Robot interference prevention control device

A control device and robot technology, applied in the direction of program control, general control system, control/adjustment system, etc., can solve problems judged as interference, and achieve the effect of accurately preventing interference

Active Publication Date: 2006-03-08
FANUC LTD
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Problems solved by technology

[0004] Also, when the robot arms intersect each other at high speed, even if the minimum distance between the two line segments is judged using the predetermined distance D that anticipates the distance necessary for deceleration, there is a possibility that the interference may be judged to occur even though there is no actual interference.

Method used

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Embodiment Construction

[0026] Hereinafter, several embodiments of the present invention will be described with reference to the drawings.

[0027] First, the working principle of the present invention will be described. The present invention is an invention for preventing interference among robots when a plurality of robots are used for cooperative operations. The interference prevention control device between robots based on the present invention is as follows: Figure 13 As shown, there are a stop position calculation unit 12 , an interference determination unit 14 , a deceleration command unit 16 , and a signal output unit 18 for outputting a determination result signal of the interference determination unit 14 to the outside. The stop position calculation unit 12 calculates, for each robot, the position at which the robot decelerates and stops when a stop command is output at a certain moment during operation. The interference judging unit 14 judges that there is no interference if there is no ...

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Abstract

A robot interference prevention control device reads in advance a teaching program of each robot, calculates a scheduled stop position for each robot when issuing a stop command after n number of interpolation periods from the current interpolation period, and checks whether or not interference would occur at the scheduled stop position of each robot. When the robot interference prevention control device judges that a robot will interfere with another robot, it outputs a stop command at the current interpolation period. Due to this, a stop command is output before n number of interpolation periods from the interpolation period where interference would occur and thereby the occurrence of interference can be prevented.

Description

technical field [0001] The present invention relates to an interference prevention control device, which is used to make a plurality of robots work simultaneously, and to prevent interference between the robots when a part of the work area of ​​the robots overlaps. Background technique [0002] When using multiple robots for joint work, it is necessary to prevent the robots from interfering with each other when the work areas of the robots overlap. As disclosed in Japanese Unexamined Patent Publication No. 60-99591, as a method for detecting the interference between robots, the following method is well known: using line segments to represent each connecting portion of the robot arm, performing robot operation simulation, and obtaining the relationship between the two line segments. If the distance between the closest parts becomes smaller than the predetermined distance D, it is determined that there is a possibility of interference with the corresponding robot arm. [0003...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06B25J13/00
CPCG05B2219/39097B25J9/1666G05B2219/39098G05B2219/40475B25J9/1674
Inventor 二瓶亮加藤哲朗土田行信永山敦朗一之濑雅一
Owner FANUC LTD
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