the third aspect of the present invention causes a computer to execute the steps of receiving operation information from an operation device that creates operation information for operating a robot in response to the actions of an operator operating the robot, creating an object that performs an action corresponding to the movement of the operator based on the operation information, determining whether or not one or more parts of the object are in a predetermined state based on the received operation information, and stopping control of the robot based on the operation information when it is determined that one or more parts of the object are in a predetermined state.

The present invention has the effect of improving the accuracy of determining whether a part of a robot will collide with another part or object.

FIG. 1 is a diagram illustrating an overview of a robot control system. FIG. 2 is a diagram illustrating a functional configuration of a robot control device. FIG. 4 is a diagram showing an operation sequence of the robot control system. FIG. 4 is a flowchart showing the operation of the robot control device.

[Overview of Robot Control System S]
1 is a diagram showing an overview of a robot control system S. The robot control system S is a system that provides a telexistence environment in which an operator U can operate a remote object in real time while making the user U feel as if the object is nearby.

The robot control system S has a robot control device 1, an operation device 2, and a robot 3. The robot control device 1 is a device, such as a computer, that outputs control data for controlling the robot 3 in response to the operation of an operator U. The robot control device 1 transmits and receives data between the operation device 2 and the robot 3 via a communication channel.

The robot control device 1 is provided on the robot 3, for example, but the robot control device 1 may be provided in a location different from the robot 3, or may be provided near the operation device 2. When the robot control device 1 is provided on the robot 3, the robot control device 1 transmits and receives data to and from the operation device 2, for example, via the Internet. When the robot control device 1 is provided near the operation device 2, the robot control device 1 transmits and receives data to and from the robot 3, for example, via the Internet.

The operation device 2 is a device worn by the operator U, and includes a display device 21 and an operation device 22. The display device 21 is a display device having a display that is visible to the operator U, and is, for example, a goggle-type display device.

The operation device 22 is a device that the operator U uses to operate the robot 3. The operation device 22 has, for example, an acceleration sensor for detecting the movement of the operator U's body parts (e.g., the hands and arms), and generates operation information that indicates the movement of the operator U's body parts.

The operation information includes at least one of the following motion information: position information indicating the relative position of each part of the operator U's fingers, hands, arms, head, or feet, etc., relative to a reference position; speed information indicating the speed of each part; or acceleration information indicating the acceleration of each part. The reference position is, for example, the position of each part when the operator U is in a specified posture (e.g., with arms outstretched and placed on both sides of the torso) at the time when the operator U starts operating the robot 3. The operation device 22 also has elements for generating heat, pressure, vibration, etc. corresponding to the state of the robot 3 so that the operator U can sense the state of the robot 3.

The robot 3 operates based on control data received from the robot control device 1. The robot 3 also has a camera capable of photographing the surroundings, and transmits captured image data generated by the camera to the robot control device 1. Furthermore, the robot 3 transmits at least any of the following robot status data to the robot control device 1: tactile data indicating tactile sensations detected by the robot 3, sound data indicating sounds collected by the robot 3, or joint status data indicating the status of the joints of the robot 3.

The robot control device 1 displays an image based on the captured image data received from the robot 3 on the display device 21. The robot control device 1 also heats and vibrates the operation device 22 based on the robot status data received from the robot 3. With this configuration, the operator U can experience the environment around the robot 3 while in a location away from the robot 3, as if he or she were inside the robot 3.

The robot control device 1 also creates control data for operating the robot 3 based on operation information transmitted from the operation device 22, and controls the operation of the robot 3 by transmitting the created control data to the robot 3. The robot control device 1 is characterized in that, before transmitting the control data to the robot 3, it creates an object B that performs an action corresponding to the movement of the operator U indicated by the operation information, and determines whether or not to operate the robot 3 based on the operation information, based on the state of the created object B. The object B is, for example, configured from three-dimensional computer graphics image data that represents a shape equivalent to that of the robot 3, but the form of the object B does not have to be identical to the shape of the robot.

The robot control device 1 determines, based on the movement of object B, whether or not a part of the robot 3 will collide with another part of the robot 3 or another object, whether or not the robot 3 will lose balance and fall, or whether or not the robot 3 will become unable to operate, when the robot 3 is operated based on the operation information. When the robot control device 1 determines that the robot 3 may be in these states, it can prevent the robot 3 from breaking down or destroying other objects by not operating the robot 3 based on the operation information.
The configuration and operation of the robot control device 1 will be described in detail below.

[Configuration of robot control device 1]
2 is a diagram showing the functional configuration of the robot control device 1. The robot control device 1 has a first communication unit 11, a second communication unit 12, a storage unit 13, and a control unit 14. The control unit 14 has an operation information receiving unit 141, an object creating unit 142, a robot control unit 143, and a display processing unit 144.

The first communication unit 11 has a communication controller for transmitting and receiving various data to and from the operation device 2. The first communication unit 11 receives operation information transmitted by the operation device 2, and inputs the received operation information to the operation information receiving unit 141. The first communication unit 11 also transmits display data input from the display processing unit 144 to the operation device 2.

The second communication unit 12 has a communication controller for transmitting and receiving various data to and from the robot 3. The second communication unit 12 transmits to the robot 3 control data generated by the robot control unit 143 based on the operation information. The second communication unit 12 also receives captured image data transmitted by the robot 3, and inputs the received captured image data to the display processing unit 144.

The storage unit 13 includes storage media such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a hard disk. The storage unit 13 stores programs executed by the control unit 14. The storage unit 13 also stores various types of data required for the control unit 14 to operate the robot 3.

The control unit 14 has, for example, a CPU (Central Processing Unit). The control unit 14 executes the programs stored in the storage unit 13, thereby functioning as an operation information receiving unit 141, an object creating unit 142, a robot control unit 143, and a display processing unit 144.

The operation information receiving unit 141 receives operation information from the operation device 2, which generates operation information for operating the robot 3 in response to the action of an operator U who operates the robot 3, via the first communication unit 11. The operation information receiving unit 141 inputs the received operation information to the object creation unit 142 and the robot control unit 143.

The object creation unit 142 creates an object B that performs an action corresponding to the movement of the operator U based on the operation information. The object creation unit 142 changes the state of the object B by moving at least a part of the object B based on the operation information.

The object creation unit 142 changes the position of each part of object B, such as the fingers, hands, arms, head, or feet, based on the position, speed, or acceleration of each part of the operator U, such as the fingers, hands, arms, head, or feet, indicated by the operation information. The object creation unit 142 notifies the robot control unit 143 of information indicating the position of each part of object B after the change. Specifically, the object creation unit 142 calculates the coordinates of multiple positions on the surface of each part of object B after the change, and notifies the robot control unit 143 of the calculated coordinates. The object creation unit 142 may also notify the robot control unit 143 of coordinates indicating the position of the object corresponding to the shape and position of an object present in the vicinity of the robot 3.

The coordinates calculated by the object creation unit 142 are coordinates in a virtual three-dimensional space. In this three-dimensional space, the positional relationship of each part of object B in its initial state is equivalent to the positional relationship of each part of robot 3 in its initial state (e.g., standing upright) in real space.

Details of object B created by the object creation unit 142 are described below. The object creation unit 142 creates object B in the same posture as the robot 3 until an instruction from the operator U is received. For example, the object creation unit 142 receives posture information of the robot 3 when the robot control device 1 is powered on, and creates object B in the posture indicated by the received posture information. When the operation information receiving unit 141 receives operation information based on the operation of the operator U, the object creation unit 142 creates object B that moves in the same way as the movement of the operator U based on the received operation information.

The object creation unit 142 may obtain information indicating the movement or posture of the robot 3 from the second communication unit 12, and create an object B reflecting the movement or posture of the robot 3 based on the obtained information. In this case, a delay may occur before the movement or posture of the robot 3 is reflected in the object B. Therefore, while the object creation unit 142 is unable to receive information indicating the movement or posture of the robot 3, the object creation unit 142 may instruct the display processing unit 144 to show the corresponding body part in a different color from the other body parts, or to ghost-display the movement of the robot 3 in a light color.

The robot control unit 143 controls the robot 3 based on the operation information input from the operation information receiving unit 141. Specifically, first, the robot control unit 143 creates control data for moving each part of the robot 3 to a position relative to the reference position of each part of the robot 3 based on the relative position of each part of the operator U, such as the fingers, hands, arms, head, or feet, indicated by the operation information, relative to the reference position. The robot control unit 143 controls the robot 3 by transmitting the created control data to the robot 3 via the second communication unit 12. The robot control unit 143 may create control data including data for moving each part of the robot 3 based on the movement speed or movement acceleration of each part of the operator U indicated by the operation information.

The robot control unit 143 creates control data based on information indicating the positions of each part of object B notified by the object creation unit 142 so that, when each part of the robot 3 is moved, the part does not collide with other parts of the robot 3 or other objects, and the robot 3 does not lose balance and fall over.

For example, when the robot control unit 143 determines that object B created by the object creation unit 142 will be in a predetermined state based on the operation information received by the operation information receiving unit 141, the robot control unit 143 stops the control of the robot 3 based on the operation information. Specifically, when the robot control unit 143 determines that object B will be in an inoperable state based on the operation information, the robot control unit 143 does not create control data based on the operation information and stops the control of the robot 3 based on the operation information.

For example, when the robot control unit 143 determines that one or more parts of object B will come into contact with other parts of object B when the state of object B is changed based on the operation information, the robot control unit 143 stops the control of the robot 3 based on the operation information. The robot control unit 143 determines whether or not the one or more parts will come into contact with other parts based on the distance between the one or more parts and the other parts, for example.

In the example shown in FIG. 1, when operator U brings his/her left hand closer to his/her face, causing the distance between the tip of object B's left hand and the face to fall below a threshold, it is determined that the left hand of robot 3 will come into contact with the face. The threshold is determined based on the difference between the shapes of object B and robot 3, and the smaller the difference between the shapes of object B and robot 3, the smaller the threshold is set, thereby improving the accuracy of determination by the robot control unit 143.

The robot control unit 143 may determine whether or not one or more parts will come into contact with other parts based on the direction of movement of one or more parts corresponding to the operation information and the positional relationship between the one or more parts and other parts. For example, when a first part of object B (e.g., the tip of the left hand) is moving in a direction away from a second part (e.g., the face), the robot control unit 143 determines that the first part and the second part will not come into contact.

On the other hand, the robot control unit 143 determines that contact will occur if the distance between the first and second parts of object B is within a predetermined range and the first part is moving in a direction approaching the second part. By operating in this manner, the robot control unit 143 can determine whether or not one or more parts will come into contact with other parts before the operator U operates it, thereby further reducing the probability that one or more parts of the robot 3 will come into contact with other parts.

The robot control unit 143 may determine whether one or more parts will come into contact with another part or an external object based on the positional relationship between the one or more parts and another part or an external object after a predetermined time period specified based on at least one of the moving speed or moving acceleration of the one or more parts corresponding to the operation information. The robot control unit 143 predicts the position of the first part and the position of the second part at a future time period after the predetermined time period based on, for example, the positions of the first part and the second part at a certain time period and the moving speed or moving acceleration of those parts. The predetermined time period is determined based on the time required to stop the operation of the robot 3, and is, for example, one second. The robot control unit 143 determines that one or more parts of the robot 3 will come into contact with another part when the distance between the predicted positions of the first part and the second part is equal to or less than a threshold value.

Similarly, the robot control unit 143 identifies the position of one or more parts of object B at a future time based on the position of the part at a certain time and the moving speed or moving acceleration of the part. If the distance between the identified position and the external object is equal to or less than a threshold, the robot control unit 143 determines that one or more parts of the robot 3 will come into contact with the external object.

The robot control unit 143 may determine whether one or more parts will come into contact with other parts based on the positions of other parts or external objects with which the one or more parts come into contact, or the acceleration of the one or more parts at the time when the one or more parts come into contact with the other parts or external objects. When the positions of other parts or external objects with which the one or more parts of the robot 3 come into contact are positions that will not lead to failure of the one or more parts of the robot 3, other parts, or external objects (e.g., soft positions), the robot control unit 143 determines that the one or more parts will not come into contact with the other parts or external objects even if they may come into contact with the other parts or external objects.

Furthermore, if the acceleration of one or more parts at the time of contact is less than a predetermined value and is an acceleration that will not lead to failure of one or more parts, other parts, or an external object, the robot control unit 143 determines that even if one or more parts are capable of contacting other parts or an external object, they will not be in a state of contact. By the robot control unit 143 operating in this manner, it is possible to prevent the robot 3 from frequently stopping its operation even when there is no risk of failure.

When the robot control unit 143 determines that moving each part of object B based on the operation information will cause object B to fall over (i.e., the robot 3 will fall over), the robot control unit 143 may stop controlling the robot 3 based on the operation information. For example, the robot control unit 143 calculates the position of the center of gravity when each part of object B is moved based on the operation information, and determines that object B will fall over if the position of the center of gravity is outside the position of the feet of object B.

For example, if the operator U moves his/her head or hand too far to the right while standing on only his/her right leg, the robot control unit 143 determines that the object B will fall over. By operating in this manner, the robot control unit 143 can prevent the robot 3 from breaking down due to the robot 3 falling over, or from damaging an external object that the robot 3 collides with due to the robot 3 falling over.

While the operation information receiving unit 141 is receiving operation information, the robot control unit 143 constantly determines whether it is OK to move object B, and controls the robot 3 based on the operation information while there are no problems such as contact between parts of the robot 3. If the robot control unit 143 determines that moving object B based on the operation information would cause parts of object B to come into contact with each other, it stops the movement of the robot 3 based on the operation information. In this way, when there is a part of the robot 3 that is not controlled according to the operation information, the robot control unit 143 may instruct the object creation unit 142 to show that part of object B in a different color from other parts.

The robot control unit 143 may switch between stopping and resuming control of the robot 3 based on the operation information, based on a change in the operation content indicated by the operation information. As described above, the robot control unit 143 stops control of the robot 3 if each part of the object B comes into contact with another part or an external object when the object B is operated based on the operation information. The robot control unit 143 resumes control of the robot 3 if each part of the object B changes to a state where it is not in contact with another part or an external object after stopping control of the robot 3. The robot control unit 143 resumes control of the robot 3 if it can be determined that each part of the object B will not come into contact with another part or an external object based on at least one of the positions of each part of the object B and the moving direction, moving speed, or moving acceleration of each part of the object B after stopping control of the robot 3.

The display processing unit 144 displays various information on the display device 21 so that it can be seen by the operator U. For example, the display processing unit 144 displays an object B on the display device 21 so that it can be seen by the operator U. At this time, the display processing unit 144 may display the part of the object B that moves based on the operation information in a color different from that of the other parts. By operating the display processing unit 144 in this manner, the operator U can operate the robot 3 while imagining how the robot 3 will move due to his or her own actions, making it easier to operate the robot 3 so that each part does not come into contact with other parts or external objects.

When the display processing unit 144 predicts that one or more parts of object B moving based on the operation information will be within a predetermined distance from other parts, the display processing unit 144 may display information indicating a direction in which the one or more parts will move away from the other parts on the display device 21. For example, in the example shown in FIG. 1, when the display processing unit 144 predicts that the left hand of object B will touch the face, the display processing unit 144 displays object B on the display device 21 and also displays an arrow on the display device 21 in a direction in which the left hand moves away from the face, or displays text such as "Please move your left hand away from your face" on the display device 21. The display processing unit 144 may display object B on the display device 21 that corresponds to a state in which the robot 3 is viewed from behind, in order to make it easier for the operator U to operate the robot 3 based on object B viewed on the display device 21.

The display processing unit 144 may create a three-dimensional map centered on the robot 3 based on an image captured by a camera possessed by the robot 3, and display the state of obstacles around the robot 3 on the three-dimensional map on the display device 21. The display processing unit 144 may also create a three-dimensional map around object B based on the created three-dimensional map, and display an image of the same environment as around the robot 3 around object B. By having the display processing unit 144 display such an image on the display device 21, the operator U can determine whether the movement of object B will cause contact with surrounding objects.

[Operation sequence of robot control system S]
3 is a diagram showing an operation sequence of the robot control system S. When the operator U moves each part of his/her body, the operation device 22 creates operation information (S1) and transmits it to the robot control device 1. The robot control device 1 creates an object B based on the received operation information (S2). The robot control device 1 judges whether it is OK to operate the robot 3 based on the operation information based on whether each part of the created object B contacts other parts or external objects (S3). The robot control device 1 always performs the judgment of step S3 while the power is on. If the robot control device 1 judges that there is no problem, it transmits normal control data based on the operation information to the robot 3, and the robot 3 executes an operation based on the control data (S4).

On the other hand, if the robot control device 1 determines in step S3 that there is a problem because one or more parts of object B are in contact with other parts or external objects, it transmits control data to the robot 3 to stop the operation of the robot 3. Upon receiving the control data, the robot 3 stops its operation (S5).

[Operation flow chart of the robot control device 1]
Fig. 4 is a diagram showing a flowchart of the operation of the robot control device 1. The flowchart shown in Fig. 4 starts from the point when the operator U starts operating the robot 3. When the operator U starts the operation, the operation information receiving unit 141 receives operation information from the operation device 22 (S11), and the object creating unit 142 creates an object B based on the operation information (S12). The robot control unit 143 identifies the position of each part of the object B created by the object creating unit 142 (S13), and judges whether or not the object B is in a predetermined state (for example, a state in which parts are in contact with each other) (S14).

When the robot control unit 143 determines that object B will not reach a predetermined state (NO in S14), it transmits control data based on the operation information to the robot 3, thereby operating the robot 3 based on the operation information (S15). On the other hand, when the robot control unit 143 determines that object B will reach a predetermined state (YES in S14), it transmits control data for stopping the robot 3 to the robot 3, thereby stopping the operation of the robot 3 (S16).

The control unit 14 repeats the processes from S11 to S16 until the operator U ends the operation (for example, while the operation information is being received at regular time intervals) (NO in S17). When the control unit 14 stops receiving the operation information from the operation device 22 (YES in S17), it ends the process.

[Modification]
In the above description, there has been exemplified a case in which the robot control unit 143 stops the control of the robot 3 based on the operation information when it determines that the distance between one or more parts of the object B and another part or another object is within a threshold value. Even if the object B has a similar shape to the robot 3, the shape is not completely the same, and therefore the robot control unit 143 may make an erroneous determination.

Therefore, the object creation unit 142 may create object B using a machine learning model that outputs the positions of each part of object B when operation information is input, thereby reducing the probability of erroneous determination by the robot control unit 143. The machine learning model is a model created by machine learning using as training data the results of the robot control unit 143 controlling the robot 3 based on object B created based on a large amount of operation information.

The machine learning model learns by using the relationship between operation information and the positions of each part of object B in the following cases as positive teacher data.
(1) The robot control unit 143 determines that it is necessary to stop the robot 3 based on the state of object B, but if the robot 3 were to be operated without being stopped, it is assumed that one or more parts of the robot 3 would come into contact with other parts or other objects.
(2) The robot control unit 143 determines that there is no need to stop the robot 3 based on the state of object B, and one or more parts of the robot 3 do not actually come into contact with other parts or other objects.

In addition, the machine learning model learns by using the relationship between the operation information and the positions of each part of object B in the following cases as negative training data.
(1) The robot control unit 143 determines that it is necessary to stop the robot 3 based on the state of object B, but it is assumed that if the robot 3 were operated without being stopped, one or more parts of the robot 3 would not have come into contact with other parts or other objects.
(2) When the robot control unit 143 determines that there is no need to stop the robot 3 based on the state of object B, one or more parts of the robot 3 come into contact with other parts or other objects.

When the object creation unit 142 acquires operation information, it inputs the acquired operation information into the above-mentioned machine learning model, and creates object B based on the positions of each part of object B output from the machine learning model. A machine learning model is created for each type of robot 3, and the object creation unit 142 creates object B using a machine learning model that corresponds to the type of robot 3 to which the robot control unit 143 sends control data. By the object creation unit 142 creating object B in this manner, it is possible to reduce the probability of erroneous determination by the robot control unit 143.

[Effects of the robot control device 1]
As described above, the object creation unit 142 creates object B that performs an action corresponding to the movement of the operator U based on the operation information received from the operation device 22, and the robot control unit 143 stops the control of the robot 3 based on the operation information when it is determined that object B is in a predetermined state. By the object creation unit 142 and the robot control unit 143 operating in this manner, the movement of each part of the robot 3 based on the operation information can be predicted with high accuracy, and therefore the accuracy of determination as to whether or not a part of the robot 3 will collide with an object can be improved.

Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination also has the effect of the original embodiment.

REFERENCE SIGNS LIST 1 Robot control device 2 Operation device 3 Robot 11 First communication unit 12 Second communication unit 13 Storage unit 14 Control unit 21 Display device 22 Operation device 141 Operation information receiving unit 142 Object creation unit 143 Robot control unit 144 Display processing unit

Claims (9)

an operation information receiving unit that receives operation information from an operation device that generates operation information for operating the robot in response to a motion of an operator operating the robot;
an object creation unit that creates an object that performs the same movement as the movement of the robot operated in response to the movement of the operator, based on the operation information;
a robot control unit that controls the robot based on the operation information;
having
when it is determined that the object created by the object creation unit will be in a state where it cannot move or will fall over based on the operation information received by the operation information receiving unit, the robot control unit stops the operation of the robot based on the operation information ;
a display processing unit that displays the object on a display unit visible to the operator;
the display processing unit displays a part of the object that moves based on the operation information in a color different from other parts of the object .
Robot control device. an operation information receiving unit that receives operation information from an operation device that generates operation information for operating the robot in response to a motion of an operator operating the robot;
an object creation unit that creates an object that performs the same movement as the movement of the robot operated in response to the movement of the operator, based on the operation information;
a robot control unit that controls the robot based on the operation information;
having
when it is determined that the object created by the object creation unit will be in a state where it cannot move or will fall over based on the operation information received by the operation information receiving unit, the robot control unit stops the operation of the robot based on the operation information;
a display processing unit that displays the object on a display unit visible to the operator;
when predicting that one or more parts of the object moving based on the operation information will be within a predetermined distance from another part of the object, the display processing unit causes information indicating a direction in which the one or more parts move away from the other part to be displayed on the display unit.
Robot control device. an operation information receiving unit that receives operation information from an operation device that generates operation information for operating the robot in response to a motion of an operator operating the robot;
an object creation unit that creates an object that performs the same movement as the movement of the robot operated in response to the movement of the operator, based on the operation information;
a robot control unit that controls the robot based on the operation information;
having
when it is determined that the object created by the object creation unit will be in a state where it cannot move or will fall over based on the operation information received by the operation information receiving unit, the robot control unit stops the operation of the robot based on the operation information;
The robot control unit switches between stopping and restarting the operation of the robot based on the operation information, based on a change in the operation content indicated by the operation information.
Robot control device. the object creation unit changes a state of the object by moving at least a part of the object based on the operation information;
The robot control device according to any one of claims 1 to 3 . when it is determined that one or more parts of the object will come into contact with another part of the object or an external object when a state of the object is changed based on the operation information, the robot control unit stops an operation of the robot based on the operation information.
The robot control device according to any one of claims 1 to 3 . the robot control unit determines whether or not the contact state is reached based on a distance between the one or more parts and the other parts or the external object;
The robot control device according to claim 5 . the robot control unit determines whether or not the contact state is to occur based on a moving direction of the one or more parts corresponding to the operation information and a positional relationship between the one or more parts and the other parts or the external object;
The robot control device according to claim 5 . the robot control unit determines whether or not the contact state will occur based on a positional relationship between the one or more parts and the other parts or the external object after a predetermined time period specified based on at least one of a moving speed or a moving acceleration of the one or more parts corresponding to the operation information;
The robot control device according to claim 5 . the robot control unit determines whether or not the one or more parts will be in the contact state based on a position of the other part or the external object with which the one or more parts are in contact, or an acceleration of the one or more parts at a time when the one or more parts are in contact with the other part or the external object;
The robot control device according to claim 5 .

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