Robot System and Robot Control Device

Abstract

To prevent occurrence of a failure when operation of a plurality of robots is suddenly changed due to disturbance or the like when the robots perform cooperative work.SOLUTION: A first robot control device includes: a first trajectory plan section which plans operation of a first robot; a first control section which executes the planned operation of the first robot; a first collision prediction section which predicts a collision of disturbance with the first robot or a second robot on the basis of information on a sensor; and a first interlocking stop section. A second robot control device includes: a second trajectory plan section which plans operation of the second robot; a second control section which executes the planned operation of the second robot; a second collision prediction section which predicts a collision of disturbance with the first robot or the second robot on the basis of the information on the sensor; and a second interlocking stop section. The first interlocking stop section generates a disturbance avoiding track of the first robot and performs operation for avoiding disturbance when the first collision prediction section predicts a collision with the disturbance.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a robot system and a robot control device.

Background Art

[0002] The introduction of autonomous control robots is progressing, and an expansion of the applicable range is demanded.

[0003] Patent Document 1 discloses a multi-robot system that is composed of a plurality of robots, a monitor system that monitors the operations of the robots, and a general controller that operates the multi-robots, and that cooperatively operates to achieve a specific purpose as a whole. The general controller performs, in real time via a wireless LAN, operation instructions for the robots, correction instructions for the position and direction of the robots, and operation instructions for the robots when an abnormality occurs (or is predicted), based on the state of the robots and the monitored position and direction.

[0004] Patent Document 2 discloses that, in order to control the operation of a robot so as to ensure the safety of an operator and obtain high work efficiency, when it is determined that trajectory correction is necessary, the trajectory correction unit of the robot control device sets a corrected trajectory candidate selected from the arrival time at the target position and the possibility of collision as the command trajectory, and when it is determined that trajectory correction is not necessary, sets the trajectory from the current position to the target position as the command trajectory.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the control of multiple robots that perform coordinated operations, not only efficiency improvement but also safety is required.

[0007] For example, when multiple robots perform coordinated operations in a place without a safety fence where an operator (human) enters and exits, if an operator enters the path of a robot, and when one robot makes a path change such as an emergency stop, there is a risk of problems such as the falling or damage of the object being transported held together with other robots, or the robot tipping over.

[0008] The multi-robot system described in Patent Document 1 has a function of securing an area for a robot in an abnormal state to return by partially modifying the formation when a certain robot enters an abnormal state and interference with other robots is expected during its return operation. However, there is no description about the transmission of correction data that requests cooperation from other robots.

[0009] The robot control device described in Patent Document 2 estimates the possibility of a collision between one robot and an operator (human). Therefore, there is no description about the transmission of correction data that requests cooperation from other robots when controlling multiple robots.

[0010] An object of the present disclosure is to prevent problems from occurring when the operation of a robot is suddenly changed due to a disturbance or the like when multiple robots perform coordinated operations.

Means for Solving the Problem

[0011] The robot system of the present disclosure includes a first robot, a second robot, a first robot control device for controlling the first robot, a second robot control device for controlling the second robot, and a sensor, and is a robot system in which the first robot and the second robot perform cooperative work. The first robot control device includes a first trajectory planning unit for planning the operation of the first robot, a first control unit for executing the planned operation of the first robot, a first collision prediction unit for predicting a collision between an external disturbance and the first robot or the second robot based on the information of the sensor, and a first interlock stop unit. The second robot control device includes a second trajectory planning unit for planning the operation of the second robot, a second control unit for executing the planned operation of the second robot, a second collision prediction unit for predicting a collision between an external disturbance and the first robot or the second robot based on the information of the sensor, and a second interlock stop unit. The first interlock stop unit generates an external disturbance avoidance trajectory for the first robot and transmits the external disturbance avoidance trajectory to the second interlock stop unit when the first collision prediction unit predicts a collision with an external disturbance, and the first robot and the second robot perform operations to avoid the external disturbance.

Advantages of the Invention

[0012] According to the present disclosure, when a plurality of robots perform cooperative work, it is possible to prevent problems from occurring when the operation of the robots is suddenly changed due to an external disturbance or the like.

Brief Description of the Drawings

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Mode for Carrying Out the Invention

[0014] The robot system and the robot control device used therefor according to the present disclosure can be applied to construction machinery, in-factory logistics, production equipment assembly, etc.

[0015] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings.

Embodiment

[0016] FIG. 1 is a schematic configuration diagram showing the robot system of Example 1.

[0017] In this figure, the robot system 100 includes a first robot 110A, a second robot 110B, a robot control device 120A (first robot control device) that controls the first robot 110A, a robot control device 120B (second robot control device) that controls the second robot 110B, and a sensor 130.

[0018] The sensor 130 is installed separately from the first robot 110A and the second robot 110B, and is, for example, a camera or the like installed on the ceiling, wall, etc. of the room where the first robot 110A and the second robot 110B perform work.

[0019] The first robot 110A and the second robot 110B cooperate to move the object to be transported 140. At this time, the first robot 110A and the second robot 110B grip both ends of the object to be transported 140 by their respective gripping parts. The first robot 110A and the second robot 110B have manipulators with joint parts. The gripping part is movable by the manipulator.

[0020] The robot control device 120A and the robot control device 120B are configured to be able to transmit and receive data and the like to and from each other. Also, the robot control device 120A and the robot control device 120B are capable of receiving data and the like acquired by the sensor 130.

[0021] In this figure, the case where the robot control device is arranged outside the robot is shown, but the robot control device may be arranged inside the robot.

[0022] The robot control device includes an input unit, an output unit, an arithmetic unit, and a storage unit. The arithmetic unit is a central processing unit (CPU) of a computer or the like. The storage unit may have a database.

[0023] Figure 2 is a configuration diagram showing the robot control device of this embodiment.

[0024] As shown in this figure, the robot control device 120A includes a trajectory planning unit 220A (first trajectory planning unit), a control unit 230A (first control unit), a collision prediction unit 240A (first collision prediction unit), and an interlock stop unit 250A (first interlock stop unit). Similarly, the robot control device 120B includes a trajectory planning unit 220B (second trajectory planning unit), a control unit 230B (second control unit), a collision prediction unit 240B (second collision prediction unit), and an interlock stop unit 250B (second interlock stop unit).

[0025] The trajectory planning units 220A and 220B receive task commands from the upper controller 210. Based on the task commands, the trajectory planning unit 220A creates a program or the like related to the operation of the first robot 110A and transmits it to the control unit 230A. The control unit 230A controls the operation of the first robot 110A based on the program or the like. Similarly, the trajectory planning unit 220B creates a program or the like related to the operation of the second robot 110B based on the task commands and transmits it to the control unit 230B. The control unit 230B controls the operation of the second robot 110B based on the program or the like.

[0026] Note that the trajectory planning units 220A and 220B may autonomously create a program or the like as described above, or may prepare and store a program or the like in advance.

[0027] The collision prediction unit 240A receives a program or the like from the control unit 230A, and also receives information such as the actual operations of the first robot 110A and the second robot 110B, the situation around the first robot 110A and the second robot 110B, and disturbances such as the approach of people from the sensor 130. Similarly, the collision prediction unit 240B receives a program or the like from the control unit 230B, and also receives information such as the actual operations of the first robot 110A and the second robot 110B, the situation around the first robot 110A and the second robot 110B, and disturbances such as the approach of people from the sensor 130.

[0028] When the collision prediction units 240A and 240B determine that it is necessary to change the trajectories, stop, etc. of the first robot 110A and the second robot 110B in order to avoid disturbances or the like, the collision prediction unit 240A transmits the determination result to the interlock stop unit 250A, and the collision prediction unit 240B transmits the determination result to the interlock stop unit 250B. The interlock stop unit 250A transmits commands such as trajectory change and stop to the first robot 110A according to the determination result. Similarly, the interlock stop unit 250B transmits commands such as trajectory change and stop to the second robot 110B according to the determination result.

[0029] The first robot 110A and the second robot 110B that have received the instruction cooperate to avoid the dropping, breakage, etc. of the object to be transported 140 (Fig. 1), and perform operations such as changing the trajectory and stopping.

[0030] Fig. 3 is a configuration diagram showing the interlocking stop unit of Fig. 2.

[0031] As shown in Fig. 3, the interlocking stop unit 250A includes a handstop trajectory generation unit 310A, a joint angle stop trajectory generation unit 320A, and a stop trajectory control unit 330A. Similarly, the interlocking stop unit 250B includes a handstop trajectory generation unit 310B, a joint angle stop trajectory generation unit 320B, and a stop trajectory control unit 330B. The handstop trajectory generation unit 310A and the handstop trajectory generation unit 310B can transmit and receive data and the like to and from each other. Here, the joint angle is the angle of the joint of the manipulator that moves the hand of the robot, and the adjustment of the joint angle is performed by the motor of the joint of the manipulator.

[0032] Note that the handstop trajectory generation unit 310A receives data such as the determination result from the collision prediction unit 240A (Fig. 2), and the handstop trajectory generation unit 310B receives data such as the determination result from the collision prediction unit 240B (Fig. 2).

[0033] Fig. 4 is a flowchart showing the processing in the interlocking stop unit.

[0034] In this figure, when either one of the interlocking stop units 250A and 250B receives the determination result of the change, stop, etc. of the robot's trajectory from the collision prediction units 240A and 240B, the handstop trajectory generation units 310A and 310B included in the interlocking stop units 250A and 250B determine whether the determination result includes the data or program of the handstop trajectory (step S410).

[0035] If the data or program of the handstop trajectory is not included, the handstop trajectory generation units 310A and 310B determine whether it is necessary to stop the hand (step S420).

[0036] When it is determined that a stop is necessary, it is determined whether the robot is in cooperative work (step S430). Here, cooperative work means that two or more robots simultaneously grasp an object or the like and perform a transportation operation or the like. In other words, cooperative work includes supporting the object to be transported.

[0037] When it is determined that it is in cooperative work, the cooperating robot (the other party) is identified (step S440). Then, the maximum acceleration of the identified robot is estimated (step S450). And a stop trajectory of the end effector is generated based on the maximum acceleration (step S460). In other words, a program or the like of the stop trajectory of the end effector is created.

[0038] Here, the reason for estimating the maximum acceleration of the other party's robot is that if it does not match the maximum acceleration, there is a risk that the object 140 to be transported will fall or the robot will fall.

[0039] And the program or the like is transmitted to the other robot or robot control device performing the cooperative work (step S470).

[0040] Next, each robot or robot control device generates a stop trajectory of the joint angle using the program or the like (step S480).

[0041] After that, stop control of each robot is performed (step S490).

[0042] On the other hand, when the data or program of the end effector stop trajectory is included in step S410, based on the received end effector stop trajectory, a stop trajectory of the end effector of the other robot being followed is generated (step S415). After that, the processes of steps S480 and S490 are performed.

[0043] Also, when it is determined in step S430 that it is not in cooperative work, a stop trajectory of the end effector of the robot is generated (step S435). After that, the processes of steps S480 and S490 are performed.

[0044] FIG. 5 is a configuration diagram showing means for calculating upper limit values of the speed and acceleration of the arm in the interlocking stop section.

[0045] In this figure, the interlocking stop section includes a storage device 510 having a database, an arm specification identifying section 520, and an arm speed / acceleration upper limit value calculating section 530.

[0046] When the arm specification identifying section 520 receives a robot ID (a number or the like attached for distinguishing robots), it identifies the specifications of each axis motor, link, etc. of the arm of that robot, the weight of the hand provided on the arm, etc. from the database of the storage device 510. The identified arm information is transmitted to the arm speed / acceleration upper limit value calculating section 530.

[0047] In the arm speed / acceleration upper limit value calculating section 530, in addition to this information, using data such as the weight of the workpiece (transport object 140 (FIG. 1)) held by the robot, the upper limit value of the arm speed and the upper limit value of the acceleration are calculated and output.

[0048] FIG. 6 is a flowchart showing the stop process when a disturbance occurs.

[0049] In this figure, when the collision prediction section 240A determines that the risk of collision with the disturbance 601 is high (step S610), the interlocking stop section 250A estimates the maximum value of the acceleration of the cooperating robot (the other party) (step S620). Then, the hand stop trajectory generation section 310A generates the stop trajectory of the hand of the first robot 110A and transmits the data to the hand stop trajectory generation section 310B (step S630). It is desirable to decelerate as quickly as possible, but if it does not match the capabilities of the motors of the other party, etc., there is a risk that the transport object 140 will fall or the robot will fall.

[0050] The joint angle stop trajectory generation section 320A generates a command regarding the joint angle using the data of the generated hand stop trajectory and transmits it to the stop trajectory control section 330A (step S640). The stop trajectory control section 330A performs control of the hand stop trajectory (step S650).

[0051] On the other hand, the end effector stop trajectory generation unit 310B that has received the data generates the stop trajectory of the end effector of the second robot 110B (step S635).

[0052] The joint angle stop trajectory generation unit 320B generates a command regarding the joint angle using the data of the generated end effector stop trajectory and transmits it to the stop trajectory control unit 330B (step S645). The stop trajectory control unit 330B performs control of the end effector stop trajectory (step S655).

[0053] FIG. 7 is a schematic diagram showing a state in which two robots operate in conjunction.

[0054] In this figure, the end effector of the first robot 110A moves as shown by the trajectory 710A. On the other hand, the end effector of the second robot 110B moves along a trajectory 710B having the same shape as the trajectory 710A. This is achieved by the first robot 110A or its control device transmitting the data of the trajectory 710A to the second robot 110B or its control device. Note that this data is preferably data of a point sequence at each time, as shown by the trajectories 710A and 710B. This is because in the case of an emergency stop, the data of the point sequence can be processed in a shorter time.

[0055] FIG. 8 is a flowchart showing the processing of the interlock stop unit at the time of an emergency stop.

[0056] In this figure, in addition to the steps in FIG. 4, steps regarding an emergency stop are provided.

[0057] That is, in FIG. 8, first, it is determined whether an emergency stop is necessary (step S810).

[0058] If it is determined that an emergency stop is necessary in step S810, a command for an emergency brake is transmitted to the robot for which the determination has been made (step S815). Then, it is determined whether or not it is during cooperative work (step S825). If it is during cooperative work, the cooperating robot is identified (step S835), and a command for an emergency brake is transmitted to that robot or its control device (step S845). On the other hand, if it is not during cooperative work, the process ends.

[0059] If it is determined that an emergency stop is not necessary in step S810, the following processing is performed in the same manner as the steps shown in FIG. 4.

[0060] When either one of the interlocking stop units 250A and 250B receives a determination result such as a change or stop of the robot's trajectory from the collision prediction units 240A and 240B, the end effector stop trajectory generation units 310A and 310B included in the interlocking stop units 250A and 250B determine whether or not the determination result includes data or a program of the end effector stop trajectory (step S820).

[0061] If the data or program of the end effector stop trajectory is not included, the end effector stop trajectory generation units 310A and 310B determine whether or not it is necessary to stop the end effector (step S830).

[0062] If it is determined that a stop is necessary, it is determined whether or not the robot is during cooperative work (step S840).

[0063] If it is determined that it is during cooperative work, the cooperating robot is identified (step S850). Then, the maximum acceleration of the identified robot is estimated (step S860). Then, an end effector stop trajectory is generated based on the maximum acceleration (step S870). In other words, a program or the like of the end effector stop trajectory is created.

[0064] Then, the program or the like is transmitted to the other robot or robot control device that is performing the cooperative work (step S880).

[0065] Next, each robot or robot control device generates a stop trajectory of the joint angle using its program or the like (step S890).

[0066] Thereafter, stop control of each robot is performed (step S900).

[0067] On the other hand, when the data or program of the end effector stop trajectory is included in step S820, based on the received end effector stop trajectory, a stop trajectory of the end effector of another robot being followed is generated (step S822). Thereafter, the processes of steps S890 and S900 are performed.

[0068] Also, when it is determined in step S840 that the robots are not in cooperative work, a stop trajectory of the end effector of the robot is generated (step S842). Thereafter, the processes of steps S890 and S900 are performed.

[0069] According to this embodiment, one of a plurality of robots performing cooperative work can obtain information regarding a change in a trajectory, such as a stop trajectory of the end effector, from another robot, and based on this information, the other robot can perform a trajectory change operation, such as a stop operation, while maintaining the interval between the end effectors.

Embodiment

[0070] FIG. 9 is a schematic configuration diagram showing the robot system of Embodiment 2.

[0071] In this figure, the robot system 901 includes a first robot 910A, a second robot 910B, a robot control device 920A that controls the first robot 910A, and a robot control device 920B that controls the second robot 910B.

[0072] The first robot 910A and the second robot 910B have wheels (wheels for movement) and are movable. The first robot 910A has a sensor 930A. The second robot 910B has a sensor 930B. The sensor 930A has a field of view 935A and can monitor the traveling direction of the first robot 910A. The sensor 930B has a field of view 935B and can monitor the traveling direction of the second robot 910B.

[0073] The first robot 910A and the second robot 910B cooperate to move the object to be transported 140. At this time, the first robot 910A and the second robot 910B grip both ends of the object to be transported 140 and the like.

[0074] In other words, the first robot 910A and the second robot 910B move forward at a constant speed with the sensors 930A and 930B at the front so that the object to be transported 140 does not fall.

[0075] The robot control device 920A and the robot control device 920B are configured to be able to transmit and receive data and the like to and from each other. Further, the robot control device 920A is capable of receiving data and the like acquired by the sensor 930A. The robot control device 920B is capable of receiving data and the like acquired by the sensor 930B.

[0076] FIG. 10 is a flowchart showing a stop process when a disturbance occurs.

[0077] The robot corresponding to this figure has wheels and is movable. Except for this, it is connected to a robot control device having an interlocking stop unit shown in FIG. 3 in the same manner as the robot control device of the first embodiment.

[0078] In FIG. 10, when the collision prediction unit 240A determines that the risk of collision with the disturbance 1001 is high (step S1010), it estimates the maximum value of the acceleration of the cooperating robot (the other party) (step S1020). Then, the end effector stop trajectory generation unit 310A generates the stop trajectory of the end effector of the first robot 910A and transmits the data to the end effector stop trajectory generation unit 310B (step S1030).

[0079] The joint angle stop trajectory generation unit 320A generates a command regarding the joint angle using the data of the generated end effector stop trajectory and transmits it to the stop trajectory control unit 330A (step S1040). The stop trajectory control unit 330A performs the control of the end effector stop trajectory (step S1050).

[0080] On the other hand, the end effector stop trajectory generation unit 310B that has received the data generates the stop trajectory of the end effector of the second robot 910B (step S1035).

[0081] The joint angle stop trajectory generation unit 320B generates a command regarding the joint angle using the data of the generated end effector stop trajectory and transmits it to the stop trajectory control unit 330B (step S1045). The stop trajectory control unit 330B performs the control of the end effector stop trajectory (step S1055).

[0082] In this embodiment, when the robot is moving, in order to stop its movement, one of the interlocking stop units generates the stop trajectory of the robot and transmits the data of the stop trajectory to the other interlocking stop unit. As a result, the other robots can also stop in conjunction with each other.

[0083] It is desirable that the command regarding the wheels includes the point sequence data of the rotational speed, rotational acceleration, or rotational angle of the wheels for stopping.

Embodiment

[0084] FIG. 11 is a schematic configuration diagram showing the robot system of Embodiment 3.

[0085] In this figure, the robot system 1101 includes a first robot 1110A, a second robot 1110B, a robot control device 1120A that controls the first robot 1110A, and a robot control device 1120B that controls the second robot 1110B.

[0086] The first robot 1110A and the second robot 1110B have wheels and are movable. The first robot 1110A has a sensor 1130A. The second robot 1110B has a sensor 1130B. The sensor 1130A has a field of view 1135A and can monitor the traveling direction of the first robot 1110A. The sensor 1130B has a field of view 1135B and can monitor the direction opposite to the traveling direction of the second robot 1110B (rearward).

[0087] The first robot 1110A and the second robot 1110B cooperate to move the object to be transported 140. At this time, the first robot 1110A and the second robot 1110B support the lower surfaces such as both ends of the loaded object to be transported 140. In this embodiment, the cooperative work means that two or more robots support one article or the like at the loading part at the same time and perform a transportation work or the like.

[0088] In other words, the first robot 1110A and the second robot 1110B move forward at a constant speed with the sensor 1130A of the first robot 1110A at the front so that the object to be transported 140 does not fall.

[0089] The robot control device 1120A and the robot control device 1120B are configured to be able to transmit and receive data and the like to and from each other. Also, the robot control device 1120A is capable of receiving data and the like acquired by the sensor 1130A. The robot control device 1120B is capable of receiving data and the like acquired by the sensor 1130B.

[0090] FIG. 12 is a flowchart showing a stop process when a disturbance occurs.

[0091] The robot corresponding to this figure is connected to a robot control device having an interlock stop part shown in FIG. 3, in the same manner as the robot control device of the first embodiment, except that it does not have a hand (gripping part) and has a loading part, and has wheels and is movable.

[0092] In FIG. 12, when the collision prediction unit 240A determines that the risk of collision with the disturbance 1201 is high (step S1210), it estimates the maximum value of the acceleration of the cooperating robot (the other party) (step S1220). Then, a loading part stop orbit generation unit having the same function as the hand stop orbit generation unit 310A generates a stop orbit for the loading part of the first robot 1110A, and transmits the data to the loading part stop orbit generation unit of the second robot 1110B (step S1230).

[0093] A wheel stop orbit generation unit having the same function as the joint angle stop orbit generation unit 320A generates a command regarding the wheels using the data of the generated stop orbit of the loading part, and transmits it to the stop orbit control unit 330A (step S1240). The stop orbit control unit 330A controls the stop orbit of the loading part (step S1250). It is desirable that the command regarding the wheels includes point sequence data of the rotational speed, rotational acceleration, or rotational angle of the wheels for stopping.

[0094] On the other hand, the loading part stop orbit generation unit of the second robot 1110B that has received the data generates a stop orbit for the loading part of the second robot 1110B (step S1235).

[0095] The loading part stop orbit generation unit of the second robot 1110B generates a command regarding the wheels using the data of the generated stop orbit of the loading part, and transmits it to the stop orbit control unit 330B (step S1245). The stop orbit control unit 330B controls the stop orbit of the loading part (step S1255).

[0096] In addition, in Examples 1 to 3, although the stop orbits of the end effector or the loading unit are generated, since they have a common function in supporting the object to be transported, the end effector and the loading unit are collectively referred to as the "support unit". Also, operations such as avoiding the fall or breakage of the object to be transported, changing the orbit, and stopping, that is, operations for avoiding disturbances, are collectively referred to as "disturbance avoidance operations", and the orbits of each part associated with such operations are collectively referred to as "disturbance avoidance orbits".

Explanation of Signs

[0097] 100: Robot system, 110A: First robot, 110B: Second robot, 120A, 120B: Robot control device, 130: Sensor, 140: Object to be transported, 210: Host controller, 220A, 220B: Trajectory planning unit, 230A, 230B: Control unit, 240A, 240B: Collision prediction unit, 250A, 250B: Interlock stop unit, 310A, 310B: End effector stop orbit generation unit, 320A, 320B: Joint angle stop orbit generation unit, 330A, 330B: Stop orbit control unit, 510: Storage device, 520: Arm specification identification unit, 530: Arm speed and acceleration upper limit value calculation unit, 601: Disturbance.

Claims

1. A first robot, a second robot, a first robot control device for controlling the first robot, a second robot control device for controlling the second robot, and a sensor, A robot system in which the first robot and the second robot perform cooperative work, The first robot control device includes a first trajectory planning unit for planning the operation of the first robot, a first control unit for executing the planned operation of the first robot, a first collision prediction unit for predicting a collision between the disturbance and the first robot or the second robot based on the information of the sensor, and a first interlock stop unit, The second robot control device includes a second trajectory planning unit for planning the operation of the second robot, a second control unit for executing the planned operation of the second robot, a second collision prediction unit for predicting the collision between the disturbance and the first robot or the second robot based on the information of the sensor, and a second interlock stop unit, When the first collision prediction unit predicts the collision with the disturbance, the first interlock stop unit estimates the maximum acceleration of the second robot, generates a disturbance avoidance trajectory of the first robot based on the maximum acceleration, and transmits the disturbance avoidance trajectory to the second interlock stop unit. The first robot and the second robot perform an operation to avoid the disturbance. A robot system.

2. The robot system according to claim 1, wherein the first interlock stop unit identifies another robot that is performing the cooperative work with the first robot as the second robot.

3. The collaborative operation includes supporting an object to be transported, the robot system according to claim 1.

4. The disturbance avoidance trajectory is the trajectory of the support portions of the first robot and the second robot, the robot system according to claim 1.

5. The support portion is an end effector or a loading portion, the robot system according to claim 4.

6. The first robot and the second robot have manipulators having joints, the robot system according to claim 1.

7. The first robot and the second robot have wheels for movement, the robot system according to claim 1.

8. A robot control device for controlling the collaborative operation of robots, A trajectory planning unit that plans the operations of the robots, A control unit that executes the planned operations of the robots, A collision prediction unit that predicts a collision between a disturbance and the robots based on sensor information, An interlock stop unit, and includes, When the collision prediction unit predicts the collision with the disturbance, the interlock stop unit estimates the maximum acceleration of the robot and other robots performing the collaborative operation, generates a disturbance avoidance trajectory of the robot based on the maximum acceleration, and transmits the disturbance avoidance trajectory to the interlock stop units of the other robots, A robot control device that causes the robot and the other robots to perform operations to avoid the disturbance.

9. The interlock stop unit identifies the other robots that are performing the collaborative operation with the robot, the robot control device according to claim 8.

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