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Robotic system and robot control device

A robot system, motion control technology, applied in the direction of robot, program control, general control system, etc.

Inactive Publication Date: 2014-02-12
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in the invention described in Patent Document 1, there is a problem that the addition of passing points must be performed by the operator himself.

Method used

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  • Robotic system and robot control device
  • Robotic system and robot control device
  • Robotic system and robot control device

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0038] One embodiment of the present invention will be described with reference to the drawings.

[0039] figure 1 It is a system configuration diagram showing an example of the configuration of a robot system 1 according to an embodiment of the present invention. The robot system 1 of the present embodiment mainly includes a robot 10 , a control unit 20 , and an imaging unit 30 .

[0040] The robot 10 is an arm-type robot including an arm 11 and a hand 14 provided at the tip of the arm 11 . In addition, in figure 1 In FIG. 2 , a so-called dual-arm robot having two arm portions 11 is shown, but it may also have one arm. Hereinafter, the arm portion 11 and the hand portion 14 are referred to as the movable portion 15 (refer to figure 2 Wait).

[0041] The arm portion 11 includes a plurality of joints (joints) 12 and a plurality of links 13 .

[0042] Each joint 12 rotatably connects between the links 13 , the base (body) of the robot, the links 13 , and the like. Each j...

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PUM

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Abstract

A robotic system determines whether or not a movable section including an arm having a plurality of links and a plurality of joints and an end effector disposed at a tip of the arm and an obstacle interfere with each other based on positional information of a plurality of teaching points and positional information of the obstacle when moving the movable section along the plurality of teaching points. The robotic system changes the position of predetermined one of the teaching points based on limitation information in the case in which the movable section and the obstacle interfere with each other at the predetermined one of the teaching points.

Description

technical field [0001] The present invention relates to a robot system and a robot control device. Background technique [0002] Patent Document 1 discloses the creation of a robot program in which a passing point is added to the route and a teaching correction operation is performed in order not to interfere with an obstacle when the robot is moved along a movement route connecting teaching points. device. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2008-254172 [0004] However, in the invention described in Patent Document 1, there is a problem that the addition of passing points must be performed by the operator himself. Contents of the invention [0005] Therefore, an object of the present invention is to provide a robot system, a robot control device, a robot control method, and a robot control program capable of automatically correcting or adding a teaching point when the robot collides with an obstacle. [0006] A first aspect for solving the above-...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/18
CPCG05B2219/36415G05B2219/39091B25J9/1676Y10S901/45Y10S901/27
Inventor 山田喜士
Owner SEIKO EPSON CORP