Title:
TRAJECTORY PLANNING DEVICE AND TRAJECTORY PLANNING METHOD
Document Type and Number:
Japanese Patent JP2023125754
Kind Code:
A
Abstract:
To reduce operation time while avoiding mutual interference in a multiple arm robot line where a plurality of robot arms work in the same work area.SOLUTION: A trajectory planning device keeps order information representing an operation sequence related to a plurality of components, target position information including picking location and a placing location in an operation of the plurality of components, and structure information representing structures of a plurality of robots. The trajectory planning device assigns operations on the plurality of components to the plurality of robots so that the operations on the plurality of components are performed according to an order indicated by order information, and generates a trajectory plan for performing operations on an assigned component based on the target position information and the structure information for each of the plurality of robots. When an interference occurs between the plurality of robots, the trajectory planning device generates a plurality of trajectory plans including trajectory plans which avoid the interference through different methods, and selects any one of the plurality of trajectory plans based on operation times calculated related to the plurality of trajectory plans.SELECTED DRAWING: Figure 1
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Inventors:
HAYASHI NAOHIRO
NAKASU NOBUAKI
NAKASU NOBUAKI
Application Number:
JP2022030023A
Publication Date:
September 07, 2023
Filing Date:
February 28, 2022
Export Citation:
Assignee:
HITACHI LTD
International Classes:
B25J9/22; G05B19/42
Attorney, Agent or Firm:
Fujio Patent Attorneys Corporation