Robot system
First Claim
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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.
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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.
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Citations
4 Claims
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1. A robot system comprising:
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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. - View Dependent Claims (2, 3)
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4. A robot system comprising:
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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.
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Specification