Unlock instant, AI-driven research and patent intelligence for your innovation.

Method for avoiding interference of robot and robot system

A robot and area technology, applied in the field of robot systems, can solve problems such as the inability to generate paths, and achieve the effect of reliable operation and reliable interference

Active Publication Date: 2010-03-03
KOBE STEEL LTD
View PDF1 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in a robot performing actual work such as a welding robot, it is preferable to generate an initial position and a target position by simply adding an operation pattern without considering the surrounding environment such as obstacles. Interference, resulting in the inability to generate paths by the path heuristic described above

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for avoiding interference of robot and robot system
  • Method for avoiding interference of robot and robot system
  • Method for avoiding interference of robot and robot system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0034] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0035] In addition, in the following description, the same code|symbol is attached|subjected to the same component. Their names and functions are also the same. Therefore, detailed descriptions of them are not repeated. Furthermore, although a vertical articulated 6-axis robot is described below, the present invention is not limited to such a type or number of axes.

[0036] refer to figure 1 as well as figure 2 , the overall structure of the robot system of the present invention will be described. figure 1 is a perspective view of the robot system 1, figure 2 is the skeleton diagram of robot 2.

[0037] Such as figure 1 As shown, this robot system 1 includes a 6-axis robot 2 of a vertical articulated type and a slide rail 3 for moving the robot 2 itself.

[0038] Such as figure 1 as well as figure 2 As shown, the robot 2 has rotation axes, which are the se...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a method for avoiding the interference of a robot and a robot system, capable of reliably avoiding the interference between the robot and an obstacle and reliably performing theprescribed operation simultaneously. The method for avoiding the interference includes the following steps: performing the interference verification at the start position; if the interference exists,determining the region in which the robot (2) exists; verifying whether the object points representing each part of the robot (2) is in the region in which the robot (2) exists; endowing larger moving vector nearer the boundary apart from the boundary of the region to the inner portion of the region and endowing the moving vector which faces the region and is more that that in the region to the outer portion of the region; calculating the avoidance position and state of the robot (2) by using the resultant vector combined with the moving vector, thus setting the hands-off path.

Description

technical field [0001] The present invention relates to an interference avoidance method of an industrial robot and a robot system capable of adopting the interference avoidance method. Background technique [0002] At present, the interference avoidance technology of the robot has been developed through various researches, and these interference avoidance technologies are mostly used in the movement path exploration of the robot. [0003] The so-called path search of the robot is a method of generating a non-interfering path by searching for an interference-avoiding position and posture when there is interference between the robot and the workpiece on the path between the initial position and the target position. [0004] For example, Japanese Patent Laid-Open No. 5-250023 (Patent Document 1) discloses a method that uses the configuration space method to obtain a free space that does not interfere with obstacles and can move in the joint coordinate space of the robot, and t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/16
Inventor 山崎雄干飞田正俊
Owner KOBE STEEL LTD