Robot, robot system and server

A robot controlled by a controller includes a recording part that records sensor information on a sensor, and a transmission part that transmits the sensor information to the controller or an external apparatus.

BACKGROUND

1. Technical Field

The present invention relates to a robot, a robot system and a server.

2. Related Art

In robots controlled by robot control apparatuses, a technology of storing parameters used for calculation of trajectory control of a movable unit of a robot within the robot is known (see Patent Document 1 (JP-A-2004-148433)). Further, a technology of storing unique data representing an operation history and a maintenance history of a robot controlled by a controller in both the robot and the controller is known (see Patent Document 2 (JP-A-2001-242922)). According to these technologies, even when the robot control apparatus or the controller for controlling the robot is replaced, the robot may be controlled based on the data recorded at the robot side.

However, it may be impossible to appropriately control the robot using only the parameters used for the calculation of trajectory control or the operation history and the maintenance history of the robot.

SUMMARY

An advantage of some aspects of the invention is to provide a technology that enables appropriate control of a robot even when the robot controlled by a controller is replaced.

A robot according to an aspect of the invention is a robot controlled by a controller including a recording part that records sensor information on a sensor, and a transmission part that transmits the sensor information to the controller or an external apparatus.

In the configuration, the sensor information on the sensor provided in the robot is recorded at the robot side, and thereby, the controller may receive the sensor information from the robot side and appropriately control the robot based on the sensor information. Even when the robot controlled by the controller is replaced, the robot may be appropriately controlled based on sensor information recorded in the robot after replacement. Particularly, the controller can appropriately control the robot using a measurement result of the sensor based on the sensor information of the robot after replacement. Note that the sensor information is not necessarily transmitted directly to the controller. For example, the sensor information may be transmitted to an external apparatus or a server, not the controller. In this case, the external apparatus or the server may generate information for controlling the robot based on the sensor information and transmit the information to the controller.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, embodiments of the invention will be explained with reference to the accompanying drawings. In the respective drawings, the same signs are assigned to corresponding component elements and the overlapping explanation will be omitted.

(1) Configuration of Robot System:

(2) Processing of Robot System:

1. Configuration of Robot System

FIG. 1Ais a block diagram of a robot system1according to one embodiment of the invention. The robot system includes a robot10, a controller20, and a user I/F (interface) device30. The controller20is communicably connected to the robot10. The connection is compliant with e.g. wired communication standards including Ethernet (registered trademark) and USB (Universal Serial Bus) and wireless communication standards including Wi-Fi (registered trademark). The controller20is a computer for controlling the robot10and the user I/F device30.

The robot10is controlled by the controller20. The robot10includes a control unit C and a manipulator14. The robot10of the embodiment is a seven-axis single-arm robot and includes the single manipulator14. The manipulator14includes a drive part14aand a group of sensors S. The drive part14aincludes motors for rotationally driving the seven-axis drive shafts. The group of sensors S will be described later.

The control unit C is a computer including a CPU11, a memory12, etc. The control unit C controls the manipulator14based on a control signal D transmitted from the controller20. Specifically, the control unit C generates a signal for driving the drive part14aprovided in the manipulator14, outputs the signal to the drive part14a, and thereby, controls the manipulator14. The CPU11executes a program based on data recorded in the memory12, and thereby, realizes a transmission part11a. That is, the transmission part11ais realized by cooperation of a hardware resource (e.g. a memory controller) and a program in the CPU11. The transmission part11ais a functional configuration for transmission of sensor information I to the controller20, and the details will be described later.

The memory12records the sensor information I and power information P. The sensor information I is information on the group of sensors S provided in the manipulator14. The memory12is a non-volatile recording medium that can retain data even in a period when the power of the robot10is OFF and corresponds to a recording part that records the sensor information I on the sensors.

FIG. 1Bis a table showing an example of sensors forming the group of sensors S and contents of the sensor information I on the sensors. As shown in the left column ofFIG. 1B, the sensor information I represents types of sensors with respect to each sensor. The robot10of the embodiment includes a tactile sensor, a force sensor, a torque sensor, an acceleration sensor, a gyro sensor, an encoder, and a temperature sensor. The sensor information I contains individual numbers unique to the respective individual sensors as individual information. Further, the sensor information I contains information representing performance of the respective sensors (allowable range, responsiveness, resolution, variations, weight, communication speed, communication format). Furthermore, the sensor information I contains past data representing measurement values in chronological order (at predetermined time intervals in normal operation) of the respective sensors in the past.

The tactile sensor is provided in a gripper for gripping work or the like in the manipulator14. The tactile sensor elastically deforms in response to contact between the gripper and the work or the like, detects an amount of displacement in the elastic deformation, and thereby, senses the contact with the work or the like and measures a gripping force of the work or the like. The force sensor and the torque sensor are provided in a predetermined measurement part (e.g. an end effector) of the manipulator14. The force sensor measures a direction and a magnitude of a three-dimensional force acting on the measurement part. The torque sensor measures a direction and a magnitude of three-dimensional torque acting on the measurement part.

The acceleration sensor and the gyro sensor are provided in a predetermined measurement part (e.g. an end effector, respective joints, or the like) of the manipulator14. The acceleration sensor measures a direction and a magnitude of three-dimensional acceleration in the measurement part. The gyro sensor measures a direction and a magnitude of a three-dimensional angular velocity in the measurement part. The encoder is provided in a movable part of the manipulator14and measures an amount of movement of the movable part (a rotation angle of each joint) of the manipulator14. The temperature sensor measures the temperature of the manipulator14.

The allowable range represented by the sensor information I is a range of the measurement value measured by each sensor and a range of the measurement value in which the operation of each sensor is allowed. The range of the measurement value in which the operation of each sensor is allowed may be a range in which each sensor can normally measure the measurement value, a range in which the accuracy of the measurement value of each sensor is equal to or more than a predetermined reference, or a range in which each sensor is not broken. The responsiveness represented by the sensor information I refers to rapidity of reflection of a change in state of the measuring object on the measurement value of each sensor. The resolution represented by the sensor information I refers to the minimum unit of the measurement value that can be measured by each sensor. A correction value for correcting the measurement value to a true value may be derived based on the variations represented by the sensor information I.

The weight of the force sensor represented by the sensor information I refers to a weight of the force sensor. The communication speed of the encoder represented by the sensor information I refers to a communication speed (clock frequency) when the encoder transmits the data of the measurement value to the control unit C. The communication format represented by the sensor information I refers to a format of the data of the measurement value. As described above, the sensor information I represents the type of the sensor, the performance of the sensor, and the chronological measurement values of the sensor in the past.

The power information P is information representing an accumulated period of periods in which the power of the robot10is OFF in the past and the last OFF time when the power of the robot10is last turned OFF. Turning OFF of the power of the robot10is shutdown of the commercial power supply supplied to the robot10. The robot10includes e.g. a battery (primary battery) in the encoder or the like and, even in a period in which the power of the robot10is OFF, the minimum power for the encoder or the like may be obtained. Note that the necessary power for the encoder or the like may be obtained from the commercial power supply in the period in which the power of the robot10is ON, the battery of the robot10is not consumed. As described above, the memory12as the recording part records the power information P for identification of the periods in which the power of the robot10is OFF with the sensor information I.

Next, the controller20is explained. The controller20includes a CPU21and a memory22. The CPU21executes a program based on data recorded in the memory22, and thereby, realizes an analysis part21aand an instruction part21b. That is, the analysis part21aand the instruction part21bare realized by cooperation of a hardware resource and programs in the CPU21. The analysis part21ais a functional configuration for receiving the sensor information from the robot10and analyzing the sensor information I, and the details will be described later. The instruction part21bis a functional configuration for generating a control signal D based on the sensor information I and outputting the control signal D to the robot10, and the details will be described later. The controller20is connected to the user I/F device30. The user I/F device30includes a display part and an input part and receives input operations relating to various images displayed in the display part by the input part.

2. Processing of Robot System

As below, the functional configurations (transmission part11a, analysis part21a, instruction part21b) of the robot system1will be explained with processing of the robot system.FIG. 2Ais a flowchart of activation processing executed by the controller20. For example, the activation processing is executed when at least one of the power of the robot10and the power of the controller20is turned ON. First, the controller20receives the sensor information I from the robot10(step S100). That is, in the robot10, the transmission part11atransmits the sensor information I recorded in the memory12to the controller20. The transmission part11aalso transmits the power information P with the sensor information I to the controller20.

Then, the analysis part21adetermines whether or not the individual numbers of the sensors are the same between the robot10and the controller20(step S110). That is, the analysis part21adetermines whether or not the individual number represented by the sensor information I acquired from the robot10at step S100coincides with the individual number represented by the sensor information I recorded in the memory22of itself. Thereby, whether or not all of the individuals of the sensors provided in the robot10controllably connected to the controller20in the present in which the power is ON are the same as all of the individuals of the sensors provided in the robot10controllably connected to the controller20when the power was last turned OFF may be determined. Namely, whether or not the robot10controllably connected to the controller20was replaced from the time when the power is last turned OFF to the present time when the power is turned ON. As described above, the controller20receives the sensor information I from the robot10and determines whether or not the individual of the controllably connected robot10has been changed based on whether or not the individual numbers as individual information of the sensors represented by the sensor information I change.

If the individual numbers of the sensors are the same between the robot10and the controller20(step S110: Y), the instruction part21bperforms control of the robot10(step S150). Specifically, the analysis part21aanalyzes the sensor information I stored in the memory22, and the instruction part21bgenerates the control signal D for operation of the manipulator14based on the analysis result and outputs the control signal D to the control unit C of the robot10. In the embodiment, the instruction part21bcontrols the manipulator14in a combination of location control and force control.

First, the location control is explained. The instruction part21blocation-controls a drive part14aof the manipulator14so that a control reference point of the manipulator14(e.g. a predetermined location of the end effector) may be in a target location and position (orientation). Specifically, the instruction part21bacquires a target measurement value of the encoder (a rotation angle of each joint) corresponding to the target location and position of the control reference point with reference to a location conversion table with respect to each individual of the robot10, and PID (Proportional-Integral-Derivative)-controls the drive part14ato obtain the target measurement value. The location conversion table may be recorded with e.g. the sensor information I in the memory12of the robot10. Further, the instruction part21bperforms PID control based on measurement values of the acceleration sensor and the gyro sensor so that the manipulator14may realize target acceleration and angular velocity. Note that the control of the manipulator14is not necessarily the PID control, but may be any control as long as the control reduces the differences between the target acceleration and angular velocity and the measurement values.

In setting of the target acceleration and angular velocity, the instruction part21bsets target deceleration (an absolute value of negative acceleration) of the manipulator14immediately before stop to be smaller as the weight of the force sensor represented by the sensor information I is larger. Thereby, the influence by remaining vibration to be more significant as the weight of the force sensor is larger may be suppressed. Further, in location control, in setting of the target acceleration and angular velocity, the instruction part21bsets acceleration and an angular velocity within the allowable ranges of the acceleration sensor and the gyro sensor represented by the sensor information I. Furthermore, the instruction part21bacquires correction values formed by correction of the measurement values of the acceleration sensor and the gyro sensor based on variations of the acceleration sensor and the gyro sensor represented by the sensor information I. Then, the instruction part21bperforms PID control in response to the correction values of the measurement values of the acceleration sensor and the gyro sensor.

In addition, the instruction part21bacquires responsiveness of the encoder based on the communication speed and the format of the encoder represented by the sensor information I. Then, the instruction part21bsets gain in the PID control in response to the measurement value of the encoder (the rotation angle of each joint) and the measurement values (correction values) of the acceleration sensor and the gyro sensor based on the resolution and responsiveness of the encoder, the acceleration sensor, and the gyro sensor represented by the sensor information I. Specifically, the instruction part21bsets proportional gain in the PID control to be larger as the resolution and the responsiveness are better. As described above, the instruction part21bmay properly set the control condition of the location control using the sensor information I received from the robot10.

Next, the force control is explained. The instruction part21bforce-controls the drive part14aof the manipulator14so that the measurement values of the force sensor and the torque sensor provided in the manipulator14may be target values. The force control is feedback control based on the measurement values of the force sensor and the torque sensor. In the force control, in setting of the target values of the measurement values of the force sensor and the torque sensor, the instruction part21bsets a force and torque within the allowable ranges of the force sensor and the torque sensor represented by the sensor information I. Thereby, generation of load and torque that break the force sensor and the torque sensor by the force control may be prevented. The instruction part21bsets the gain in the feedback control in response to the measurement values of the force sensor and the torque sensor based on resolution and responsiveness of the force sensor and the torque sensor represented by the sensor information I. As described above, the instruction part21bmay properly set the control condition of the force control using the sensor information I received from the robot10.

In the robot10, other set values necessary for the control of the robot10than the sensor information I and the power information P may be recorded, e.g. gain of a gyro servo may be recorded or an inertial coefficient, an attenuation coefficient, and a spring coefficient in the force control may be recorded, or information necessary for calibration of a camera coordinate system and a robot coordinate system used for spatial recognition by the robot10may be recorded. If the above described set values are recorded in the robot10in advance, when the controller20and the robot10are replaced, resetting of the above described set values may be omitted and a required period for resetting of the above described set values may be shortened. Particularly, regarding the gain of the gyro sensor, the inertial coefficient, the attenuation coefficient, and the spring coefficient, different values are generally set with respect to each operation of the robot10, and therefore, the gain of the gyro servo, the inertial coefficient, the attenuation coefficient, and the spring coefficient may be recorded with respect to each operation of the robot10.

Further, the instruction part21brespectively derives driving amounts of the drive part14aby the location control and the force control, combines the driving amounts (weighted-average or the like), and generates the control signal D for controlling the drive part14a. Furthermore, the instruction part21bdrive-controls the gripper so that the measurement value of the tactile sensor (the gripping force of work or the like) may be a target value. In this regard, the instruction part21bsets the gripping force within the allowable range of the tactile sensor represented by the sensor information I.

Here, the explanation of the control of the robot10at step S150is ended and the explanation returns to the activation processing inFIG. 2A. If determining that the individual numbers of the sensors are not the same between the robot10and the controller20(step S110: N), the controller20determines whether or not replacement of the robot10has been authorized (step S120). That is, the controller20determines whether or not the replacement of the robot10is intended by the user. Specifically, the controller20allows the display part of the user I/F device30to display an image for checking whether or not to authorize the replacement of the robot10, and receives an input operation for selection of whether or not to authorize the replacement of the robot10by the input part of the user IF device30. If determining that the replacement of the robot10has not been authorized (step S120: N), the controller20ends the activation processing. That is, the controller determines that the robot10to be controlled has been replaced against the user's will and does not perform control of the robot10.

If determining that the replacement of the robot10has been authorized (step S120: Y), the controller20updates and records the sensor information including the individual numbers (step S130). That is, the controller20updates and records the sensor information I of the memory22of itself using the sensor information I acquired from the robot10at step S100. Thereby, information representing performance of the group of sensors S etc. provided in the robot10controllably connected to the controller20at the present time when the power is ON can be held in the controller20. At the same time, the information representing performance of the group of sensors S etc. provided in the robot10controllably connected to the controller20when the power was last turned off may be deleted from the controller20. After updating and recording the sensor information I, the controller20can perform control of the robot10based on the updated and recorded sensor information I (step S150). Note that, in the case where the models of the robots10before and after the replacement are the same or the like, control of the robot10after replacement may be performed based on the sensor information I of the robot10before replacement according to the selection by the user.

FIG. 2Bis a flowchart of battery management processing executed by the controller20. For example, the battery management processing is processing executed in parallel to the activation processing inFIG. 2Aand executed when at least one of the power of the robot10and the power of the controller20is turned ON. First, the controller20receives the power information P from the robot10(step S200). That is, in the robot10, the transmission part11atransmits the power information P recorded in the memory12to the controller20. In the embodiment, step S100inFIG. 2Aand step S200inFIG. 2Bare collectively executed, and the transmission part11aalso transmits the power information P with the sensor information I to the controller20. The power information P represents the accumulated period of periods in which the power of the robot10is OFF in the past and the last OFF time when the power of the robot10is last turned OFF.

Then, the analysis part21acalculates the last OFF period from the last OFF time and the present time (step S210). That is, the analysis part21asubtracts the last OFF time from the present time, and thereby, calculates the last OFF period. The last OFF time is information recorded in the robot10, and, even when the robot10is replaced, the controller20may properly obtain the last OFF period of the robot10after replacement.

Then, the analysis part21aaccumulates the last OFF period on the accumulated period (step S220). That is, the analysis part21aadds the last OFF period to the accumulated period, and thereby, calculates the latest accumulated period. The accumulated period is also the information recorded in the robot10, and thus, even when the robot10is replaced, the controller20may properly obtain the accumulated period of the robot10after replacement.

Then, the analysis part21adetermines whether or not the accumulated period is equal to or less than an allowable value (step S230). Here, the allowable value may be a period in which e.g. the remaining amount of power of the battery is a predetermined value (e.g. 10% of the initial remaining amount of power or the like). The allowable value may be recorded in the robot10like the sensor information I or recorded in the controller20with respect to each model of the robot10identified from the sensor information I.

If determining that the accumulated period is not equal to or less than an allowable value (step S230: N), the analysis part21acalculates a remaining period (step S240). The remaining period is a period obtained by subtraction of the present accumulated period from the lifetime of the battery. The lifetime of the battery may be derived by division of the amount of charged power of a new battery by the amount of power consumption per unit time in the OFF period. Then, the instruction part21ballows the user I/F device30to output the remaining period (step S250). Thereby, the user may obtain a rough indication of the time for replacement of the battery.

On the other hand, if determining that the accumulated period is equal to or less than the allowable value (step S230: Y), the instruction part21ballows the user I/F device30to output a battery replacement notice (step S260). Thereby, the user may be prompted to replace the battery. As described above, the power information P is information recorded in the robot10, and, even when the robot10is replaced, the controller20may issue an appropriate notice with respect to the battery of the robot10after replacement.

2-3 Abnormality Determination Processing

FIG. 2Cis a flowchart of abnormality determination processing executed by the controller20. The abnormality determination processing is processing executed in parallel to the activation processing inFIG. 2Aor processing executed at predetermined time intervals, and executed when at least one of the power of the robot10and the power of the controller20is turned ON. First, the controller20receives the sensor information I from the robot10and the present measurement value of the sensor (step S300). That is, the controller20acquires the chronological measurement values of each sensor in the past represented by the past data of the sensor information I and the present measurement value of each sensor (immediately after the power is turned ON).

Then, the analysis part21asets an allowable range represented by the sensor information I as a first allowable range (step S310). That is, the allowable range of the measurement value of each sensor shown inFIG. 1Bis set as the first allowable range. As described above, the allowable range represented by the sensor information I includes the range in which each sensor can normally measure the measurement value, the range in which the accuracy of the measurement value of each sensor is equal to or more than the predetermined reference, and the range in which each sensor is not broken.

Then, the analysis part21adetermines whether or not the present measurement value of each sensor is within the first allowable range (step S320). That is, the analysis part21adetermines whether or not each sensor may normally measure the measurement value, whether or not each sensor may measure the measurement value with the accuracy equal to or more than the predetermined reference, and whether or not each sensor is broken.

If the present measurement value of each sensor is not within the first allowable range (step S320: N), the instruction part21ballows the user I/F device30to output an abnormality notice (step S330). That is, the instruction part21balerts the user that the sensor of the robot10measures an abnormal measurement value. Specifically, the controller20allows the display part of the user I/F device30to display the abnormality notice as an analysis result of the sensor information I. Note that the instruction part21bmay stop the robot10with the output of the abnormality notice. Here, the case where the determination that the present measurement value of each sensor is not within the first allowable range is made means that the present measurement value of at least one sensor is outside the first allowable range.

If determining that the present measurement value of each sensor is within the first allowable range (step S320: Y), the analysis part21asets a second allowable range based on the chronological measurement values in the past (step S340). The past data of the sensor information I of the embodiment represents the measurement values of each sensor in the chronological order (at predetermined time intervals in the normal operation) in the past. The analysis part21aderives the second allowable range by statistical processing of the chronological measurement values of each sensor in the normal operation. For example, the analysis part21amay calculate an average value G and standard deviation H of the chronological measurement values of each sensor in the normal operation, and set a range of G±n×H as the second allowable range. Here, n is a natural number (e.g. 2 or 3). Note that the analysis part21amay set a range from the minimum value to the maximum value of the chronological measurement values of each sensor in the normal operation as the second allowable range.

Then, the analysis part21adetermines whether or not the present measurement value of each sensor is within the second allowable range (step S350). That is, the analysis part21adetermines whether or not the measurement value of the sensor in the present belongs to the second allowable range derived from the measurement values of the sensor in the past, and thereby, determines whether or not the robot10is abnormal. The range of G±n×H is set as the second allowable range, and thereby, the analysis part21amay determine whether or not the present measurement value is stochastically singular in the distribution of the chronological measurement values of each sensor in the normal operation.

If the present measurement value of each sensor is not within the second allowable range (step S350: N), the instruction part21ballows the user I/F device30to output an abnormality notice (step S330). That is, the instruction part21balerts the user that the sensor of the robot10measures an abnormal measurement value. Here, the case where the determination that the present measurement value of each sensor is not within the second allowable range is made means that the present measurement value of at least one sensor is outside the second allowable range.

On the other hand, if the present measurement value of each sensor is within the second allowable range (step S350: Y), the instruction part21ballows the user I/F device30to output a normality notice (step S360). Here, the case where the determination that the present measurement value of each sensor is within the second allowable range is made means that the present measurement values of all sensors are within the second allowable range.

3. Other Embodiments

The measurement values of the sensor in the past represented by the sensor information I are not necessarily the chronological measurement values of each sensor in the normal operation. For example, the sensor information I may represent the measurement values of the sensor at the time when an abnormality occurred in the past. In this case, if the difference (absolute value) of the present measurement value of each sensor from the measurement value of the sensor at the time when an abnormality occurred in the past is equal to or less than a predetermined value, the analysis part21aof the controller20may output an abnormality notice that an abnormality may occur in the robot10. It is only necessary to record the measurement value at the abnormality time, and thereby, the data volume of the sensor information I may be suppressed.

Further, the sensor information I may represent the measurement values of the sensor with respect to each location of the movable part in the past. For example, in the location control, the target location and position of the control reference point of the manipulator14(e.g. the predetermined location of the end effector) are set, however, the robot10may record the measurement value of the sensor in the past in correspondence with the target location and position. For example, the robot10may record the measurement values of the sensor in the past with respect to the case where the location of the control reference point of the manipulator14is at the center of the movable range and the case where the location is on the edge of the movable range. Thereby, the controller20may determine whether or not the present measurement value is normal as the measurement value when the control reference point of the manipulator14is at the center of the movable range. Similarly, the controller20may determine whether or not the present measurement value is normal as the measurement value when the control reference point of the manipulator14is on the edge of the movable range. Obviously, the robot10may divide the movable range into three or more spaces and record measurement values of sensors in the past with respect to each space.

FIGS. 3A to 3Care schematic diagrams showing arrangements of the analysis part21aand the instruction part21bin the robot system.FIG. 3Ashows the arrangement of the analysis part21aand the instruction part21bin the first embodiment. Namely, both the analysis part21aand the instruction part21bare provided in the controller20. In the configuration, the sensor information I is transmitted from the robot10to the controller20, and the control signal D generated based on the sensor information I is transmitted to the robot10.

FIG. 3Bshows an example in which an analysis part41ais provided in an analysis PC (personal computer)40as an external apparatus, and the instruction part21bis provided in the controller20. As shown in the drawing, the transmission part11aof the robot10transmits the sensor information I to the analysis PC40, and the analysis part41aof the analysis PC40analyzes the sensor information I. Then, the analysis PC40transmits analysis information R representing an analysis result in the analysis part41ato the controller20. For example, the analysis information R may be information representing the second allowable range in the first embodiment. Thereby, in the controller20receiving the analysis information R, the instruction part21bmay control the robot10based on the analysis result of the sensor information I. As described above, the transmission part11aof the robot10may transmit the sensor information I to the controller20or the external apparatus (analysis PC40), but does not necessarily transmit the sensor information I to the controller20.

FIG. 3Cshows an example in which an analysis part51ais provided in a server50as an external apparatus and the server50is communicable with a plurality of the robots10. As shown in the drawing, the respective robots10controlled by the controllers20transmit sensor information I to the server50and the analysis part51acollects the sensor information I. Then, the analysis part51aanalyzes the sensor information I by statistical processing of the sensor information I. Further, the server50transmits analysis information R representing an analysis result in the analysis part51ato the controller20. For example, the analysis part51amay derive the second allowable range by statistic processing of the measurement values in the past represented by the sensor information I collected from the plurality of robots10. Many pieces of sensor information I may be statistically processed, and thereby, the second allowable range with high statistical reliability may be derived. Further, even when the sensor information I is collected from the different models of robots10, the measurement values of the sensors provided in common may be statistically processed and the second allowable range with high statistical reliability may be derived.

Furthermore, the sensor information I may be provided in the recording part within the robot10, and the recording part is not necessarily provided in the control unit C of the robot10. For example, a memory may be provided with respect to each sensor provided in the robot10, and the memory may record the sensor information I on the sensor. Then, at the stage for transmitting the sensor information I to the controller20or the like, the transmission part11amay collect the sensor information I from the memory provided in each sensor. For example, in a configuration in which the end effector is detachable from the manipulator, the sensor information I on the sensor provided in the end effector may be recorded in the memory of the end effector. For example, if only the individual number indicated by the sensor of the end effector is changed, the controller20may recognize that, not the whole robot10, but only the end effector has been replaced. Or, the controller20is not necessarily physically separated from the robot10, and the controller20may be built in the robot10in a dual-arm robot or the like. Further, the robot10may record the sensor information I on the group of sensors S provided in the controller20. In addition, the group of sensors S or the single sensor may be provided in another than the robot10, e.g. in an accessory device of the robot10that may be replaced together with the robot10with respect to the controller20. For example, the group of sensors S may be provided in an accessory device such as an imaging unit, a communication unit, or the end effector attached to the robot10, and the robot10may record sensor information I on the group of sensors S. In this case, the accessory device and the robot10make communication and the robot10may record the sensor information I acquired by the communication.

The entire disclosure of Japanese Patent Application No. 2015-012141, filed Jan. 26, 2015 is expressly incorporated by reference herein.