Title:
CONTROLLER FOR MULTI-AXIS ROBOT, ROBOT SYSTEM, AND CONTROL PROGRAM
Document Type and Number:
Japanese Patent JP2022161572
Kind Code:
A
Abstract:
To provide a controller for multi-axis robot, a robot system, and a control program that can change a position attitude of the multi-axis robot while avoiding collision between the multi-axis robot and an obstacle.SOLUTION: A controller 20 for multi-axis robot comprises a position attitude correction part 22, and an attitude control part 23. The position attitude correction part 22 is configured to determine a corrected intermediate position attitude of a tip 38 of a multi-axis robot 30 in which a distance between the multi-axis robot 30 and an obstacle exceeds a threshold with respect to a position attitude, in which the distance is the threshold or less, of a plurality of intermediate position attitudes through which a position attitude of the tip 38 of the multi-axis robot 30 changes to a final position attitude. The attitude control part 23 is so configured to control the multi-axis robot 30 so that the position attitude of the tip 38 of the multi-axis robot 30 changes to the final position attitude through the corrected intermediate position attitude determined by the position attitude correction part 22.SELECTED DRAWING: Figure 1
Inventors:
KIMURA KENICHIRO
SHIMADA KEITARO
NAMIKI AKIO
SHIMADA KEITARO
NAMIKI AKIO
Application Number:
JP2021066488A
Publication Date:
October 21, 2022
Filing Date:
April 09, 2021
Export Citation:
Assignee:
MAEKAWA SEISAKUSHO KK
International Classes:
B25J19/06
Attorney, Agent or Firm:
SSIP Patent Attorney Corporation