Title:
ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2022/244127
Kind Code:
A1
Abstract:
This robot system (1) comprises: a robot (3) on which a hand (12) for handling a workpiece is mounted; a movement mechanism (2) that can change the relative positions of the robot and the workpiece; a workpiece sensor (13) that can detect the position of the workpiece with respect to the robot; an obstacle sensor (5) that can detect the position of a surrounding obstacle with respect to the movement mechanism; and a control device (4) that controls the robot and the movement mechanism. The robot comprises a load sensor (11) that can detect a load acting on at least one operating axis of the robot. The control device generates a first map that indicates the arrangements of the workpiece and the obstacle from the detected position of the workpiece and position of the obstacle, generates a second map that indicates a degree of influence on the lifetime of the robot for each relative positioning by the movement mechanism on the basis of the load detected by the load sensor when the workpiece is lifted up by the hand, and determines the relative positioning by the movement mechanism on the basis of the generated first map and second map.
Inventors:
FUJIOKA NAOKI (JP)
WAKABAYASHI KAZUKI (JP)
SUYAMA KEITA (JP)
WAKABAYASHI KAZUKI (JP)
SUYAMA KEITA (JP)
Application Number:
PCT/JP2021/018905
Publication Date:
November 24, 2022
Filing Date:
May 19, 2021
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B25J5/00
Foreign References:
| JP2010214544A | 2010-09-30 | |||
| JP2016059990A | 2016-04-25 | |||
| JP2017047518A | 2017-03-09 | |||
| JP2019081206A | 2019-05-30 | |||
| JP2017523054A | 2017-08-17 |
Other References:
KIMITOSHI YAMAZAKI, MASAHIRO TOMONO, TAKASHI TSUBOUCHI, SHIN’ICHI YUTA: "3E17 Motion Planning for a Mobile Manipulator with Several Grasping Postures", PREPRINTS OF THE 24TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN; OKAYAMA, JAPAN; SEPTEMBER 14-16, 2006, vol. 24, 14 September 2006 (2006-09-14) - 16 September 2006 (2006-09-16), JP, pages 1 - 4, XP009541556
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
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