Parallel link robot system, control method and program

Abstract

The objective is to provide a parallel link robot system, control method, and program that can be controlled with simple processing. [Solution] The system is characterized by a memory control means that stores in a memory unit, in association with position information indicating the position of the traveling plate 13 of the parallel link robot, position changeable range information indicating the range within which the position of the traveling plate 13 can be changed, or posture changeable range information indicating the range within which the posture of the traveling plate 13 can be changed.

Description

Technical Field

[0001] The present disclosure relates to a parallel link robot system, a control method, and a program.

Background Art

[0002] Conventionally, it has been studied to preferably control a parallel link mechanism with mechanical constraints. Patent Document 1 discloses creating a plurality of command positions each including a combination of the position and orientation of the tip of the mechanism, and creating a mathematical model showing a prohibited region for the position or orientation of the tip of the mechanism in the interpolation operation between these plurality of command positions. Patent Document 2 discloses storing, in a storage unit, determination information in which a combination of allowable bending angles in a joint portion provided in each link mechanism is defined in advance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, it is necessary to obtain a prohibited region for the position or orientation of the tip of the mechanism, and the processing is complicated. Further, in Patent Document 2, it is determined whether the bending angle of the link mechanism in the joint portion provided in each link mechanism is within the operable range based on determination information stored in the storage unit and the like. However, for the user, it is difficult to understand the bending angle of each link mechanism in the first place, and as a result, its operable range is also difficult to understand.

[0005] This disclosure is made in view of the circumstances described above and aims to provide a parallel link robot system, control method, and program that can be controlled by simple processing. [Means for solving the problem]

[0006] A parallel link robot system according to one aspect of the present disclosure is characterized by comprising a storage control means for storing in a storage unit, in association with position information indicating the position of a traveling plate having a parallel link robot, position changeable range information indicating the range within which the position of the traveling plate can be changed, or posture changeable range information indicating the range within which the posture of the traveling plate can be changed. [Effects of the Invention]

[0007] According to this disclosure, a parallel link robot system, a control method, and a program that can be controlled by simple processing can be provided. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic block diagram showing the system configuration of the parallel link robot system according to the embodiment. [Figure 2] This figure shows the traveling plate of a parallel link robot in its initial position. [Figure 3] This figure shows the traveling plate of a parallel link robot after it has moved from its initial position in the reference direction. [Figure 4] This figure shows the traveling plate of a parallel link robot after it has moved from its initial position in a direction perpendicular to the reference direction. [Figure 5] This figure shows the traveling plate of a parallel link robot rotated from its initial position. [Figure 6] This graph shows the relationship between the position of the traveling plate in the reference direction and the range of possible positional changes in the direction perpendicular to the reference direction. [Figure 7] A graph showing the relationship between the position of the traveling plate in the reference direction and the range of possible changes in the posture of the traveling plate with the first direction or the second direction as the rotation axis. [Figure 8] A graph showing the relationship between the amount of change in the position of the traveling plate in a direction perpendicular to the reference direction and the range of possible changes in the posture of the traveling plate with the first direction or the second direction as the rotation axis. [Figure 9] A graph showing the relationship between the amount of change in the posture of the traveling plate with the first direction or the second direction as the rotation axis and the range of possible changes in the position of the traveling plate in a direction perpendicular to the reference direction. [Figure 10] Figure 1 showing a part of the graph shown in Figure 6. [Figure 11] Figure 2 showing a part of the graph shown in Figure 6. [Figure 12] Figure 3 showing a part of the graph shown in Figure 6. [Figure 13] A schematic block diagram showing a specific example of the functional configuration of the control device. [Figure 14] The first example of various information displayed on the display unit. [Figure 15] Figure 1 of the second example of various information displayed on the display unit. [Figure 16] Figure 2 of the second example of various information displayed on the display unit. [Figure 17] Figure 3 of the second example of various information displayed on the display unit. [Figure 18] Figure 4 of the second example of various information displayed on the display unit. [Figure 19] Figure 5 of the second example of various information displayed on the display unit. [Figure 20] Figure 6 of the second example of various information displayed on the display unit. [Figure 21] The control flow of the parallel link robot system according to the embodiment. [Figure 22] A diagram showing an overview of the hardware configuration example of the information processing apparatus applied to the present embodiment.

Best Mode for Carrying Out the Invention

[0009] Hereinafter, a parallel link robot system according to an embodiment of the present disclosure will be described with reference to the drawings. The parallel link robot system of the present embodiment is a system including a parallel link robot. The parallel link robot performs various operations on a work target, for example, by moving an end effector attached to a traveling plate. The end effector may be, for example, a grindstone. In this case, the parallel link robot may be used for an operation of polishing a work target using the end effector that is a grindstone. The end effector may be any other tool.

[0010] FIG. 1 is a schematic block diagram showing the system configuration of the parallel link robot system 1 according to the embodiment. As shown in FIG. 1, the parallel link robot system 1 includes a parallel link robot 10 and a control device 20. The parallel link robot 10 and the control device 20 are communicably connected via a network N. The network N may be a network using wireless communication or a network using wired communication. The network N may be configured using, for example, the Internet or a local area network (LAN). The network N may be configured by combining a plurality of networks.

[0011] As shown in FIG. 1, the parallel link robot 10 includes a base plate 11, an arm portion 12, and a traveling plate 13. The base plate 11 is a portion to which the arm portion 12 in the parallel link robot 10 is attached. The base plate 11 is, for example, a plate-like member. The base plate 11 may be, for example, circular or polygonal. In the present embodiment, the center in the radial direction and the thickness direction of the base plate 11 is referred to as a center point 11a. In this embodiment, the parallel link robot 10 may be fixed to a frame (not shown) via, for example, a base plate 11. As shown in Figure 1, the arm portion 12 is positioned between the base plate 11 and the traveling plate 13 and supports the traveling plate 13. Specifically, one end of the arm portion 12 is pivotably connected to the traveling plate 13, and the other end of the arm portion 12 is pivotably connected to the base plate 11. In this way, the base plate 11 and the traveling plate 13 are connected by the arm portion 12, and the traveling plate 13 is supported by the arm portion 12. Multiple arm portions 12 are provided in the parallel link robot 10. Specifically, for example, the arm portions 12 are provided at three locations at 120° intervals in the circumferential direction of the traveling plate 13. As shown in Figure 1, the arm section 12 includes a first arm 12a and a second arm 12b. The first arm 12a and the second arm 12b are connected to each other so as to be able to swing. The first arm 12a is located on the traveling plate 13 side and is connected to the traveling plate 13. The second arm 12b is located on the base plate 11 side and is connected to the base plate 11. Each of the multiple second arms 12b swings from the end on the base plate 11 side by means of a servo motor (not shown) provided on the base plate 11. The swinging of the second arms 12b causes both the first arm 12a and the second arms 12b to swing relative to each other. As a result, the arm section 12 in the parallel link robot 10 extends and retracts. This makes it possible to change the posture of the traveling plate 13 by the arm section 12. The traveling plate 13 is the part of the parallel link robot 10 to which a tool (not shown) is attached. The traveling plate 13 is, for example, a plate-shaped member. The traveling plate 13 may be, for example, circular or polygonal. In this embodiment, the center of the traveling plate 13 in the radial and thickness directions is referred to as the center point 13a. Furthermore, a force sensor may be provided at a position corresponding to the center point 13a of the traveling plate 13, for example, to detect the reaction force generated when a tool (not shown) comes into contact with the workpiece.

[0012] Figure 2 shows the state in which the traveling plate 13 of the parallel link robot 10 is in its initial position. In this embodiment, the traveling plate 13 being in its initial position means, for example, as shown in Figure 2, that the traveling plate 13 is located in the center of its range of motion and is not being rotated in any direction by the arm portion 12. The range of motion of the traveling plate 13 is determined, for example, by the range of change in the relative angle between the traveling plate 13 and the first arm 12a, the range of change in the relative angle between the first arm 12a and the second arm 12b, and the range of change in the relative angle between the second arm 12b and the base plate 11. These ranges of change in relative angles are determined by mechanical limits based on the shapes of each of the parts described above. If the angle of each of these parts attempts to change beyond its range of change in relative angle, these parts will interfere with each other, making further change in the relative angle impossible. In this embodiment, the initial position of the traveling plate 13 as defined above may also be called the reference position of the traveling plate 13.

[0013] Furthermore, in this embodiment, the state in which the traveling plate 13 is located in the center of its range of motion can be described as the traveling plate 13 being in a neutral position. Also, the state in which the traveling plate 13 is not rotated in any direction by the arm portion 12 can be described as the traveling plate 13 being in a neutral position.

[0014] Furthermore, in this embodiment, as shown in Figure 1 or Figure 2, the straight line passing through the center point 11a of the base plate 11 of the parallel link robot 10 and the center point 13a, which is the center of the traveling plate 13 at the initial position of the parallel link robot 10, is called the reference straight line C. The direction parallel to the reference straight line C is called the reference direction Z. In this embodiment, the reference direction Z may be parallel to the vertical direction, parallel to the horizontal direction, or parallel to any other direction. In this embodiment, unless otherwise specified, the reference direction Z will be described as being parallel to the vertical direction. Furthermore, in this embodiment, as shown in Figure 1 or Figure 2, any direction perpendicular to the reference direction Z is referred to as the first direction A, and a direction perpendicular to both the reference direction Z and the first direction A is referred to as the second direction B.

[0015] Figure 3 shows the state in which the traveling plate 13 of the parallel link robot 10 has moved from its initial position to the reference direction Z. Figure 4 shows the state in which the traveling plate 13 of the parallel link robot 10 has moved from its initial position in a direction perpendicular to the reference direction Z. Figure 5 shows the state in which the traveling plate 13 of the parallel link robot 10 has rotated from its initial position. In Figures 3 to 5, the initial position of the traveling plate 13 is shown by a dashed line. As described above, the traveling plate 13's position or orientation is changed by the arm portion 12. In this embodiment, the traveling plate 13 can move in 6 degrees of freedom by the arm portion 12, as shown in Figures 2 to 5. Specifically, it is as follows. For example, as shown in Figures 2 and 3, the parallel link robot 10 can move the traveling plate 13 in the reference direction Z. In the example shown in Figure 3, the traveling plate 13 is moving away from the base plate 11 from its initial position. For example, as shown in Figures 2 to 4, the parallel link robot 10 can move the traveling plate 13 in a direction perpendicular to the reference direction Z. In the example shown in Figure 4, the traveling plate 13 is moving in the first direction A.

[0016] For example, as shown in Figures 2 to 5, the parallel link robot 10 is capable of rotating the traveling plate 13. In the following description, for example, when the traveling plate 13 rotates around an axis extending in the first direction A, it is referred to as the traveling plate 13 rotating around the first direction A as its axis of rotation. The same applies to the second direction B and the reference direction Z. In the example shown in Figure 5, the traveling plate 13 rotates with the second direction B as its axis of rotation. The parallel link robot 10 may also be able to rotate the traveling plate 13 with the first direction A as its axis of rotation, or with the reference direction Z as its axis of rotation.

[0017] Here, as described above, the position or orientation of the traveling plate 13 in the parallel link robot 10 changes as the arm portion 12 swings. In this embodiment, the position of the traveling plate 13 refers to, for example, its position in a coordinate system consisting of a first direction A, a second direction B, and a reference direction Z, with the initial position as the origin. The orientation of the traveling plate 13 refers to, for example, the amount of rotation of the traveling plate 13 with each of the first direction A, the second direction B, and the reference direction Z as the axis of rotation. Due to the characteristics of the parallel link robot 10, when the position or orientation of the traveling plate 13 changes, the range in which the position or orientation of the traveling plate 13 can change changes as follows.

[0018] Figure 6 is a graph showing the relationship between the position of the traveling plate 13 in the reference direction Z and the range of possible positional changes of the traveling plate 13 in the direction perpendicular to the reference direction Z. In this embodiment, the relationship between the position of the traveling plate 13 in the reference direction Z and the range of changeable position of the traveling plate 13 in the direction perpendicular to the reference direction Z is expressed by the following equation 1.

[0019]

number

[0020] Figure 6 is a graph illustrating the relationship shown in equation 1 above. In the graph shown in Figure 6, the vertical axis represents the range of possible positional changes of the traveling plate 13 in the direction perpendicular to the reference direction Z. The horizontal axis represents the position of the traveling plate 13 in the reference direction Z. The origin on the horizontal axis in Figure 6 represents the state in which the arm is retracted to its limit, and the traveling plate 13 is closest to the base plate 11 in the reference direction Z. Also, the Z shown on the horizontal axis of Figure 6 lim This indicates that the traveling plate 13 is furthest from the base plate 11 in the reference direction Z, as the arm extends to its limit. In Figure 6, the range of possible positional changes of the traveling plate 13 in the direction perpendicular to the reference direction Z is maximized in a portion between the state in the reference direction Z where the traveling plate 13 is closest to the base plate 11 and the state where it is furthest from the base plate 11. At this time, in Figure 6, the portion where the range of possible positional changes of the traveling plate 13 in the direction perpendicular to the reference direction Z is maximized can be said to be the reference position of the traveling plate 13. The reference position of the traveling plate 13 may be determined by mechanical conditions such as the lengths of the first arm 12a and the second arm 12b in the arm portion 12 of the parallel link robot 10. In equation 1 above, if z indicates a position closer to the base plate 11 than the reference position of the traveling plate 13, then z1 and z2 are both arbitrary points that are closer to the base plate 11 than the reference position of the traveling plate 13. If z indicates a position further from the base plate 11 than the reference position of the traveling plate 13, then z1 and z2 are both arbitrary points that are further from the base plate 11 than the reference position of the traveling plate 13. From the above, it can be said that the range in which the traveling plate 13 can change position in the first direction A or the second direction B, which are perpendicular to the reference direction Z, decreases as the traveling plate 13 moves from the reference position in the reference direction Z.

[0021] Figure 7 is a graph showing the relationship between the position of the traveling plate 13 in the reference direction Z and the range of change in the attitude of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation. In this embodiment, the relationship between the position of the traveling plate 13 in the reference direction Z and the range of changeable orientation of the traveling plate 13 with respect to the first direction A or the second direction B as the axis of rotation is expressed by the following equation 2.

[0022]

number

[0023] Figure 7 is a graph illustrating the relationship shown in equation 2 above. In the graph shown in Figure 7, the vertical axis represents the range of change in the attitude of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation. The horizontal axis represents the position of the traveling plate 13 in the reference direction Z. The content of the horizontal axis in Figure 7 is the same as that of the horizontal axis in Figure 6. In Figure 7, the range of changeable orientation of the traveling plate 13 with respect to the first direction A or the second direction B as the axis of rotation is maximized in a portion of the range between the state in which the traveling plate 13 is closest to the base plate 11 and the state in which it is furthest from the base plate 11 in the reference direction Z. At this time, in Figure 7, the portion where the range of changeable orientation of the traveling plate 13 with respect to the first direction A or the second direction B as the axis of rotation is maximized can be said to be the reference position of the traveling plate 13. In the above equation 2, if z indicates a position closer to the base plate 11 than the reference position of the traveling plate 13, then both z1 and z2 are arbitrary points that are closer to the base plate 11 than the reference position of the traveling plate 13. If z indicates a position further from the base plate 11 than the reference position of the traveling plate 13, then both z1 and z2 are arbitrary points that are further from the base plate 11 than the reference position of the traveling plate 13. From the above, it can be said that the range in which the attitude of the traveling plate 13 can be changed with respect to the first direction A or the second direction B as the axis of rotation decreases as the traveling plate 13 moves from the reference position to the reference direction Z.

[0024] Figure 8 is a graph showing the relationship between the amount of change in position of the traveling plate 13 in a direction perpendicular to the reference direction Z, and the range of change in the attitude of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation. In this embodiment, the relationship between the amount of change in position of the traveling plate 13 in a direction perpendicular to the reference direction Z and the range of change in the attitude of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation is expressed by the following equation 3.

[0025]

number

[0026] Figure 8 is a graph illustrating the relationship described in equation 3 above. In the graph shown in Figure 8, the vertical axis represents the range of change in the attitude of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation. The horizontal axis represents the amount of change in the position of the traveling plate 13 in a direction perpendicular to the reference direction Z. The origin on the horizontal axis in Figure 8 represents the state where the traveling plate 13 is in the reference position. The horizontal axis in Figure 8 shows that as you move away from the origin, the amount of change in the position of the traveling plate 13 from the reference position increases. In Figure 8, as the amount of change in position of the traveling plate 13 from its reference position in a direction perpendicular to the reference direction Z increases, the range in which the attitude of the traveling plate 13 can be changed with respect to the first direction A or the second direction B as the axis of rotation decreases. From the above, it can be said that the range in which the attitude of the traveling plate 13 can be changed with respect to the first direction A or the second direction B as the axis of rotation decreases as the traveling plate 13 moves from the reference position in a direction perpendicular to the reference direction Z. Based on the above, the modification means 252 may change the range in which the attitude of the traveling plate 13 can be changed with respect to the first direction A or the second direction B as the axis of rotation.

[0027] Figure 9 is a graph showing the relationship between the amount of change in the attitude of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation, and the range of possible positional changes of the traveling plate 13 in a direction perpendicular to the reference direction Z. In this embodiment, the relationship between the amount of change in the attitude of the traveling plate 13 with respect to the first direction A or the second direction B as the axis of rotation, and the range of possible positional changes of the traveling plate 13 in a direction perpendicular to the reference direction Z, is expressed by the following equation 4.

[0028]

number

[0029] Figure 9 is a graph illustrating the relationship described in equation 4 above. In the graph shown in Figure 9, the vertical axis represents the range of possible positional changes of the traveling plate 13 in a direction perpendicular to the reference direction Z. The horizontal axis represents the amount of change in attitude of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation. The origin on the horizontal axis in Figure 9 represents the state in which the traveling plate 13 is in a neutral position. The horizontal axis in Figure 9 shows that as you move away from the origin, the amount of change in attitude of the traveling plate 13 from the neutral position increases. In Figure 9, as the amount of change in attitude from the neutral position with the first direction A or second direction B as the axis of rotation of the traveling plate 13 increases, the range of possible positional changes of the traveling plate 13 in the direction perpendicular to the reference direction Z decreases. From the above, it can be said that the range of possible positional changes of the traveling plate 13 in the direction perpendicular to the reference direction Z decreases as the attitude of the traveling plate 13 changes from a neutral position to a rotation axis of the first direction A or the second direction B. Based on the above, the modification means 252 may change the range of possible positional changes of the traveling plate 13 in the direction perpendicular to the reference direction Z.

[0030] Figure 10 is Figure 1, which shows a portion of the graph shown in Figure 6. Figure 11 is Figure 2, which shows a portion of the graph shown in Figure 6. Figure 12 is Figure 3, which shows a portion of the graph shown in Figure 6. In the parallel link robot 10, where the range of changeable position or orientation of the traveling plate 13 changes as described above, the traveling plate 13 may be moved in the reference direction Z while remaining in a state where it has been moved from the neutral position in a direction perpendicular to the reference direction Z. In the example shown in Figures 10 to 12, the traveling plate 13 is moved from an arbitrary position Za to positions Zb and Zc in the reference direction Z, in a direction away from the neutral position and in a direction approaching the base plate 11. Here, as shown in the relationship in Figures 6 and 10 to 12, R, which is the range of changeable position of the traveling plate 13 in the direction perpendicular to the reference direction Z, decreases as the traveling plate 13 moves from the reference position in the reference direction Z. Then, while moving the traveling plate 13 in the reference direction Z, as shown from Figure 10 to Figure 11, the traveling plate 13 may reach the limit of the range in which its position can change in a direction perpendicular to the reference direction Z. In this case, for example, if the user repeatedly performs operations to move the traveling plate 13 closer to the neutral position in a direction perpendicular to the reference direction Z, and operations to move the traveling plate 13 in the reference direction Z, the user's operation becomes complicated. Therefore, in the above-mentioned case, for example, when a user performs an operation to move the traveling plate 13 in the reference direction Z, it is preferable that the parallel link robot 10 be controlled to move the traveling plate 13 closer to the neutral position in a direction perpendicular to the reference direction Z, as shown in Figure 12. The control described above by the parallel link robot 10 may be the same in the examples shown in Figures 8 and 9. For example, in the example shown in Figure 8, when the user performs an operation to move the traveling plate 13 in a direction perpendicular to the reference direction Z, the parallel link robot 10 may control the posture of the traveling plate 13 with respect to the first direction A or the second direction B as the axis of rotation to bring it closer to the neutral posture. Furthermore, in the example shown in Figure 9, when the user performs an operation to change the orientation of the traveling plate 13 with the first direction A or the second direction B as the axis of rotation, the parallel link robot 10 may be controlled to bring the traveling plate 13 closer to the neutral position in a direction perpendicular to the reference direction Z.

[0031] The control device 20 controls the parallel link robot 10. For example, the control device 20 receives instructions from the user regarding the operation of the parallel link robot 10. The control device 20 may also receive information from the parallel link robot 10 regarding the position and orientation of the traveling plate 13 of the parallel link robot 10. Based on the various information received as described above, the control device 20 may control the parallel link robot 10.

[0032] Figure 13 is a schematic block diagram showing a specific example of the functional configuration of the control device 20. The control device 20 is configured using information devices such as smartphones, tablets, personal computers, and dedicated equipment. The control device 20 includes a communication unit 21, an input unit 22, a display unit 23, a storage unit 24, and a control unit 25.

[0033] The communication unit 21 is a communication device. The communication unit 21 may be configured, for example, as a network interface. The communication unit 21 communicates data with other devices via the network N in accordance with the control of the control unit 25. The communication unit 21 may be a device that performs wireless communication or a device that performs wired communication.

[0034] The input unit 22 is configured using existing input devices such as a keyboard, pointing device (mouse, tablet, etc.), buttons, or touch panel. The input unit 22 is operated by the user when inputting user instructions to the control device 20. The input unit 22 may also be an interface for connecting the input device to the control device 20. In this case, the input unit 22 inputs the input signal generated in the input device in response to the user's input to the control device 20. The input unit 22 may also be configured using a microphone and a speech recognition device. In this case, the input unit 22 acquires the acoustic signal generated by the user's speech, performs speech recognition on the words spoken by the user, and inputs the recognized string information to the control device 20. The speech recognition processing may be performed by the control unit 25. The input unit 22 may be configured in any way that allows user instructions to be input to the control device 20.

[0035] The display unit 23 outputs information in a format that the user can recognize. The display unit 23 may be an image display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 23 may also be an interface for connecting the image display device to the control device 20. In this case, the display unit 23 generates a video signal for displaying image data and outputs the video signal to the image display device connected to it. The display unit 23 may also be configured as a touch panel integrated with the input unit 22.

[0036] The storage unit 24 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 24 stores data used by the control unit 25. The storage unit 24 stores data necessary when the control unit 25 performs processing. In this embodiment, the storage unit 24 stores, for example, location information, location change range information, and posture change range information.

[0037] The position information is information indicating the position of the traveling plate 13 of the parallel link robot 10. In this embodiment, the position indicated by the position information includes, for example, the position of the traveling plate 13 in a direction parallel to the reference direction Z. In other words, the position indicated by the position information may include the position of the traveling plate 13 in the thickness direction at the initial position of the parallel link robot 10. Alternatively, the position indicated by the position information may include the position in a direction perpendicular to the traveling plate 13 at the initial position of the parallel link robot 10. Furthermore, the position indicated by the position information may include the position of the traveling plate 13 in the thickness direction of the base plate 11. Furthermore, in this embodiment, the position indicated by the position information includes the reference position of the traveling plate 13. Furthermore, the position indicated by the position information may include, for example, a position on the traveling plate 13 in a direction perpendicular to the reference direction Z.

[0038] The position changeable range information indicates the range in which the position of the traveling plate 13 can be changed. In this embodiment, the range indicated by the position changeable range information includes, for example, the range in which the position of the traveling plate 13 can be changed in a direction parallel to the reference direction Z, and the range in which the position can be changed in a direction perpendicular to the reference direction Z. The posture change range information indicates the range in which the posture of the traveling plate 13 can be changed. In this embodiment, the range indicated by the posture change range information includes, for example, the range in which the posture of the traveling plate 13 can be changed with respect to the first direction A as the axis of rotation, and the range in which the posture can be changed with respect to the second direction B as the axis of rotation. In this embodiment, the above-mentioned position information, position changeable range information, and attitude changeable range information may be stored in association with a coordinate system that includes a first direction A, a second direction B, and a reference direction Z, with the initial position as the origin.

[0039] The control unit 25 is composed of a processor such as a CPU (Central Processing Unit) and memory (main memory). The control unit 25 functions as a memory control means 251, a modification means 252, an input means 253, a control means 254, and a display control means 255 when the processor executes a program. Note that all or part of each function of the control unit 25 may be implemented using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The above program may be recorded on a computer-readable recording medium. Computer-readable recording media include, for example, portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and semiconductor memory devices (e.g., SSDs: Solid State Drives), as well as storage devices such as hard disks and semiconductor memory devices built into computer systems. The above program may be transmitted via a telecommunications line.

[0040] The control unit 25 may, for example, execute an application installed on its own device (control device 20). The program installed on the control device 20 may cause the computer to function as the parallel link robot system 1 according to this embodiment. A specific example of such an application is an application provided to the control device 20 as a dedicated application for the parallel link robot system 1. Another specific example of such an application is a web browser application. Such an application may be pre-installed on the control device 20, or it may be downloaded each time the control method according to this embodiment is executed. For example, if it is implemented as a web browser application, the control device 20 may download and execute the application from a device specified by the web server (for example, the web server itself or another server) when the control device 20 connects to a specific web server. The control unit 25 operates according to the program of the application being executed.

[0041] The memory control means 251 stores position information and position changeable range information or posture changeable range information in the memory unit 24 in association with each other. In this embodiment, it is preferable that the position information and the position changeable range information or posture changeable range information are stored in the memory unit 24 in association with each other. Specifically, for example, as described above, it is preferable that the position information indicating the position of the traveling plate 13 in a direction parallel to the reference direction Z is stored in the memory unit 24 together with the position changeable range information or posture changeable range information corresponding to the position information. Alternatively, the memory control means 251 may store the position information in the memory unit 24 in association with both the position changeable range information and the posture changeable range information. In this case as well, it is preferable that the position information is stored in the memory unit 24 together with the position changeable range information and posture changeable range information that correspond to the position information. As a result, the memory unit 24 stores location information in association with at least one of the information regarding the range of possible position changes and the information regarding the range of possible orientation changes.

[0042] The modification means 252 changes the range of changeable position or the range of changeable orientation of the traveling plate 13. In this embodiment, the range of changeable position or orientation of the traveling plate 13 is set by the modification means 252. The range of changeable position or orientation of the traveling plate 13 may be appropriately displayed on the display unit 23 by the display control means 255, which will be described later. The modification means 252 appropriately changes the range in which the position or orientation can be changed, thereby preventing the parallel link robot 10 from attempting to move the traveling plate 13 beyond its mechanical limits.

[0043] As shown in Figure 13, the modification means 252 includes an acquisition means 252a and a reading means 252b. The acquisition means 252a is a means for acquiring current position information indicating the current position of the traveling plate 13. The acquisition means 252a may, for example, acquire the current position information of the traveling plate 13 output by the parallel link robot 10 via the communication unit 21. Alternatively, the acquisition means 252a may, for example, acquire the angles of each of the multiple arm parts 12 of the parallel link robot 10 via the communication unit 21 and then calculate the current position information of the traveling plate 13. The acquisition means 252a may also acquire the current position information of the traveling plate 13 by any other method. The reading means 252b is a means for reading position information corresponding to the current position information, and position changeable range information or orientation changeable range information corresponding to the current position information, from the storage unit 24. For example, when the acquisition means 252a acquires the current position information of the traveling plate 13, the reading means 252b reads the position changeable range information or orientation changeable range information corresponding to the acquired current position information of the traveling plate 13 from the storage unit 24. In this way, the modification means 252 sets the range within which the position or orientation of the traveling plate 13 can be changed, based on the current position of the traveling plate 13.

[0044] In this embodiment, the modification means 252 changes the range of change in the position or orientation of the traveling plate 13 as the current position of the traveling plate 13 changes. The modification means 252 changes the range of change in the position of the traveling plate 13 or the range of change in the posture of the traveling plate 13 based on, for example, the position information and the range of changeable position or posture information stored in the memory unit 24. In other words, the modification means 252 changes the range of change in the position or posture of the traveling plate 13 based on, for example, the position information stored in the memory unit 24, as well as either the range of changeable position or the range of changeable posture information. Furthermore, the modification means 252 may, for example, change the range of change in the position of the traveling plate 13 or the range of change in the posture of the traveling plate 13 based on the position information, the range of changeable position, and the range of changeable posture stored in the memory unit 24. In other words, the modification means 252 may, for example, change the range of change in the position or posture of the traveling plate 13 based on both the range of changeable position and the range of changeable posture, in addition to the position information stored in the memory unit 24.

[0045] As described above, the range of changeable position of the traveling plate 13 in the direction perpendicular to the reference direction Z, and the range of changeable attitude of the traveling plate 13, decrease as the traveling plate 13 moves from the reference position in the reference direction Z. Furthermore, the range of changeable attitude of the traveling plate 13 also decreases as the traveling plate 13 moves from the reference position in the direction perpendicular to the reference direction Z. To address the above, in this embodiment, the modification means 252 uses the position information, position changeable range information, and / or attitude changeable range information stored in the memory unit 24 to reduce the changeable range of the position of the traveling plate 13 or the changeable range of the attitude of the traveling plate 13 as the traveling plate 13 moves away from its reference position.

[0046] The input means 253 is a means for inputting mode information indicating either the first mode or the second mode. The first mode is a mode that changes the range of changeable position of the traveling plate 13. In other words, the first mode is a mode that prioritizes the movement of the posture of the traveling plate 13. Such a first mode is suitable, for example, when polishing a workpiece using an end effector, and when the polishing surface relative to the workpiece is changed during the work. In the first mode, the changing means 252 may reduce the range of changeable position of the traveling plate 13 as the amount of change in posture from a neutral position increases, for example, with the first direction A or the second direction B of the traveling plate 13 as the axis of rotation. The second mode is a mode that changes the range of changeable orientation of the traveling plate 13. In other words, the second mode is a mode that prioritizes the movement of the position of the traveling plate 13. Such a second mode is suitable, for example, when polishing a workpiece using an end effector, and the polishing position is changed without changing the polishing surface on the workpiece. In the second mode, the changing means 252 may reduce the range of changeable orientation of the traveling plate 13 as the traveling plate 13 moves from the reference position in a direction perpendicular to the reference direction Z. Mode information is determined, for example, by the user's choice. The user inputs whether the mode information should be the first mode or the second mode via the input unit 22. The input means 253 receives the input from the user as described above. In this embodiment, the input means 253 inputs the mode information to the changing means 252. Based on the mode information input as described above, the changing means 252 may change the range of changeable position or orientation of the traveling plate 13 (details will be described later).

[0047] The control means 254 is a means for operating the parallel link robot 10. The control means 254 operates the parallel link robot 10 based on instructions from the user, for example. That is, for example, the control means 254 processes the instructions regarding the operation of the parallel link robot 10 that the user inputs to the control device 20 via the input unit 22, and transmits them to the parallel link robot 10. In this way, the parallel link robot 10 is operated by the control means 254. Here, as described above, in this embodiment, when the user performs an operation to move the traveling plate 13 in the reference direction Z, it is preferable that the parallel link robot 10 autonomously moves the traveling plate 13 closer to the neutral position in a direction perpendicular to the reference direction Z. Therefore, in this embodiment, the control means 254 may operate the parallel link robot 10 so that as the traveling plate 13 moves away from its reference position, the position of the traveling plate 13 moves closer to the neutral position. Alternatively, the control means 254 may operate the parallel link robot 10 so that as the traveling plate 13 moves away from its reference position, the posture of the traveling plate 13 moves closer to the neutral posture.

[0048] The display control means 255 associates position information with position change range information or orientation change range information and displays them on the display unit 23. Two examples of how the display control means 255 displays the aforementioned various types of information will be described below.

[0049] (Example of display) Figure 14 shows a first example of the various types of information displayed on the display unit 23. In the first example, the display control means 255 causes the position information and the position changeable range information or the posture changeable range information to be displayed as numerical values ​​on the display unit 23. In the example shown in Figure 14, the numerical values ​​representing the various pieces of information mentioned above are displayed row by row on the restriction setting table TA1, corresponding to each other. In the example shown in Figure 14, each row of the restriction setting table TA1 is assigned a number from 1 to 9 (identification number). For example, in row 1 of the restriction setting table TA1 shown in Figure 14, the column for Z[mm] indicating position information displays -125.0, the column for R[mm] indicating the range of possible position changes displays 15.0, and the column for A / B[deg] indicating the range of possible attitude changes displays 0.00. This indicates that when the traveling plate 13 is at a position represented by the value -125.0 mm in the reference direction Z, the traveling plate 13 can move by a radius of 15 mm in the first direction A or the second direction B, which are perpendicular to the reference direction Z, but the attitude cannot be changed with the first direction A or the second direction B as the axis of rotation. Furthermore, in the example shown in Figure 14, row 5 displays 60.0 in the R[mm] column, which indicates the range of possible position changes, and 20.00 in the A / B[deg] column, which indicates the range of possible posture changes, both of which are the maximum values ​​in rows 1 to 9. In other words, in the example shown in Figure 14, as shown in row 5, the position where the traveling plate 13 is represented by the value -165.0 mm in the reference direction Z can be said to be the reference position. The information displayed in Figure 14 may be stored, for example, in the storage unit 24. In this case, the restriction setting table TA1 shown in Figure 14 may be displayed by the display control means 255 reading this information from the storage unit 24.

[0050] (Second example of display) Figure 15 is the first figure of a second example of the various information displayed on the display unit 23. In the second example, the display control means 255 causes the position information and the position changeable range information or the posture changeable range information to be displayed on the display unit 23 as different shapes. In the second example, the shapes representing these various types of information are displayed on a two-dimensional coordinate system that shows the position or posture of the traveling plate 13 in the parallel link robot 10. In addition, in the second example, the display unit 23 may also display numerical information indicating the current position or posture of the traveling plate 13. Specifically, this is as follows.

[0051] In other words, as shown in Figure 15, the display unit 23 displays the first two-dimensional coordinate C1, the second two-dimensional coordinate C2, the third two-dimensional coordinate C3, the attitude numerical table TB1, the legend TB2, and the position numerical table TB3. In the example shown in Figure 15, the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2 are displayed side by side above the display unit 23. The third two-dimensional coordinate C3 is displayed below the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2. In addition, the attitude numerical table TB1, the legend TB2, and the position numerical table TB3 are displayed side by side vertically to the right of the first two-dimensional coordinate C1, the second two-dimensional coordinate C2, and the third two-dimensional coordinate C3. Notwithstanding the above, in the second example of the display, these various pieces of information may be displayed in any arrangement as appropriate.

[0052] The posture value table TB1 displays various values ​​related to the posture of the traveling plate 13. As shown in Figure 15, the posture value table TB1 displays, from top to bottom, the first angle TB1a, the first positive angle range TB1b, the first negative angle range TB1c, the second angle TB1d, the second positive angle range TB1e, and the second negative angle range TB1f.

[0053] The first angle TB1a indicates the rotation angle of the traveling plate 13 with the first direction A as the axis of rotation. In the example shown in Figure 15, the first angle TB1a is displayed as 0.00deg, indicating that the traveling plate 13 is not rotating in any direction with the first direction A as the axis of rotation.

[0054] The first positive angle range TB1b indicates the limit of the rotation angle of the traveling plate 13 in the positive direction with the first direction A as the axis of rotation, i.e., the range in which the attitude can be changed. In the example shown in Figure 15, the first positive angle range TB1b is displayed as 16.00deg, indicating that the traveling plate 13 can rotate up to 16.00° in the positive direction with the first direction A as the axis of rotation.

[0055] The first negative angle range TB1c indicates the limit of the rotation angle of the traveling plate 13 in the negative direction with the first direction A as the axis of rotation, i.e., the range in which the attitude can be changed. In the example shown in Figure 15, the first negative angle range TB1c is displayed as -16.00deg, indicating that the traveling plate 13 can rotate up to 16.00° in the negative direction with the first direction A as the axis of rotation.

[0056] The second angle TB1d represents the rotation angle of the traveling plate 13 with the second direction B as the axis of rotation. In the example shown in Figure 15, the second angle TB1d is displayed as 0.00deg, indicating that the traveling plate 13 is not rotating in any direction with the second direction B as the axis of rotation.

[0057] The second positive angle range TB1e indicates the limit of the rotation angle of the traveling plate 13 in the positive direction with the second direction B as the axis of rotation, i.e., the range in which the attitude can be changed. In the example shown in Figure 15, the second positive angle range TB1e is displayed as 16.00deg, indicating that the traveling plate 13 can rotate up to 16.00° in the positive direction with the second direction B as the axis of rotation.

[0058] The second negative angle range TB1f indicates the limit of the rotation angle of the traveling plate 13 in the negative direction with the second direction B as the axis of rotation, i.e., the range in which the attitude can be changed. In the example shown in Figure 15, the second negative angle range TB1f is displayed as -16.00deg, indicating that the traveling plate 13 can rotate up to 16.00° in the negative direction with the second direction B as the axis of rotation.

[0059] Legend TB2 indicates the type of line used for the shapes displayed in the first two-dimensional coordinate C1, the second two-dimensional coordinate C2, and the third two-dimensional coordinate C3. In the example shown in Figure 15, solid lines represent the current state of the traveling plate 13, while dashed lines represent the current state of the traveling plate 13.

[0060] The position value table TB3 displays various numerical values ​​related to the position of the traveling plate 13. As shown in Figure 15, the position value table TB3 displays, from top to bottom, the movement range TB3a, the first position TB3b, the second position TB3c, and the reference direction position TB3d.

[0061] The travel range TB3a indicates the range within which the traveling plate 13 can move in the first direction A or the second direction B. In the example shown in Figure 15, the travel range TB3a is displayed as 46.3 mm, indicating that the traveling plate 13 can move within a radius of 46.3 mm from its initial position.

[0062] The first position TB3b indicates the amount of movement of the traveling plate 13 in the first direction A. In the example shown in Figure 15, the first position TB3b is displayed as 0.0 mm, indicating that the traveling plate 13 has not moved in any direction in the first direction A. The second position TB3c indicates the amount of movement of the traveling plate 13 in the second direction B. In the example shown in Figure 15, the second position TB3c is displayed as 0.0 mm, indicating that the traveling plate 13 has not moved in any direction in the second direction B.

[0063] The reference direction position TB3d indicates the amount of movement of the traveling plate 13 in the reference direction Z. In the example shown in Figure 15, the reference direction position TB3d is displayed as -151.3 mm, indicating that the traveling plate 13 is at a position represented by the value -151.3 mm in the reference direction Z. For example, if the reference position of the traveling plate 13 is at a position represented by the value -165.0 mm in the reference direction Z, the example shown in Figure 15 indicates that the traveling plate 13 has moved 13.7 mm from its reference position.

[0064] The first two-dimensional coordinate C1 indicates the current orientation and the range of changeable orientation of the traveling plate 13 with the first direction A as the axis of rotation. The first two-dimensional coordinate C1 schematically shows the orientation of the traveling plate 13 when viewed along the first direction A. In other words, in this embodiment, the display control means 255 displays a two-dimensional coordinate system on the display unit 23 that is parallel to a reference line C passing through the center of the base plate 11 of the parallel link robot 10 and the center (center point 13a) of the traveling plate 13 at the initial position of the parallel link robot 10. In this embodiment, the display control means 255 displays a figure indicating the orientation of the traveling plate 13 as orientation information indicating the orientation of the traveling plate 13, at the corresponding location in the first two-dimensional coordinate C1 or the second two-dimensional coordinate C2. Specifically, it is as follows.

[0065] As shown in Figure 15, in the first two-dimensional coordinate system C1, the current orientation of the traveling plate 13 is represented by the solid line L1. In the first two-dimensional coordinate system C1 shown in Figure 15, the solid line L1 is displayed without tilting along the vertical direction, indicating that the traveling plate 13 is not rotating in any direction with the first direction A as the axis of rotation.

[0066] Figure 16 is the second figure of a second example of the various information displayed on the display unit 23. In this embodiment, when the traveling plate 13 rotates with the first direction A as its axis of rotation, the solid line L1 displayed in the first two-dimensional coordinate system C1 is displayed tilted with its upper end as the center of rotation, as shown in Figure 16. In the example shown in Figure 16, the solid line L1 is tilted to rotate clockwise with its upper end as the center of rotation. Also, in the example shown across Figures 15 and 16, the value of the first angle TB1a in the attitude numerical table TB1 changes from 0.00deg to -7.88deg. This indicates that the traveling plate 13 has rotated 7.88° in the negative direction with the first direction A as its axis of rotation. In this way, the direction of rotation of the traveling plate 13 is indicated by the slope of the solid line L1 in the first two-dimensional coordinate system C1, and the rotation angle of the traveling plate 13 is indicated numerically, allowing the user to intuitively understand the direction of rotation and rotation angle of the traveling plate 13 with the first direction A as the axis of rotation.

[0067] As shown in Figure 15, in the first two-dimensional coordinate system C1, the range of changeable attitude of the traveling plate 13 is indicated by a dashed line L2. The dashed line L2 intersects with the solid line L1 at its upper end and is displayed tilted so as it moves downwards, moving away from the solid line L1. In the first two-dimensional coordinate system C1, the dashed line L2 is displayed to the left and right of the solid line L1. Thus, in this embodiment, the display control means 255 causes the display control means 255 to display a figure indicating the range of changeable attitude of the traveling plate 13 as attitude changeable range information at the corresponding location in the first two-dimensional coordinate system C1 or the second two-dimensional coordinate system C2. As described above, in the first two-dimensional coordinate system C1, when the solid line L1 tilts with its upper end as the center of rotation, the solid line L1 approaches either of the dashed lines L2 displayed to the left or right of the solid line L1. At this time, the dashed line L2 indicates the limit to which the solid line L1 can tilt. This makes it possible to intuitively grasp the limit of the rotation angle of the traveling plate 13 with the first direction A as the axis of rotation.

[0068] The second two-dimensional coordinate C2 indicates the current orientation and the range of possible orientation changes of the traveling plate 13, with the second direction B as the axis of rotation. The second two-dimensional coordinate C2 schematically shows the orientation of the traveling plate 13 when viewed along the second direction B. The other contents are the same as those of the first two-dimensional coordinate C1, so the explanation is omitted.

[0069] The third two-dimensional coordinate C3 indicates the range of possible positional changes of the traveling plate 13 in the first direction A or the second direction B, which are perpendicular to the reference line C. The third two-dimensional coordinate C3 schematically shows the position of the traveling plate 13 when viewed along the reference direction Z. In other words, in this embodiment, the display control means 255 causes the display unit 23 to display a two-dimensional coordinate system on which the reference line C passing through the center of the base plate 11 of the parallel link robot 10 and the center (center point 13a) of the traveling plate 13 at the initial position of the parallel link robot 10 is perpendicular to. In this embodiment, the display control means 255 displays a figure indicating the position of the traveling plate 13 as position information at the corresponding location in the third two-dimensional coordinate system C3. Specifically, this is as follows:

[0070] As shown in Figure 15, in the third two-dimensional coordinate system C3, the current position of the traveling plate 13 is represented by point P1. In the third two-dimensional coordinate system C3 shown in Figure 15, for example, the first direction A is displayed parallel to the vertical direction, and the second direction B is displayed parallel to the left-right direction. In the third two-dimensional coordinate system C3, the position of the traveling plate 13 in the first direction A is displayed as position X in the vertical direction, and the position of the traveling plate 13 in the second direction B is displayed as position Y in the left-right direction. In the third two-dimensional coordinate system C3 shown in Figure 15, point P1 is displayed in the center, indicating that the traveling plate 13 has not moved in either the first direction A or the second direction B.

[0071] Figure 17 is the third figure of a second example of the various information displayed on the display unit 23. In this embodiment, when the traveling plate 13 moves in the first direction A, point P1 displayed in the third two-dimensional coordinate system C3 is displayed as moving vertically, as shown in Figure 17. In the example shown in Figure 17, point P1 is moving upward from the center of the third two-dimensional coordinate system C3. Also, in the example shown across Figures 15 and 17, the value of the first position TB3b in the position value table TB3 changes from 0.0 mm to 45.1 mm. This indicates that the traveling plate 13 has moved 45.1 mm in the positive direction of the first direction A. Here, as described above, the range in which the attitude of the traveling plate 13 can be changed with respect to the first direction A or the second direction B as the axis of rotation decreases as the traveling plate 13 moves from the reference position in a direction perpendicular to the reference direction Z. In the example shown in Figure 17, as the traveling plate 13 moves in the positive direction in the first direction A, the slope of the dashed line L2 displayed to the right of the solid line L1 in the second two-dimensional coordinate C2 changes to approach the direction aligned with the vertical direction. Also, in the example shown across Figures 15 and 17, the value of the second positive angle range TB1e in the attitude numerical table TB1 changes from 16.00deg to 10.17deg. This indicates that as the traveling plate 13 moves in the positive direction in the first direction A, the range in which the attitude of the traveling plate 13 can change in the positive direction with the second direction B as the axis of rotation has decreased.

[0072] Figure 18 is the fourth figure of a second example of the various information displayed on the display unit 23. In this embodiment, when the traveling plate 13 moves in the second direction B, point P1 displayed in the third two-dimensional coordinate C3 is displayed as moving in the left-right direction, as shown in Figure 18. In the example shown in Figure 18, point P1 is moving from the center of the third two-dimensional coordinate C3 toward the left. Also, in the example shown across Figures 15 and 18, the value of the second position TB3c in the position value table TB3 changes from 0.0 mm to 46.8 mm. This indicates that the traveling plate 13 has moved 46.8 mm in the positive direction of the second direction B. Furthermore, in the example shown in Figure 18, as the traveling plate 13 moves in the positive direction in the second direction B, the slope of the dashed line L2 displayed to the left of the solid line L1 in the first two-dimensional coordinate C1 changes to approach the direction aligned with the vertical direction. Also, in the example shown across Figures 15 and 18, the value of the first negative angle range TB1c in the attitude numerical table TB1 changes from -16.00deg to -9.94deg. This indicates that as the traveling plate 13 moves in the positive direction in the second direction B, the range in which the attitude of the traveling plate 13 can change in the negative direction with the first direction A as the axis of rotation has decreased. In this way, the position and direction of movement of the traveling plate 13 are indicated by the position of point P1 in the third two-dimensional coordinate system C3, and the amount of movement of the traveling plate 13 is shown numerically, allowing the user to intuitively understand the direction and amount of movement of the traveling plate 13.

[0073] As shown in Figure 15, in the third two-dimensional coordinate system C3, the range of changeable orientation of the traveling plate 13 is represented by a dashed circle P2, which is a circle drawn with a dashed line. The dashed circle P2 is a circle whose center coincides with the center of the third two-dimensional coordinate system C3. Thus, in this embodiment, the display control means 255 displays a figure indicating the range of changeable position of the traveling plate 13 as position changeable range information at the corresponding location in the two-dimensional coordinate system. As shown in Figures 17 and 18, when point P1 moves in the third two-dimensional coordinate system C3, point P1 approaches the dashed circle P2. At this time, the dashed circle P2 indicates the limit to which point P1 can move. This makes it possible to intuitively understand the limit of the amount of movement of the traveling plate 13 in the first direction A or the second direction B.

[0074] Figure 19 is Figure 5 of a second example of the various information displayed on the display unit 23. Figure 20 is Figure 6 of a second example of the various information displayed on the display unit 23. In this embodiment, the size of the figure displayed in the third two-dimensional coordinate C3 as position changeable range information by the display control means 255 corresponds to the size of the changeable position range of the traveling plate 13. Also, the size of the figure displayed in the first two-dimensional coordinate C1 or the second two-dimensional coordinate C2 as attitude changeable range information by the display control means 255 corresponds to the size of the changeable attitude range of the traveling plate 13. In this embodiment, the size of the figure displayed in the first two-dimensional coordinate C1 or the second two-dimensional coordinate C2 as attitude changeable range information may be the size of the intersection angle of the two dashed lines L2 displayed in the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2, respectively. As described above, the range in which the traveling plate 13 can change position in the first direction A or the second direction B decreases as the traveling plate 13 moves from the reference position to the reference direction Z. Therefore, the display control means 255 sets the information to be displayed on the display unit 23 as follows.

[0075] For example, in the example shown across Figures 15 and 19, the value of the reference direction position TB3d in the position value table TB3 changes from -151.3 mm to -130.0 mm. This indicates that the traveling plate 13 has moved in the positive direction in the reference direction Z. In this embodiment, at this time, the traveling plate 13 is moving away from the reference position. As a result, as shown in Figure 19, the intersection angle of the two dashed lines L2 displayed in the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2, and the diameter of the dashed circle P2 displayed in the third two-dimensional coordinate C3, change to be smaller than in the example shown in Figure 15. Also, the absolute values ​​of the first positive angle range TB1b, the first negative angle range TB1c, the second positive angle range TB1e, and the second negative angle range TB1f in the attitude numerical table TB1, and the value of the movement range TB3a in the position numerical table TB3, change to be smaller than in the example shown in Figure 15. This indicates that the range in which the position of the traveling plate 13 can change has decreased as the traveling plate 13 moves.

[0076] Furthermore, in the example shown across Figures 15 and 20, the value of the reference direction position TB3d in the position numerical table TB3 changes from -151.3 mm to -167.0 mm. This indicates that the traveling plate 13 has moved in the negative direction in the reference direction Z. In this embodiment, at this time, the traveling plate 13 has moved closer to the reference position. As a result, as shown in Figure 20, the intersection angle of the two dashed lines L2 displayed in the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2, respectively, and the diameter of the dashed circle P2 displayed in the third two-dimensional coordinate C3, change to be larger than in the example shown in Figure 15. In addition, the absolute values ​​of the first positive angle range TB1b, the first negative angle range TB1c, the second positive angle range TB1e, and the second negative angle range TB1f in the attitude numerical table TB1, and the value of the movement range TB3a in the position numerical table TB3, change to be larger than in the example shown in Figure 15. This indicates that the range of possible positional changes of the traveling plate 13 has increased as the traveling plate 13 moves.

[0077] The display control means 255 displays various information on the display unit 23 according to the first or second example of the display described above. The display unit 23 may display only either the first or second example of the display described above, or it may display both the first and second examples simultaneously. The parallel link robot system 1 according to this embodiment is configured with the above-described components.

[0078] (Control method for parallel link robot systems) Next, the control method for the parallel link robot system 1 according to this embodiment will be described. Figure 21 shows the control flow of the parallel link robot system 1 according to the embodiment. As shown in Figure 21, the control method for the parallel link robot system 1 according to this embodiment comprises an input step S1, a memory control step S2, and a control step S3.

[0079] Input step S1 is a step in which the input means 253 receives mode information indicating either the first mode or the second mode. In other words, in input step S1, the user inputs an instruction to set the mode information to either the first mode or the second mode. The mode information input in input step S1 is used in control step S3 to determine whether the changing means 252 will change the range of change of the position or orientation of the traveling plate 13. After the input step S1 is performed, the control flow moves to the memory control step S2.

[0080] The memory control step S2 is a step in which the memory control means 251 stores in the memory unit 24, in association with position information indicating the position of the traveling plate 13 of the parallel link robot 10, position changeable range information indicating the changeable range of the position of the traveling plate 13, or posture changeable range information indicating the changeable range of the posture of the traveling plate 13. The information stored in the memory control step S2 is used as a source when the modification means 252 changes the changeable range of the position or posture of the traveling plate 13 in the control step S3. Furthermore, the information stored in the memory unit 24 during the memory control step S2 may be used, for example, as various pieces of information in the restriction setting table TA1 displayed in the display unit 23 as a first example of the display by the display control means 255 described above.

[0081] Control step S3 is a step in which the control means 254 controls the parallel link robot 10. In control step S3, the control means 254 receives, for example, an instruction from the user to change the position or orientation of the traveling plate 13 of the parallel link robot 10. The control means 254 operates the parallel link robot 10 in accordance with the instruction received from the user.

[0082] When operating the parallel link robot 10 in control step S3, the control means 254 may control the parallel link robot 10 as described with reference to Figures 10 to 12. In other words, in the control step, the control means 254 may, for example, control the parallel link robot 10 so that as the traveling plate 13 moves away from its reference position, the position of the traveling plate 13 moves closer to the neutral position. Alternatively, the control means 254 may control the parallel link robot 10 so that as the traveling plate 13 moves away from its reference position, the posture of the traveling plate 13 moves closer to the neutral posture.

[0083] In control step S3, the modification means 252 changes the range of change in position or orientation of the traveling plate 13 using the position information, position changeable range information, and orientation changeable range information stored in the storage unit 24, in response to the traveling plate 13 moving from its reference position. In this embodiment, the modification means 252 may change the range of change in position or orientation of the traveling plate 13 based on, for example, the calculation formulas Equations 1 and 2 described above. The modification means 252 may also decide whether to change the range of change in position or orientation of the traveling plate 13 as follows. In other words, if the mode information input by the input means 253 indicates a first mode (step S3a: YES), the changing means 252 changes the range of changeable position of the traveling plate 13 (step S3b). At this time, in addition to equations 1 and 2 described above, the changing means 252 may change the range of changeable position of the traveling plate 13 based on the calculation formula of equation 4. Furthermore, if the mode information input by the input means 253 is not the first mode, that is, if the input mode information indicates the second mode (step S3a: NO), the range of changeable attitude of the traveling plate 13 is changed (step S3c). At this time, the changing means 252 may change the range of changeable attitude of the traveling plate 13 based on the calculation formula 3, in addition to equations 1 and 2 described above. In this embodiment, the changing means 252 acquires the current position information of the traveling plate 13 by the acquisition means 252a described above, reads the necessary information by the reading means 252b, and then changes the range of changeable position or attitude of the traveling plate 13. The control method according to this embodiment is implemented through the steps described above. Furthermore, while the above flow is being performed, the display control means 255 may perform processing to display the various information described above at any time. In particular, during control step S3, it is preferable that changes in the various information described above, due to changes in the position and orientation of the traveling plate 13 of the parallel link robot 10, are reflected in the display unit 23 as needed. Furthermore, although the above flow describes the memory control step S2 occurring after the input step S1, the memory control step S2 may also be performed first.

[0084] Figure 22 is a schematic diagram of an example hardware configuration of an information processing device 90 applied to this embodiment. The information processing device 90 comprises a processor 91, main memory 92, communication interface 93, auxiliary storage device 94, input / output interface 95, and internal bus 96. The processor 91, main memory 92, communication interface 93, auxiliary storage device 94, and input / output interface 95 are connected to each other via the internal bus 96 so as to be able to communicate with each other. The information processing device 90 may be applied to, for example, a control device 20. In this case, for example, the communication unit 21 may be configured using the communication interface 93. For example, the storage unit 24 may be configured using the auxiliary storage device 94. Also, the control unit 25 may be configured using the processor 91 and the main memory 92.

[0085] As described above, according to the parallel link robot system 1 of this embodiment, the memory control means 251 associates position information indicating the position of the traveling plate 13, position changeable range information indicating the changeable range of the position of the traveling plate 13, or posture changeable range information indicating the changeable range of the posture of the traveling plate 13, and stores them in the memory unit 24. As a result, for example, information regarding the position of the traveling plate 13 and the changeable range of the position or posture of the traveling plate 13 can be used in various control processes in the parallel link robot system 1. This makes the processing of position changeable range information and posture changeable range information simpler compared to, for example, calculating and storing the changeable range of the position or posture of the end effector connected to the traveling plate 13. Therefore, a parallel link robot system 1 that can be controlled with simple processing can be achieved. Furthermore, compared to, for example, determining the operable range of the traveling plate 13 based on the bending angle of each link mechanism in the parallel link robot 10, the changeable range of the position and posture of the traveling plate 13 can be made easier for the user to understand.

[0086] Furthermore, the modification means 252 changes the range of changeable position or posture of the traveling plate 13 based on the position information and position changeable range information or posture changeable range information stored in the memory unit 24. This allows, for example, the range of changeable posture of the traveling plate 13 in the first direction A or second direction B, or with the first direction A or second direction B as the axis of rotation, to be changed according to the position of the traveling plate 13 in the reference direction Z. Thus, the position or posture of the traveling plate 13 can be changed more appropriately according to the mechanical limitations of the parallel link robot 10.

[0087] Furthermore, the modification means 252 uses the position information and position changeable range information or posture changeable range information stored in the memory unit 24 to reduce the changeable range of the position or posture of the traveling plate 13 as it moves away from its reference position. In this way, by reducing the changeable range of the position or posture of the traveling plate 13 as it moves away from its reference position, the position or posture of the traveling plate 13 can be changed more appropriately according to the mechanical limits of the parallel link robot 10.

[0088] Furthermore, the modification means 252 includes an acquisition means 252a for acquiring current position information indicating the current position of the traveling plate 13, and a reading means 252b for reading position information corresponding to the current position information, and corresponding position changeable range information or orientation changeable range information from the storage unit 24. This makes it possible to more reliably determine, for example, the changeable range of the position or orientation of the traveling plate 13 according to the current position of the traveling plate 13.

[0089] Here, the range in which the position or orientation of the traveling plate 13 can be changed decreases as the position of the traveling plate 13 moves away from the reference line C that passes through the center (center point 11a) of the base plate 11 of the parallel link robot 10 and the center (center point 13a) of the traveling plate 13 in the initial position of the parallel link robot 10. Therefore, the modification means 252 changes the range of changeable position or orientation of the traveling plate 13 based on the position information, position changeable range information, and orientation changeable range information stored in the memory unit 24. In this way, by changing the range of changeable position or orientation of the traveling plate 13 using the position, position changeable range, and orientation changeable range of the traveling plate 13, the position or orientation of the traveling plate 13 can be appropriately changed within the smaller range of changeable position or orientation as described above.

[0090] Furthermore, the system includes an input means 253 for inputting mode information indicating either the first mode or the second mode. The modification means 252 uses the position information, position changeable range information, and posture changeable range information stored in the memory unit 24 to change the changeable range of the position of the traveling plate 13 when the mode information input by the input means 253 indicates the first mode, and changes the changeable range of the posture of the traveling plate 13 when the mode information input by the input means 253 indicates the second mode. This makes it possible to appropriately determine, for example, whether to change the changeable range of the position or posture of the traveling plate 13 according to the mode information input by the input means 253. Thus, it becomes easier to reflect the user's intentions in the control of the parallel link robot 10.

[0091] Furthermore, the position indicated by the location information includes the reference position of the traveling plate 13. This makes it easier to manage, for example, the range of possible changes in the position or orientation of the traveling plate 13.

[0092] Furthermore, the parallel link robot system 1 moves the traveling plate 13 closer to the neutral position as it moves away from the reference position. This makes it easy to move the traveling plate 13 away from the reference position in the reference direction Z, for example.

[0093] Furthermore, the parallel link robot system 1 adjusts the orientation of the traveling plate 13 towards a neutral position as the traveling plate 13 moves away from the reference position. This makes it easier, for example, to move the position of the traveling plate 13 away from the reference position in the first direction A or the second direction B.

[0094] Furthermore, the display control means 255 associates the location information with the position change range information or the posture change range information and displays them on the display unit 23. This makes it easier for the user to understand, for example, the location information and the position change range information or posture change range information that corresponds to the location information.

[0095] Furthermore, the display control means 255 displays the position information and the position changeable range information or the posture changeable range information as different shapes on the display unit 23. This allows, for example, a user to intuitively grasp the position information and the position changeable range information or posture changeable range information corresponding to the position information by visually inspecting the shapes displayed on the display unit 23.

[0096] Furthermore, the display control means 255 causes the display unit 23 to display a third two-dimensional coordinate C3 that is orthogonal to the reference line C passing through the center (center point 11a) of the base plate 11 of the parallel link robot 10 and the center (center point 13a) of the traveling plate 13 at the initial position of the parallel link robot 10. The display control means 255 displays a figure indicating the position of the traveling plate 13 as position information at the corresponding location in the third two-dimensional coordinate C3. The display control means 255 also displays a figure indicating the range of changeable position of the traveling plate 13 as position changeable range information at the corresponding location in the third two-dimensional coordinate C3. The size of the figure displayed in the third two-dimensional coordinate C3 as position changeable range information corresponds to the size of the range of changeable position of the traveling plate 13. As a result, for example, a user can intuitively understand that the traveling plate 13 is within the range of changeable position by visually observing the figure in the third two-dimensional coordinate C3 displayed on the display unit 23.

[0097] Furthermore, the display control means 255 causes the display unit 23 to display a first two-dimensional coordinate C1 and a second two-dimensional coordinate C2 that are parallel to a reference line C passing through the center (center point 11a) of the base plate 11 of the parallel link robot 10 and the center (center point 13a) of the traveling plate 13 at the initial position of the parallel link robot 10. The display control means 255 displays a figure indicating the posture of the traveling plate 13 as posture information at the corresponding locations in the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2. The display control means 255 also displays a figure indicating the range in which the posture of the traveling plate 13 can be changed as posture change range information at the corresponding locations in the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2. The size of the figure displayed in the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2 as posture change range information corresponds to the size of the range in which the posture of the traveling plate 13 can be changed. This allows, for example, a user to intuitively understand that the traveling plate 13 is within the range of possible changes in posture by visually observing the shapes in the first two-dimensional coordinate C1 and the second two-dimensional coordinate C2 displayed on the display unit 23.

[0098] Furthermore, the position indicated by the position information is the position of the traveling plate 13 in the thickness direction at the initial position of the parallel link robot 10. This allows, for example, the variable range of the position of the traveling plate 13 to be managed based on the position of the traveling plate 13 in the thickness direction at the initial position of the parallel link robot 10.

[0099] Furthermore, the position indicated by the position information is the position in the direction perpendicular to the traveling plate 13 at the initial position of the parallel link robot 10. This allows, for example, the range of changeable position of the traveling plate 13 to be managed based on the position in the direction perpendicular to the traveling plate 13 at the initial position of the parallel link robot 10.

[0100] The technical scope of this disclosure is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of this disclosure. For example, the control means 254 does not have to control the parallel link robot 10 so that the position of the traveling plate 13 moves closer to the neutral position as the traveling plate 13 moves away from its reference position. Also, the control means 254 does not have to control the parallel link robot 10 so that the posture of the traveling plate 13 moves closer to the neutral position as the traveling plate 13 moves away from its reference position. Furthermore, the control device 20 does not necessarily have to include the display control means 255. Furthermore, the location indicated by the location information may be any other location, not limited to the locations mentioned above. Furthermore, in control step S3, the modification means 252 may change the range of change for both the position and orientation of the traveling plate 13, regardless of the flow described above. Furthermore, the range of changeable posture of the traveling plate 13 may be set or changed only for postures with the first direction A as the axis of rotation, or only for postures with the second direction B as the axis of rotation. Furthermore, the range in which the attitude of the traveling plate 13 can be changed with respect to the reference direction Z as the axis of rotation may be set or modified.

[0101] Furthermore, it is possible to replace the components in the above embodiments with well-known components as appropriate, without departing from the spirit of this disclosure, and the above-described modifications may be combined as appropriate.

[0102] (Note) The parallel link robot system, control method, and program according to the above embodiment can be understood, for example, as follows.

[0103] <1> A parallel link robot system according to one aspect of the present disclosure is characterized by comprising a storage control means for storing in a storage unit, in association with position information indicating the position of a traveling plate having a parallel link robot, position changeable range information indicating the range within which the position of the traveling plate can be changed, or posture changeable range information indicating the range within which the posture of the traveling plate can be changed.

[0104] According to the parallel link robot system described above, the memory control means associates position information indicating the position of the traveling plate, position changeable range information indicating the changeable range of the traveling plate's position, or posture changeable range information indicating the changeable range of the traveling plate's posture, and stores this information in the memory unit. This allows, for example, information regarding the traveling plate's position and the changeable range of its position or posture to be used in various control processes in the parallel link robot system. This simplifies the processing of position changeable range information and posture changeable range information compared to, for example, calculating and storing the changeable range of the position or posture of the end effector connected to the traveling plate. Therefore, a parallel link robot system that can be controlled with simple processing can be achieved. Furthermore, compared to, for example, determining the movable range of the traveling plate based on the bending angle of each link mechanism in a parallel link robot, the changeable range of the traveling plate's position and posture can be made easier for the user to understand.

[0105] <2> the above <1> In the parallel link robot system relating to the present invention, a configuration may be adopted that further includes a modification means for changing the range of changeable position of the traveling plate or the range of changeable posture of the traveling plate based on the position information and the range of changeable position information or the range of changeable posture information stored in the memory unit.

[0106] Furthermore, the modification means changes the range of change in the position or orientation of the traveling plate based on the position information and position change range information or orientation change range information stored in the memory unit. This allows, for example, the range of change in the position of the traveling plate in a direction perpendicular to the thickness direction, or the range of change in orientation with an axis extending perpendicular to the thickness direction as the axis of rotation, to be changed according to the position of the traveling plate in the thickness direction at the initial position. Therefore, the position or orientation of the traveling plate can be changed more appropriately according to the mechanical limitations of the parallel link robot.

[0107] <3> the above <2> In the parallel link robot system relating to the above, the modification means may employ a configuration characterized in that it uses the position information stored in the memory unit and the position changeable range information or the posture changeable range information to reduce the changeable range of the traveling plate's position or the changeable range of the traveling plate's posture as the traveling plate moves away from the reference position of the traveling plate.

[0108] Furthermore, the modification mechanism uses the position information and position change range information or posture change range information stored in the memory unit to reduce the range of change in the position or posture of the traveling plate as it moves away from its reference position. In this way, by reducing the range of change in the position or posture of the traveling plate as it moves away from its reference position, the position or posture of the traveling plate can be changed more appropriately according to the mechanical limitations of the parallel link robot.

[0109] <4> the above <2> or <3> In the parallel link robot system relating to the above, the modification means may be configured to include an acquisition means for acquiring current position information indicating the current position of the traveling plate, and a reading means for reading out the position information corresponding to the current position information, and the position changeable range information or posture changeable range information corresponding to the position information, from the storage unit.

[0110] Furthermore, the modification means includes an acquisition means for acquiring current position information indicating the current position of the traveling plate, and a reading means for reading position information corresponding to the current position information, and corresponding position changeable range information or orientation changeable range information from the storage unit. This makes it possible to more reliably determine, for example, the changeable range of the position or orientation of the traveling plate according to the current position of the traveling plate.

[0111] <5> the above <2> from <4> In a parallel link robot system according to any one of the embodiments, the memory control means may store the position information, the position changeable range information, and the posture changeable range information in association with each other in the memory unit, and the modification means may change the position changeable range of the traveling plate or the posture changeable range of the traveling plate based on the position information, the position changeable range information, and the posture changeable range information stored in the memory unit.

[0112] Here, the range of possible changes in the position or orientation of the traveling plate decreases as the position of the traveling plate moves away from a reference line passing through the center of the base plate of the parallel link robot and the center of the traveling plate in the initial position of the parallel link robot. Therefore, the modification means changes the range of changeable position or orientation of the traveling plate based on the position information, position changeable range information, and orientation changeable range information stored in the memory unit. By changing the range of changeable position or orientation of the traveling plate in this way using the position, position changeable range, and orientation changeable range of the traveling plate, the position or orientation of the traveling plate can be appropriately changed within the smaller range of changeable position or orientation as described above.

[0113] <6> the above <2> from <5> A parallel link robot system according to any one embodiment of the above may further include an input means for inputting mode information indicating either a first mode or a second mode, wherein the changing means uses the position information, the position changeable range information, and the posture changeable range information stored in the storage unit, and when the mode information input by the input means indicates the first mode, it changes the position changeable range of the traveling plate, and when the mode information input by the input means indicates the second mode, it changes the posture changeable range of the traveling plate.

[0114] Furthermore, the system includes an input means for inputting mode information indicating either the first mode or the second mode. The modification means uses the position information, position changeable range information, and posture changeable range information stored in the memory unit to change the changeable range of the traveling plate's position when the mode information input by the input means indicates the first mode, and changes the changeable range of the traveling plate's posture when the mode information input by the input means indicates the second mode. This makes it possible to appropriately determine, for example, whether to change the changeable range of the traveling plate's position or posture according to the mode information input by the input means. Therefore, it becomes easier to reflect the user's intentions in the control of the parallel link robot.

[0115] <7> the above <2> from <6> In a parallel link robot system according to any one of the embodiments, a configuration may be adopted in which the position indicated by the position information includes the reference position of the traveling plate.

[0116] Furthermore, the location information includes the reference position of the traveling plate. This makes it easier to manage, for example, the range of possible changes in the position or orientation of the traveling plate.

[0117] <8> the above <1> from <7> In a parallel link robot system according to any one of the above embodiments, a configuration may be adopted in which the position of the traveling plate is brought closer to the neutral position as the traveling plate moves away from its reference position.

[0118] Furthermore, the parallel link robot system moves the traveling plate closer to the neutral position as it moves away from the reference position. This makes it easier, for example, to move the traveling plate away from the reference position in the thickness direction from its initial position.

[0119] <9> the above <1> from <8> In a parallel link robot system according to any one of the above embodiments, a configuration may be adopted in which the attitude of the traveling plate approaches a neutral position as the traveling plate moves away from its reference position.

[0120] Furthermore, the parallel link robot system adjusts the orientation of the traveling plate towards a neutral position as the traveling plate moves away from its reference position. This makes it easier, for example, to move the traveling plate away from its reference position in a direction perpendicular to the thickness direction in its initial position.

[0121] <10> the above <1> from <9> A parallel link robot system according to any one of the embodiments may further include a display control means for displaying the position information and the position changeable range information or the posture changeable range information on a display unit in association with each other.

[0122] Furthermore, the display control means associates the location information with the range of possible position changes or the range of possible posture changes, and displays them on the display unit. This makes it easier for users, for example, to understand the location information and the range of possible position changes or posture changes that correspond to the location information.

[0123] <11> the above <10> In the parallel link robot system relating to the present invention, the display control means may employ a configuration characterized by displaying the position information and the position changeable range information or the posture changeable range information as different shapes on the display unit.

[0124] Furthermore, the display control means displays the position information and the position changeable range information or posture changeable range information as different shapes on the display unit. This allows, for example, a user to intuitively grasp the position information and the position changeable range information or posture changeable range information corresponding to the position information by visually inspecting the shapes displayed on the display unit.

[0125] <12> the above <10> or <11> In the parallel link robot system relating to the present invention, the display control means may display a two-dimensional coordinate system on the display unit that is orthogonal to a reference line passing through the center of the base plate of the parallel link robot and the center of the traveling plate at the initial position of the parallel link robot; the display control means may display a figure indicating the position of the traveling plate as position information at the corresponding location in the two-dimensional coordinate system; and a figure indicating the range of changeable position of the traveling plate as position changeable range information at the corresponding location in the two-dimensional coordinate system; the size of the figure displayed as position changeable range information corresponds to the size of the range of changeable position of the traveling plate.

[0126] Furthermore, the display control means displays a two-dimensional coordinate system on the display unit that is orthogonal to a reference line passing through the center of the base plate of the parallel link robot and the center of the traveling plate at the initial position of the parallel link robot. The display control means displays a figure indicating the position of the traveling plate as position information at the corresponding location in the two-dimensional coordinate system. The display control means also displays a figure indicating the range of changeable position of the traveling plate as position changeable range information at the corresponding location in the two-dimensional coordinate system. The size of the figure displayed in the two-dimensional coordinate system as position changeable range information corresponds to the size of the range of changeable position of the traveling plate. This allows, for example, a user to intuitively understand that the traveling plate is within the range of changeable position by visually observing the figure in the two-dimensional coordinate system displayed on the display unit.

[0127] <13> the above <10> from <12> In a parallel link robot system according to any one of the embodiments, the display control means may cause the display unit to display a two-dimensional coordinate system parallel to a reference line passing through the center of the base plate of the parallel link robot and the center of the traveling plate at the initial position of the parallel link robot; the display control means may display a figure indicating the posture of the traveling plate as posture information, at the corresponding location in the two-dimensional coordinate system; and display a figure indicating the range of changeable posture of the traveling plate as posture changeable range information, at the corresponding location in the two-dimensional coordinate system; the size of the figure displayed as posture changeable range information corresponds to the size of the range of changeable posture of the traveling plate.

[0128] Furthermore, the display control means displays a two-dimensional coordinate system on the display unit that is parallel to a reference line passing through the center of the base plate of the parallel link robot and the center of the traveling plate at the initial position of the parallel link robot. The display control means displays a figure indicating the posture of the traveling plate as posture information at the corresponding location in the two-dimensional coordinate system. The display control means also displays a figure indicating the range of possible posture changes of the traveling plate at the corresponding location in the two-dimensional coordinate system as posture change range information. The size of the figure displayed in the two-dimensional coordinate system as posture change range information corresponds to the size of the travel plate's possible posture change range. This allows, for example, a user to intuitively understand that the traveling plate is within the range of possible posture changes by visually observing the figure in the two-dimensional coordinate system displayed on the display unit.

[0129] <14> the above <1> from <13> In a parallel link robot system according to any one of the embodiments, a configuration may be adopted in which the position indicated by the position information is the position in the thickness direction of the traveling plate at the initial position of the parallel link robot.

[0130] Furthermore, the position indicated by the position information is the position in the thickness direction of the traveling plate at the initial position of the parallel link robot. This allows, for example, the range of changeable position of the traveling plate to be managed based on the position in the thickness direction of the traveling plate at the initial position of the parallel link robot.

[0131] <15> the above <1> from <14> In a parallel link robot system according to any one of the embodiments, a configuration may be adopted in which the position indicated by the position information is the position in a direction perpendicular to the traveling plate at the initial position of the parallel link robot.

[0132] Furthermore, the position indicated by the position information is the position in a direction perpendicular to the traveling plate at the initial position of the parallel link robot. This allows, for example, the range of change in the position of the traveling plate to be managed based on the position in a direction perpendicular to the traveling plate at the initial position of the parallel link robot.

[0133] <16> A control method according to one aspect of the present disclosure is a control method for a parallel link robot system, characterized by comprising a storage control step of storing in a storage unit in association position information indicating the position of a traveling plate having a parallel link robot, position changeable range information indicating the range within which the position of the traveling plate can be changed, or posture changeable range information indicating the range within which the posture of the traveling plate can be changed.

[0134] <17> A program relating to one aspect of this disclosure controls a computer as described above. <1> from <15> It is characterized by functioning as a parallel link robot system according to any one of the following embodiments. [Explanation of symbols]

[0135] 1. Parallel Link Robot System 10 Parallel Link Robots 11 Base Plate 11a Center point 12 Arm section 12a First Arm 12b Second Arm 13 Traveling Plate 13a Center point 20 Control device 21 Communications Department 22 Input section 23 Display section 24 Memory section 25 Control Unit 251 Memory control means 252 Means of modification 252a Acquisition method 252b Reading means 253 Input means 254 Control means 255 Display control means 90 Information Processing Equipment 91 Processors 92 Main memory 93 Communication Interface 94 Auxiliary storage device 95 Input / Output Interfaces 96 Internal bus A 1st direction B Second direction C Reference straight line Z reference direction

Claims

1. Position information indicating the position of the traveling plate possessed by the parallel link robot, Position change range information indicating the range within which the position of the traveling plate can be changed, or posture change range information indicating the range within which the posture of the traveling plate can be changed, A memory control means that associates and stores in the memory unit, A parallel link robot system characterized by having the following features.

2. A changing means for changing the range of change in the position of the traveling plate or the range of change in the posture of the traveling plate based on the position information and the range of changeable position information or the range of changeable posture information stored in the memory unit. The parallel link robot system according to claim 1, further comprising the following:

3. The modification means uses the position information stored in the memory unit and the position changeable range information or the attitude changeable range information to reduce the position changeable range of the traveling plate or the attitude changeable range of the traveling plate as the traveling plate moves away from the reference position of the traveling plate. The parallel link robot system according to claim 2.

4. The aforementioned modification means is, An acquisition means for acquiring current location information indicating the current position of the traveling plate, A reading means for reading the position information corresponding to the current position information, or the position changeable range information or posture changeable range information corresponding to the current position information, from the storage unit, including, The parallel link robot system according to claim 2 or 3, characterized in that it is the same as described in claim 2 or 3.

5. The memory control means stores the position information, the position changeable range information, and the posture changeable range information in the memory unit in association with each other. The modification means modifies the range of change in the position of the traveling plate or the range of change in the posture of the traveling plate based on the position information, the range of changeable position information, and the range of changeable posture information stored in the storage unit. The parallel link robot system according to claim 2 or 3, characterized in that it is the same as described in claim 2 or 3.

6. Input means for inputting mode information indicating either the first mode or the second mode, Furthermore, The modification means uses the position information, the position changeable range information, and the attitude changeable range information stored in the storage unit, and changes the position changeable range of the traveling plate when the mode information input by the input means indicates the first mode, and changes the attitude changeable range of the traveling plate when the mode information input by the input means indicates the second mode. The parallel link robot system according to feature 4.

7. The position indicated by the aforementioned position information includes the reference position of the traveling plate. The parallel link robot system according to claim 2 or 3, characterized in that it is the same as described in claim 2 or 3.

8. As the traveling plate moves away from its reference position, the position of the traveling plate is brought closer to the neutral position. A parallel link robot system according to any one of claims 1 to 3, characterized in that it is the same as described in the previous claim.

9. As the traveling plate moves away from its reference position, the posture of the traveling plate is brought closer to the neutral position. A parallel link robot system according to any one of claims 1 to 3, characterized in that it is the same as described in the previous claim.

10. Display control means for displaying the position information and the position changeable range information or the posture changeable range information in association with each other on a display unit. A parallel link robot system according to any one of claims 1 to 3, further comprising the above.

11. The display control means causes the position information and the position changeable range information or the posture changeable range information to be displayed on the display unit as different shapes. The parallel link robot system according to claim 10.

12. The display control means causes the display unit to display a two-dimensional coordinate system that is orthogonal to a reference line passing through the center of the base plate of the parallel link robot and the center of the traveling plate at the initial position of the parallel link robot. The display control means is As the aforementioned position information, a figure indicating the position of the traveling plate is displayed at the corresponding location in the two-dimensional coordinate system. As the position changeable range information, a figure indicating the changeable range of the traveling plate's position is displayed at the corresponding location in the two-dimensional coordinate system. The size of the figure displayed as the position changeable range information corresponds to the size of the position changeable range of the traveling plate. The parallel link robot system according to claim 10.

13. The display control means causes the display unit to display a two-dimensional coordinate system parallel to a reference line passing through the center of the base plate of the parallel link robot and the center of the traveling plate at the initial position of the parallel link robot. The display control means is As orientation information indicating the orientation of the traveling plate, a figure representing the orientation of the traveling plate is displayed at the corresponding location in the two-dimensional coordinate system. As the information regarding the range of possible posture changes, a figure indicating the range of possible posture changes of the traveling plate is displayed at the corresponding location in the two-dimensional coordinate system. The size of the figure displayed as the information on the range of possible posture changes corresponds to the size of the range of possible posture changes of the traveling plate. The parallel link robot system according to claim 10.

14. The position indicated by the position information is the position in the thickness direction of the traveling plate at the initial position of the parallel link robot. A parallel link robot system according to any one of claims 1 to 3, characterized in that it is the same as described in the previous claim.

15. The position indicated by the position information is the position in the direction perpendicular to the traveling plate at the initial position of the parallel link robot. A parallel link robot system according to any one of claims 1 to 3, characterized in that it is the same as described in the previous claim.

16. A method for controlling a parallel link robot system, Position information indicating the position of the traveling plate possessed by the parallel link robot, Position change range information indicating the range within which the position of the traveling plate can be changed, or posture change range information indicating the range within which the posture of the traveling plate can be changed, A memory control step that causes the data to be associated and stored in the memory unit. A control method for a parallel link robot system, characterized by comprising the following features.

17. The computer is made to function as the parallel link robot system described in claim 1. A program characterized by the following features.

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