Title:
ROBOT CONTROL DEVICE AND ROBOT SYSTEM USING SAME
Document Type and Number:
WIPO Patent Application WO/2019/035362
Kind Code:
A1
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:
OKAHARA TAKUYA (JP)
Application Number:
PCT/JP2018/028971
Publication Date:
February 21, 2019
Filing Date:
August 02, 2018
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J19/06; B25J9/10
Domestic Patent References:
| WO2016104265A1 | 2016-06-30 |
Foreign References:
| JP2011125975A | 2011-06-30 | |||
| JP2016209991A | 2016-12-15 | |||
| JP2016196069A | 2016-11-24 | |||
| JP2010155328A | 2010-07-15 | |||
| JPH09212229A | 1997-08-15 | |||
| JP2010055250A | 2010-03-11 | |||
| US20170225333A1 | 2017-08-10 | |||
| JP2018012159A | 2018-01-25 |
Attorney, Agent or Firm:
MURAKAMI, Kanako et al. (JP)
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