Title:
ロボット制御装置およびこれを用いたロボットシステム
Document Type and Number:
Japanese Patent JP6729773
Kind Code:
B2
Abstract:
A robot control device (1) that controls the operation of a robot (3) so as to ensure safety of a work object and obtain high work efficiency. The robot control device (1) comprises: a correction necessity determination unit (106) that determines the need for trajectory correction, on the basis of a collision possibility (1050) calculated for at least one point upon a first trajectory (1040) from the current position towards a target position; and a trajectory correction unit (107) that sets a command trajectory, on the basis of the determination results of the correction necessity determination unit (106). The trajectory correction unit (107): sets, as a command trajectory, a second trajectory having a lower collision possibility than the collision possibility (1050) of the first trajectory (1040), setting same on the basis of object position information and the first trajectory (1040), if a determination has been made by the correction necessity determination unit (106) that trajectory correction is required; and sets the first trajectory (1040) as the command trajectory if the correction necessity determination unit (106) has determined that trajectory correction is not required.
Inventors:
Takuya Okahara
Application Number:
JP2019142805A
Publication Date:
July 22, 2020
Filing Date:
August 02, 2019
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
B25J19/06; G05B19/4155
Domestic Patent References:
| JP9212229A | ||||
| JP2004243461A | ||||
| JP2007319944A | ||||
| JP2008149436A | ||||
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Foreign References:
| WO2010004744A1 | ||||
| WO2016104265A1 | ||||
| US20150251315 | ||||
| US20170225333 |
Attorney, Agent or Firm:
Kanako Murakami
Shigeaki Matsui
Kuratani Yasutaka
Shigeaki Matsui
Kuratani Yasutaka