Title:
ROBOT SYSTEM, CONTROLLER, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2021/125288
Kind Code:
A1
Abstract:
A robot system 1 is provided with: a conveyor device 2 that conveys a workpiece 90; an environment identification device 200 that identifies a current position of the workpiece 90 and an occupied region of at least one object; and a robot controller 300 that controls robots 3A, 3B, 3C to carry out an operation with respect to the workpiece 90. The robot controller 300 comprises: an interlock region identification unit 315 that identifies, on the basis of the current position of the workpiece 90, an interlock region that moves together with the workpiece 90; an operation possibility determination unit 316 that determines operation possibility of the robots 3A, 3B, 3C with respect to the workpiece 90 on the basis of whether the interlock region overlaps the occupied region of an object other than the robots 3A, 3B, 3C; and a control execution unit 317 that, if the operation possibility determination unit 316 determines that the operation is possible, controls the robots 3A, 3B, 3C on the basis of the current position of the workpiece 90.
Inventors:
ITO TOSHIKI (JP)
KUMAGAI HIROSHI (JP)
TOBATA YUKIHIRO (JP)
IDEGUCHI HISASHI (JP)
NAKAMURA KEISUKE (JP)
KUMAGAI HIROSHI (JP)
TOBATA YUKIHIRO (JP)
IDEGUCHI HISASHI (JP)
NAKAMURA KEISUKE (JP)
Application Number:
PCT/JP2020/047245
Publication Date:
June 24, 2021
Filing Date:
December 17, 2020
Export Citation:
Assignee:
YASKAWA ELECTRIC CORP (JP)
International Classes:
B25J19/06
Foreign References:
| JP2010188515A | 2010-09-02 | |||
| JP2017013180A | 2017-01-19 | |||
| JP2013139075A | 2013-07-18 |
Attorney, Agent or Firm:
HASEGAWA Yoshiki et al. (JP)
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