Robot system

Abstract

The present invention can effectively utilize the ground space of factories and the like while improving the safety of robot operation, and can simplify equipment. It is processed in the following order and defined on the memory: the arm occupation area including the workpiece and tool of the arm and wrist of the robot; the virtual safety fence that the arm cannot touch; and the movable range of each axis, based on the inertia measured actually Estimate the inertial movement angle of each axis of the robot when the robot is suddenly stopped during the execution of the motion command to the next target position, and calculate the predicted inertial movement position of the robot by adding it to the next target position. Control to stop the robot immediately when abnormality is confirmed whether the arm occupied area at the movement prediction position is in contact with the virtual safety fence or whether the position of each axis of the robot is within the operable range.

Description

technical field

[0001] The invention relates to a robot system that limits the range of motion of a robot. Background technique

[0002] As an existing robot system, as shown in Japanese Patent Publication No. 2004-322244, the area used to limit the movement of the robot is defined as a "virtual safety barrier" on the memory, and at least two places including workpieces and tools are defined. In a part of the three-dimensional space area, the predicted position in the trajectory calculation of the three-dimensional space area is searched for the virtual safety barrier, and even if only a part of the three-dimensional space area touches the virtual safety barrier, the robot is controlled to stop.

[0003] However, in the prior art, the robot is stopped when the predicted position on the trajectory calculation exceeds the virtual safety barrier, because even if the robot stops due to an emergency stop or the like when the predicted position on the trajectory calculation is not...

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