Title:
ROBOT SYSTEM AND ROBOT CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/095546
Kind Code:
A1
Abstract:
A robot system including a first robot, a second robot, a first robot control device for controlling the first robot, a second robot control device for controlling the second robot, and a sensor, the first and second robots carrying out a coordinated operation, wherein: the first robot control device includes a first trajectory planning unit for planning the action of the first robot, a first control unit for executing the planned action of the first robot, a first collision prediction unit for predicting a collision between the first or second robot and an external disturbance on the basis of information from the sensor, and a first interlocking-preventing unit; the second robot control device includes a second trajectory planning unit for planning the action of the second robot, a second control unit for executing the planned action of the second robot, a second collision prediction unit for predicting a collision between the first or second robot and an external disturbance on the basis of information from the sensor, and a second interlocking-preventing unit; the first interlocking-preventing unit generates an external-disturbance-avoiding trajectory for the first robot and transmits the external-disturbance-avoiding trajectory to the second interlocking-preventing unit when the first collision prediction unit predicts a collision with the external disturbance; and the first and second robots carry out actions to avoid the external disturbance. This makes it possible to prevent the occurrence of faults if the action of a robot is suddenly changed due to an external disturbance or the like when a plurality of robots carry out a coordinated operation.
Inventors:
SUGAWARA TOSHIHARU (JP)
NAKAMURA TOSHIAKI (JP)
TRIPATHI GYANENDRA NATH (JP)
HANDA SHOICHI (JP)
NAKAMURA TOSHIAKI (JP)
TRIPATHI GYANENDRA NATH (JP)
HANDA SHOICHI (JP)
Application Number:
PCT/JP2022/040384
Publication Date:
June 01, 2023
Filing Date:
October 28, 2022
Export Citation:
Assignee:
HITACHI LTD (JP)
International Classes:
B25J19/06; B25J13/00
Domestic Patent References:
| WO2008031664A1 | 2008-03-20 |
Foreign References:
| JP2010172990A | 2010-08-12 | |||
| JPS63207578A | 1988-08-26 | |||
| JP2000042958A | 2000-02-15 | |||
| JP2011056607A | 2011-03-24 |
Attorney, Agent or Firm:
POLAIRE I.P.C. (JP)
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