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Patent Searching and Data


Title:
ROBOT CONTROL DEVICE, ROBOT SYSTEM, AND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/138017
Kind Code:
A1
Abstract:
A robot control device is provided which can simply prevent the posture of a robot arm from changing abruptly due to a singularity. In the course of changing the attitude of the horizontal multi-joint robot to an attitude capable of holding a workpiece housed in a housing device, this robot control device aligns a third rotation axis on the circumference of the circle that has, as the center, a first rotation axis and, as the radius, the difference between the distance between the first rotation axis and a second rotation axis and the distance between the second rotation axis and a third rotation axis, causes a second straight line connecting the first rotation axis and the second rotation axis to cut across the third rotation axis, and thereafter, causes the second and third rotation axes to each move in only one of the two regions obtained by division with a third straight line connecting the first rotation axis and the center point of the work piece housed in the housing device as the dividing line.

Inventors:
NAKAYA ATSUSHI
KITANO SHINYA
Application Number:
JP2019/050458
Publication Date:
July 02, 2020
Filing Date:
December 24, 2019
Export Citation:
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Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J9/10; G05B19/18; H01L21/677
Foreign References:
JP2003145461A2003-05-20
JP2009113172A2009-05-28
JP2005509277A2005-04-07
JP2010184333A2010-08-26
JP2009503811A2009-01-29
JP2003517717A2003-05-27
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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