Robotic system and robotic movement control device

Abstract

The present invention aims at achieving labor saving, and achieving low cost of introduction and suppression of the preparation of the moving path, thereby reducing the introduction barrier of the collaborative robot accompanying the movement. The robot system has a robot (10) and a control device (20), the robot (10) has a free dolly (12) and a mechanical arm (11) placed on the free dolly (12), and the control device (20) controls the mechanical arm (11). The control device (20) controls the mechanical arm (11) in order to perform a predetermined task, and controls the mechanical arm (11) in order to move the robot (10) itself.

Description

Technical Field

[0001] This invention relates to a robot system and a robot motion control device. Background Technology

[0002] Recently, the automation of tasks enabled by collaborative robots has been developing. Taking advantage of the advantages of collaborative robots, robots can be mounted on hand-pushed trolleys, and operators can move the robots while pushing the trolleys, allowing the robots to repeatedly perform tasks in various locations.

[0003] However, each movement requires the operator to push the hand-operated free trolley, so the operator cannot leave the robot and cannot achieve the desired level of labor-saving effect.

[0004] Therefore, we should consider introducing self-propelled free-moving trolleys such as Automated Guided Vehicles (AGVs). AGVs can automate both movement and operation, allowing workers to leave the robots and potentially saving labor.

[0005] However, AGV systems are not only expensive, but also require careful planning of the AGV's movement path from both a spatial and equipment perspective, making their implementation quite large-scale.

[0006] Therefore, the barriers to introducing collaborative robots that move alongside the user are not low. Summary of the Invention

[0007] The problem the invention aims to solve

[0008] The goal is to reduce labor costs, lower implementation costs, and minimize preparation for movement paths, thereby reducing barriers to the adoption of collaborative robots that move with the user.

[0009] means for solving problems

[0010] One aspect of the robot system disclosed herein includes a robot and a control device. The robot has a free carriage and a robotic arm mounted on the free carriage, and the control device controls the robotic arm. The control device controls the robotic arm to perform a predetermined task and to move the robot itself.

[0011] Invention Effects

[0012] Through the movement of the robotic arm, not only is the predetermined task executed, but the robot itself also moves. Therefore, it can save labor, reduce the cost of implementation, and suppress the movement path, thereby reducing the obstacles to the implementation of collaborative robots that move with it. Attached Figure Description

[0013] Figure 1This is a diagram illustrating the configuration of a robot system according to one embodiment.

[0014] Figure 2 yes Figure 1 The robot and a 3D view from an overhead camera.

[0015] Figure 3 This is a flowchart illustrating the processing steps of the robot system in this embodiment.

[0016] Figure 4A It is about Figure 3 Supplementary illustration diagram for process S3.

[0017] Figure 4B It is about Figure 3 Supplementary illustration diagram for process S5.

[0018] Figure 5A It is about Figure 3 Supplementary illustration diagram of the first step of process S5.

[0019] Figure 5B It is about Figure 5A Supplementary illustrations for the subsequent steps.

[0020] Figure 5C It is about Figure 5B Supplementary illustrations for the subsequent steps.

[0021] Figure 6 This is a schematic diagram of robot movement performed according to this embodiment.

[0022] Figure 7 yes Figure 3 Supplementary diagram for coordinate transformation.

[0023] Figure 8 This is a perspective view showing the robot being moved by the robotic arm operation of this embodiment.

[0024] Figure 9 This is a perspective view showing the handle, which has been positioned for gripping by a robotic arm.

[0025] Figure 10 This is a perspective view showing the guiding mechanism that guides the movement of the robot.

[0026] Figure 11 It shows that it has been used Figure 10 The diagram illustrates an example of a robot moving using a guiding mechanism.

[0027] Explanation of reference numerals in the attached figures

[0028] 10…robot, 20…control device, 30…overhead camera, 11…robotic arm, 12…free trolley, 12…extended outrigger mechanism, 21…control unit, 22…storage unit, 23…track calculation and processing unit, 24…image processing unit, 25…robotic arm motion control unit, 26…extended outrigger motion control unit. Detailed Implementation

[0029] Hereinafter, the robot system of this embodiment will be described with reference to the accompanying drawings.

[0030] For ease of explanation, as follows Figure 4A , Figure 4B As shown, as an example of a task performed by this robot system, the shelf S consists of multiple shelves CP separated by side panels SP. Assume the task involves arranging, for example, beverage cans W as workpieces on these shelves CP. In practice, the robot 10 picks up beverage cans W one by one from a storage container (not shown) that holds a large number of beverage cans W as workpieces, and releases them onto a shelf CP1. By repeating these picking and releasing operations, a predetermined number of beverage cans W are arranged in a row on shelf CP1. Furthermore, the work unit of arranging 10 beverage cans W on a shelf CP is called a sub-task. The robot 10 moves to an adjacent shelf CP2 to perform the same operation (sub-task). Thus, by alternately repeating the sub-tasks and the robot's movements, beverage cans W are arranged on all shelves CP, thereby completing the task.

[0031] like Figure 1 As shown, the robot system of this embodiment includes a robot 10, a control device 20, and a top-view camera 30. The top-view camera 30 is configured to capture the entire workspace, including the shelf S, the robot 10, and a storage container (not shown), from a top-down perspective, in terms of its position and orientation. Furthermore, the workspace captured by the top-view camera 30 is defined with a world coordinate system (X, Y, Z) whose origin is any position, such as the center of the work area within that space.

[0032] like Figure 2As shown, robot 10 typically has a robotic arm 11 mounted as a multi-rotational joint arm mechanism. For the robotic arm 11, links 114 and 116 are connected to a support 112 via rotary joints 113 and 115, the support 112 being vertically supported on a base 111 and freely rotatable. A wrist 117 is mounted at the front end of link 116, and the wrist 117 has three orthogonal rotation axes. A hand 118 equipped with a pair of fingers 119 is mounted on the wrist 117 as an end effector. A fingertip camera 14 is mounted on the hand 118 as a sensor for detecting fingertip objects, for capturing images of the fingertips. For example, the center of the base 111 is used as the origin to define the robot coordinate system (x, y, z). The control unit 20 calculates fingertip trajectories, etc., in the robot coordinate system (x, y, z) and controls the robotic arm 11 to achieve fingertip movement.

[0033] The robotic arm 11 is mounted on the worktable 122 of the free trolley 12. The free trolley 12 is defined as a passively moving free trolley equipped with casters 124 but without a motion drive unit. Here, three casters 124 are respectively mounted on three beams 123 that extend radially from the support column 121. An outrigger mechanism 13 is provided at the front end of each of the three beams 123. As for the outrigger mechanism 13, a piston rod 132 is inserted into a cylinder 131, and a pad 133, such as a rubber pad, is installed at the bottom of the piston rod 132. The movement of the piston rod 132 relative to the cylinder 131 is achieved by hydraulic, electric, or other arbitrary drive methods. By extending the piston rod 132 from the cylinder 131, the pad 133 can be placed on the ground, fixing the free trolley 12 and the robot 10 together. By pulling the piston rod 132 back to the cylinder 131, the pad 133 can be lifted off the ground, releasing the free trolley 12 from its fixed position and allowing it to move.

[0034] return Figure 1 The control device 20, together with the task program code, pre-stores data for multiple positions PR corresponding to multiple sub-tasks repeatedly executed by the robot 10. The task program code describes the steps, actions, conditions, etc., required for the control unit 21, which controls the entire system, to execute the aforementioned tasks via the control and data bus 27. Furthermore, the positions PR of the robot 10 are represented in the world coordinate system (X, Y, Z).

[0035] The image processing unit 24 processes the overhead image captured by the overhead camera 30, extracting the areas of the shelf CP and the side plate SP. From the extracted areas of the side plate SP, the image processing unit 24 selects an area of ​​the side plate SP near the position (moving target position) PR of the robot 10 to be moved for the next sub-task, as the area where the hand 118 should hold on the robot 10's movement path. The image processing unit 24 calculates the center position, center of gravity position, or other position of the selected side plate SP area as the holding position that the hand 118 should hold to move the robot 10 to the moving target position. This holding position is calculated and represented in the world coordinate system (X, Y, Z). Furthermore, the object held by the hand 118 is not limited to the side plate SP, but can be the shelf CP, etc. Figure 9 As shown, it can also be a handle HG or other protrusion that is easy to hold, which is already installed on the shelf S for gripping purposes.

[0036] The trajectory calculation and processing unit 23 calculates the coordinate transformation matrix (first coordinate transformation matrix, T1) for transforming the position and posture in the world coordinate system to the position and posture in the first robot coordinate system based on the displacement of the origin position of the current robot coordinate system (x, y, z) (referred to as the first robot coordinate system) relative to the origin position of the world coordinate system (X, Y, Z) and the rotation angles (also referred to as postures) around the coordinate axes X, Y, Z for aligning the coordinate system xyz with respect to the coordinate axes XYZ.

[0037] The trajectory calculation and processing unit 23 transforms the next gripping position, i.e., the fingertip position, on the movement path of the robot 10 into a fingertip position in the first robot coordinate system according to the first coordinate transformation matrix (T1). The trajectory calculation and processing unit 23 calculates the fingertip movement trajectory (specifically referred to as "fingertip movement trajectory for gripping") in the first robot coordinate system from the known current fingertip position in the first robot coordinate system to the aforementioned next fingertip position.

[0038] The next fingertip position is a fixed position on the side plate SP of the shelf S, which is fixed to the ground. By moving the robotic arm 11 while the side plate SP is held by the hand 118 at the next fingertip position, the robotic arm 11, i.e., the robot 10, and the free carriage 12 can be moved together to the next robot position (movement target position) PR. The track calculation and processing unit 23 calculates the fingertip track for the movement of the robot 10.

[0039] The trajectory calculation and processing unit 23 calculates the coordinate transformation matrix (second coordinate transformation matrix, T2) from the first robot coordinate system to the second robot coordinate system based on the displacement of the origin of the next robot position after movement, i.e., the origin of the robot coordinate system (second robot coordinate system) after movement, relative to the current robot position (X, Y, Z) in the world coordinate system, i.e., the origin of the current robot coordinate system (first robot coordinate system), and the rotation angles (attitudes) around the coordinate axes x, y, z of the first robot coordinate system to align with the coordinate axes x, y, z of the second robot coordinate system.

[0040] The track calculation and processing unit 23 calculates the fingertip movement track (referred to as "fingertip movement track for robot movement") from the next fingertip position (the current position at the time of gripping, referred to as the next position for ease of explanation) in the first robot coordinate system to the position obtained by multiplying the next fingertip position by the inverse matrix T2' of the second coordinate transformation matrix T2.

[0041] The robotic arm 11 is controlled according to the "finger movement track for robot movement," thereby enabling the robotic arm 11 to move together with the robot 10, i.e., the free trolley 12, while the fingertip is fixed in the next gripping position (see reference). Figure 8 ).

[0042] Furthermore, the "finger movement track for robot movement" is equivalent to a track that directly transfers the movement path of robot 10 from its current position to the next position (the target position) and reverses the movement direction. Therefore, in a state where the next fingertip position is held and fixed, by moving the fingertip according to the "finger movement track for robot movement," robot 10 can be moved from its current position to the next position (the target position).

[0043] The robotic arm motion control unit 25 calculates the changes in the rotation angle and rotation speed of the rotary joints 113 and 115 about the three orthogonal axes of the wrist based on the "finger tip movement track for gripping", and drives the servo motors of the rotary joints 113 and 115 and the wrist accordingly. Similarly, the robotic arm motion control unit 25 calculates the changes in the rotation angle and rotation speed of the rotary joints 113 and 115 about the three orthogonal axes of the wrist based on the "finger tip movement track for robot movement", and drives the servo motors of the rotary joints 113 and 115 and the wrist accordingly.

[0044] The robotic arm 11 moves its fingertips along a path that is reverse of the movement path of the robot 10 from the current position to the next position (the target position). As a result, the fingertips are fixed and the free carriage 12 is released and is in a state of free movement. As a result, the robot 10 moves from the current position to the next position (the target position).

[0045] The outrigger movement control unit 26 drives the drive unit of the outrigger mechanism 13 according to the instructions of the control unit 21, extending or retracting the piston rod 132 from the cylinder 131. By extending the piston rod 132 from the cylinder 131, the pad 133 is placed on the ground, thus securing the free carriage 12. By retracting the piston rod 132 back to the cylinder 131, the pad 133 is lifted off the ground, allowing the casters 124 of the free carriage 12 to be placed on the ground, returning it to a movable state. Furthermore, as long as the free carriage 12 can be secured to the ground, the outrigger mechanism 13 can be replaced by other components such as an electromagnetic brake.

[0046] Figure 3 The processing steps of the robot system in this embodiment are shown. Figure 4A , Figure 4B The operation summary is shown. The free trolley 12 is fixed to the ground at the initial robot position PR1. The control unit 21 reads the subtask program code from the storage unit 22, and the track calculation and processing unit 23 calculates the fingertip movement track for grabbing beverage cans W from the storage unit and releasing them to the initial shelf CP1. The robotic arm motion control unit 25 controls the robotic arm 11 according to the fingertip movement track, thereby the robotic arm 11 and the hand 118 grabbing beverage cans W from the storage unit (step S1) and releasing them to the initial shelf CP1 (S2). The control unit 21 determines whether the subtask of arranging a predetermined number of beverage cans W on the shelf CP1 is completed (S3). If it is determined that the subtask is not completed (S3, no), the process returns to step S1. Steps S1, S2, and S3 are repeated until the subtask of arranging a predetermined number of beverage cans W on the shelf CP1 is completed.

[0047] When the subtask is determined to be completed (S3, Yes), the control unit 21 determines whether the arrangement of beverage cans W on all predetermined shelves CP, i.e., the task, is completed (S4). When the task is determined to be incomplete (S4, No), the robot 10 is moved to the next robot position PR2 (movement target position) corresponding to the next shelf CP2 (S5). When the robot 10 moves to the movement target position, the outrigger mechanism 13 is activated at that position, and the free carriage 12 is fixed to the next robot position PR2 on the ground. Return to process S1 to execute the subtask of arranging beverage cans W on the next shelf CP2. When the task is determined to be completed (S4, Yes), the operation ends.

[0048] Figure 5A, Figure 5B , Figure 5C An outline of the robot's movement is shown. The robotic arm 11, originally equipped to perform tasks such as arranging the aforementioned beverage cans W, is also used for the movement of the robot 10. (As shown...) Figure 5A As shown, when robot 10 is in its current robot position PRn, the robotic arm 11 moves, performing position detection via the fingertip camera 14, while the hand 118 grasps, for example, a side plate SPn+1 located near the next robot position PRn+1, which serves as a fixed part. Figure 5B As shown, with the side plate SPn+1 held by the hand 118, the robotic arm 11 is moved, thereby causing the robot 10 to move little by little. Figure 5C As shown, by directly causing the robotic arm 11 to move further, the robot 10 moves to the next robot position PRn+1, which is the target position for the movement.

[0049] Figure 6 To achieve Figure 5A , Figure 5B , Figure 5C The processing steps of the control device 20 for the movement of the robot 10 shown. Figure 7 A supplementary diagram showing the coordinate transformation process is provided. In step S11, under the control of the control unit 21, the data of the next robot position PRn+1 (X2, Y2, Z2) represented by the world coordinate system (X, Y, Z) and the posture data of the robot coordinate system (second robot coordinate system) of the next robot position PRn+1 (X2, Y2, Z2) are read from the storage unit 22 to the trajectory calculation processing unit 23 (S11). The posture is defined as the rotation angle (θX2, θY2, θZ2) of the robot coordinate system relative to the world coordinate system around each coordinate axis XYZ. In addition, the current robot position PRn (X1, Y1, Z1) and the current fingertip position PGn (X1, Y1, Z1) are known.

[0050] In process S12, the image processing unit 24 extracts the area of ​​the side plate SP2 near the next shelf CP2 from the overhead image captured by the overhead camera 30. The center position of the extracted side plate SP2 area is determined as the gripping position PGn+1 (X2, Y2, Z2) that the hand 118 should hold in order to move the robot 10 to the next robot position (moving target position) PRn+1.

[0051] In step S13, the trajectory calculation and processing unit 23, based on the origin position of the current robot coordinate system (first robot coordinate system) in the world coordinate system (X, Y, Z) and the rotation angles (poses) around the coordinate axes X, Y, and Z for aligning the coordinate system xyz with respect to the coordinate axes X, Y, and Z, calculates the coordinate transformation matrix (first coordinate transformation matrix, T1) for transforming the position and pose in the world coordinate system to the position and pose in the first robot coordinate system (refer to...). Figure 7 (a) in the middle.

[0052] Similarly, in process S14, the trajectory calculation and processing unit 23 calculates the coordinate transformation matrix (second coordinate transformation matrix, T2) from the first robot coordinate system to the second robot coordinate system based on the displacement of the next robot position PRn+1 (X2, Y2, Z2) in the world coordinate system (X, Y, Z) relative to the current robot position PRn (X1, Y1, Z1) and the rotation angles (poses) of the robot coordinate system (second robot coordinate system) at the next robot position PRn+1 (X2, Y2, Z2) relative to the robot coordinate system (first robot coordinate system) at the current robot position PRn (X1, Y1, Z1) around the coordinate axes XYZ. (Refer to...) Figure 7 (d) reference in the middle).

[0053] In robot control, in order to calculate the rotational joint angles and other parameters based on the fingertip movement trajectory, the fingertip movement trajectory needs to be represented by the robot coordinate system. Therefore, in process S15, the next fingertip position PGn+1 (X2, Y2, Z2) represented by the world coordinate system is transformed into the next fingertip position PRn+1 (x2, y2, z2) in the robot coordinate system using the first coordinate transformation matrix T1.

[0054] In the next step S16, the track calculation processing unit 23 calculates the fingertip movement track (the fingertip movement track for gripping) OPn+1 (refer to the reference) for moving the fingertip from the current fingertip position PGn(x1, y1, z1) in the first robot coordinate system to the next fingertip position PGn+1(x2, y2, z2). Figure 7 (b) in the middle.

[0055] In process S17, the robotic arm 11 is moved according to the fingertip movement track OPn+1 for gripping by the robotic arm motion control unit 25, and at the next fingertip position PGn+1, the side plate CP2 is gripped by the hand 118. Figure 7 (c) in the figure shows the robot's pose at this time.

[0056] In the next step S18, the track calculation processing unit 23 multiplies the next fingertip position PGn+1 (x2, y2, z2) represented in the first robot coordinate system by the inverse matrix T2' of the second coordinate transformation matrix T2 to calculate the fingertip position PG'n+1 (x2, y2, z2). Furthermore, the relative positional relationship between this fingertip position PG'n+1 (x2, y2, z2) and the current robot position PRn (x1, y1, z1) before movement is equivalent to the relative positional relationship between the next fingertip position PGn+1 (x2, y2, z2) and the next robot position PRn+1 (x2, y2, z2) after movement (see reference). Figure 7 (d) in the middle.

[0057] In the next step S19, the track calculation processing unit 23 calculates the fingertip movement track (fingertip movement track for robot movement) OP2n+1 for moving the fingertip from the fingertip position PGn+1 (x2, y2, z2) represented in the first robot coordinate system to the fingertip position PG'n+1 (x2, y2, z2) obtained by transforming using the inverse matrix T2' of the second coordinate transformation matrix T2.

[0058] The fingertip movement track OP2n+1 for robot movement is a track offset relative to the movement path of robot 10 from the current position PRn(x1, y1, z1) to the next robot position PRn+1(x2, y2, z2), with the start and end points reversed and the start point coinciding with the fingertip position PGn+1(x2, y2, z2). Therefore, with the fingertip position PGn+1(x2, y2, z2) held and fixed by the hand 118, the robotic arm 11 moves according to the fingertip movement track OP2n+1 for robot movement, causing the fingertip to move. As a result, robot 10 approaches (or moves away from) the next fingertip position PGn+1(x2, y2, z2), and as a result, robot 10 moves from the current position PRn(x1, y1, z1) to the next robot position PRn+1(x2, y2, z2).

[0059] In step S20, the extended outrigger mechanism 13 is driven to release the fixation. Then, in step S21, the robotic arm 11 is controlled according to the "finger movement track for robot movement". Thus, with the holding position PGn+1 (X2, Y2, Z2) fixed, the robotic arm 11 and the robot 10, along with the free carriage 12, move together to the target position PRn+1 (X2, Y2, Z2) (see reference). Figure 8 After the movement is completed, in step S22, the extended outrigger mechanism 13 is driven, and the free trolley 12 is fixed at position PRn+1 (X2, Y2, Z2).

[0060] Thus, in this embodiment, the robotic arm 11, which is originally equipped to perform tasks, is also used for the movement of the robot 10. As a result, there is no need for operators to push the free-moving trolley, thereby saving labor. There is no need to introduce self-propelled free-moving trolleys such as automated guided vehicles (AGVs), and there is essentially no need for the preparation of the movement path, so it is easy to introduce collaborative robots that move alongside the robot.

[0061] Furthermore, with the aim of simplifying the processing of robot 10's movement and posture changes, and improving the smoothness and accuracy of robot 10's movement and posture changes, such as... Figure 10 As shown, a guide mechanism 200 can be provided along the movement path to guide the movement of the robot 10. The guide mechanism 200 has a guide rod 201 laid along the movement track of the robot 10 and a sliding part 202 into which the guide rod 201 is inserted for free movement. A connecting block 204 is detachably mounted on the sliding part 202, and the connecting block 204 is fixed to the front end of the crossbar 203 of the support column 121 of the free trolley 12. When the robot 10 is not needed, it can be detached from the sliding part 202 and easily moved to another location.

[0062] In addition, multiple sensors 300, such as photoelectric sensors or push-button switches, can be laid along the moving track of the robot 10 to detect the position of the robot 10. Here, multiple sensors 300 are set along the guide rod 201 on each side plate SP to detect the position of the robot 10.

[0063] like Figure 11 As shown, even without holding a fixed object (side plate SP) by hand 118, typically, the robot arm 11 can be moved by moving the robot arm 11 while the wrist 117, which is part of the robot arm 11, hooks or pushes against a fixed object such as side plate SPn+1 in the movement path. When the sensor 300, which is approximately at the next robot position PRn+1, is activated, the robot 10 can be moved to the next robot position PRn+1 by stopping the robot arm 11.

[0064] Even in this example, the effort is reduced in the same way as the above implementation, and there is virtually no need to prepare the movement path. Therefore, it is easy to introduce a collaborative robot that moves with the robot.

[0065] While some embodiments of the invention have been described, these embodiments are given by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments or variations thereof are included within the scope or spirit of the invention as well as within the scope of the invention as set forth in the claims and its equivalents.

Claims

1. A robot system comprising a robot and a control device, the robot having a free carriage and a robotic arm mounted on the free carriage, the control device controlling the robotic arm, wherein, The control device controls the robotic arm to perform a predetermined task, and calculates the movement trajectory of the robotic arm's tip based on the robot's displacement from its current position to the next position. To move the robot itself from its current position to the next position, the device controls the robotic arm according to this movement trajectory. A hand is installed at the front end of the robotic arm. The control device moves the robotic arm while the hand holds a fixed object in the robot's movement path, thereby causing the robot to move closer to or away from the fixed object. The control device calculates the coordinate transformation matrix of the second robot coordinate system (with the target position as the origin) relative to the first robot coordinate system (with the current position as the origin) based on the displacement and posture change of the robot's moving target position relative to its current position. The control device calculates the fingertip movement trajectory from the fingertip position of the hand holding the fixed object to the position obtained by multiplying the fingertip position of the hand holding the fixed object by the inverse of the coordinate transformation matrix. To move the robot from its current position to the target position, the robotic arm is controlled according to the fingertip movement trajectory.

2. The robot system according to claim 1, wherein, As a fixed object, a protrusion of a predetermined shape is provided along the robot's movement path.

3. The robot system according to claim 1 or 2, wherein, The robotic system also has an overhead camera for detecting the robot's position.

4. The robot system according to claim 1 or 2, wherein, Sensors for detecting the robot's position are installed along the robot's movement path.

5. The robot system according to claim 1 or 2, wherein, The robot is equipped with sensors for detecting its position.

6. The robot system according to claim 1, wherein, The robot system also has a guiding mechanism for guiding the movement of the robot.

7. The robot system according to claim 6, wherein, The guiding mechanism includes a guide rod laid along the robot's moving track and a sliding part inserted into the guide rod, wherein the robot or the free trolley is detachably mounted on the sliding part.

8. The robot system according to claim 1, wherein, By moving the robotic arm while a portion of it is pushed against a fixed object in the robot's path of movement, the robot moves closer to or away from the fixed object.

9. A robot movement control device for controlling the movement of a robot having a free carriage, a robotic arm, and a hand, wherein the robotic arm is mounted on the free carriage, and the hand is equipped at the front end of the robotic arm, wherein... The robot movement control device has the following features: Based on the position of the first robot coordinate system relative to the world coordinate system with the robot's current position as the origin and the rotation angles of each axis, calculate the unit of the first coordinate transformation matrix (T1) used to transform the position and posture in the world coordinate system to the position and posture in the first robot coordinate system; Using the first coordinate transformation matrix (T1), the gripping position of the fixed object on the robot's movement path by the hand is transformed into a unit representing the gripping position in the first robot coordinate system; Based on the displacement and posture change of the robot's moving target position relative to its current position, calculate the unit of the second coordinate transformation matrix (T2) that transforms the first robot coordinate system into the second robot coordinate system with the moving target position as the origin; A unit for calculating the fingertip movement trajectory, the fingertip movement trajectory being the trajectory from the gripping position represented in the first robot coordinate system to the position obtained by multiplying the gripping position represented in the first robot coordinate system by the inverse of the second coordinate transformation matrix (T2); as well as The control unit controls the robotic arm according to the fingertip movement trajectory in order to move the robot from the current position to the target position.

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