Title:
ロボット復旧支援装置及びそれを備えるロボットシステム
Document Type and Number:
Japanese Patent JP6858521
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To improve a success rate of restoration of a robot when performing restoration control after the robot is stopped due to occurrence of abnormality and achieve high efficiency in restoration operation.SOLUTION: A robot restoration support device 60 can communicate with a robot controller 20 that controls based on control data a robot 10 having a multijoint arm 11 to which an end effector 12 can be attached. The robot restoration support device 60 comprises a restoration control portion 50, and an end effector interference determining portion 63. The restoration determining portion 50, when the robot 10 is stopped due to occurrence of abnormality, performs control so that the robot 10 is restored into a state where the robot can resume work. The end effector interference determining portion 63 determines whether the end effector 12 is in an end effector interference state where the end effector interferes with a peripheral structure of the robot 10 or in an end effector non-interference state where the effector does not interfere with the structure. The restoration control portion 50 performs restoration control different in the end effector interference state and in the effector non-interference state.SELECTED DRAWING: Figure 1
Inventors:
Hiroki Kinoshita
Hiroki Takayama
Toshiyuki Honma
Hiroki Takayama
Toshiyuki Honma
Application Number:
JP2016190582A
Publication Date:
April 14, 2021
Filing Date:
September 29, 2016
Export Citation:
Assignee:
Kawasaki Heavy Industries, Ltd.
International Classes:
B25J19/06; G05B19/4155
Domestic Patent References:
| JP5134719A | ||||
| JP3142193A | ||||
| JP2006012074A | ||||
| JP3181367A | ||||
| JP2016163928A | ||||
| JP5282023A |
Foreign References:
| US20150266182 | ||||
| WO2010092981A1 |
Attorney, Agent or Firm:
Naomi Katsura River