ROBOT SYSTEM, PARALLEL LINK MECHANISM, CONTROL METHOD, CONTROL DEVICE, PROGRAM, AND STORAGE MEDIUM

WIPO Patent Application WO/2021/182024

A1

A robot system according to an embodiment comprising: an articulated arm mechanism; a parallel link mechanism; an end effector; a detector; and a control device. The control device carries out a first operation of moving the arm mechanism, and a second operation of moving the parallel link mechanism. The control device carries out, between the first operation and the second operation, calculation processing of calculating, on the basis of a detection result by the detector, a displacement amount of a posture of a control point until the posture reaches a work posture and determination processing of determining whether or not the displacement amount is within a movable range of a movable portion. The control device moves, when the displacement amount exceeds the movable range, the arm mechanism such that the posture of the control point is close to the work posture and then carries out the second operation.

JP5569544	Transfer robot
JP2003117876	ARTICULATED ROBOT
JPS57189786	INDUSTRIAL ROBOT

SAITO MASAHIRO (JP)
SHIBA TAKETO (JP)
FUCHIKAMI YASUNORI (JP)
TAKAHASHI HIROMASA (JP)

PCT/JP2021/005497

September 16, 2021

February 15, 2021

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TOSHIBA KK (JP)

B25J9/06; B25J9/10; B25J11/00

JP2003071760A	2003-03-12
JPS60249588A	1985-12-10
JPS61278906A	1986-12-09
JP2018202602A	2018-12-27
JP2005528993A	2005-09-29
JP2002239958A	2002-08-28
JP2010247238A	2010-11-04
JP2017530310A	2017-10-12
JP2019090727A	2019-06-13

See also references of EP 4119301A4

HYUGAJI, Masahiko et al. (JP)

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