Robot system

• US 10,421,193 B2
• Filed: 12/06/2017
• Issued: 09/24/2019
• Est. Priority Date: 12/08/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Kamoi, Toshiaki, Yamamoto, Tomoyuki
• Primary Examiner(s): Holloway, Jason
• Application Number:
  US15/833,434
• Publication Number:
  US 20180161988A1
• Time in Patent Office: 657 Days
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 19/406 characterised by monitoring or safety G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/39135 For multiple manipulators operating at same time, avoid collision
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/40497 Collision monitor controls planner in real time to replan if collision
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

To provide a robot system capable of reducing the burden of a setting operator regardless of conditions such as setting conditions of a robot and the complexity of a work space at the time of setting an operable-inoperable area of the robot. A robot system has a robot capable of detecting contact with an obstacle. The robot moves inside a predetermined search area in a predetermined posture along a previously-determined scheduled search route and sets an operable-inoperable area of the robot inside the search area based on position-posture data with respect to the robot having come into contact with the obstacle during moving of the robot.

Claims

1. A robot system comprising:

a robot capable of detecting contact with an object;

a memory configured to store a program; and

a processor configured to execute the program so as to;

move the robot along a previously-determined scheduled search route when moving inside a predetermined search area; and

set a contact point as a position of the robot upon the robot making contact with the object along the scheduled search route;

cause the robot to change the scheduled search route upon the robot making contact with the object by shifting the scheduled search route by a certain distance from the contact point so as to make a route detour to avoid further contact with the object;

cause the robot to revert to the scheduled search route after the route detour to avoid the object, wherein the robot recursively repeats the change in the scheduled search route so that the scheduled search route is modified to include the route detour on further iterations of the scheduled search route; and

set an operable-inoperable area of the robot inside the search area based on the set contact point.

2. The robot system according to claim 1, wherein

the robot specifies which part of a mechanical portion of the robot has come into contact with the object.

3. The robot system according to claim 1, wherein

when the operable-inoperable area is set, the processor indicates the operable-inoperable area on a display device, and

the operable-inoperable area can be selected to be applied to the robot system and thus become effective via the display device.

4. A robot system comprising:

at least a first robot and a second robot;

a memory configured to store a program; and

a processor configured to execute the program so as to;

move either one of the first robot and the second robot inside a predetermined search area and set an operable-inoperable area of the one robot inside the search area, based on position data with respect to the one robot having come into contact with an object during moving of the one robot, and

set an operable-inoperable area of the other of the first robot and the second robot inside the search area through calculation, by using relative position-angle data of the one robot, based on the operable-inoperable area of the one robot.