Title:
ROBOT CONTROL SYSTEM, ROBOT CONTROL DEVICE, MOTION PLANNING DEVICE, ROBOT CONTROL PROGRAM, AND MOTION PLANNING PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/032156
Kind Code:
A1
Abstract:
This robot control system (100) comprises: a motion planning device (1) that creates a motion trajectory for a robot (3); and a robot control device (2) that controls the motion of the robot on the basis of the motion trajectory. The robot control device comprises: a parameter storage unit (27) that holds dynamic parameters of the robot; and an optimum control calculation unit (24) and that uses the dynamic parameters to calculate an allowable acceleration/deceleration time, which is an allowable value of a time required for movement when the robot moves to an allowable acceleration/deceleration time calculation location and the speed of the robot at the point in time when the robot has arrived at the allowable acceleration/deceleration time calculation location is a designated speed. The motion planning device comprises a command generation unit (13) that creates the motion trajectory by using the allowable acceleration/deceleration time calculated by the optimum control calculation unit, and that determines the allowable acceleration/deceleration time calculation location and the designated speed. When the allowable acceleration/declaration time is calculated by the optimum control calculation unit, the command generation unit uses the calculated allowable acceleration/deceleration time to correct the motion trajectory.
Inventors:
ISOBE YUMA (JP)
Application Number:
PCT/JP2021/032445
Publication Date:
March 09, 2023
Filing Date:
September 03, 2021
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J9/22; G05B19/416
Domestic Patent References:
| WO2009144805A1 | 2009-12-03 |
Foreign References:
| JPH07200033A | 1995-08-04 | |||
| JP2006302282A | 2006-11-02 | |||
| JP2004524171A | 2004-08-12 | |||
| JP2002091572A | 2002-03-29 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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