JP2021133479A5

JP2021133479A5 - A robot system, a control method, a robot, a workbench, a cart, a control program, a recording medium, and an article manufacturing method.

Info

Publication number: JP2021133479A5
Application number: JP2020033513A
Authority: JP
Filing date: 2020-02-28
Publication date: 2023-03-08
Anticipated expiration: 2040-02-28

Description

本発明は、ロボットシステム、制御方法、ロボット、作業台、台車、制御プログラム、記録媒体、および物品の製造方法に関する。 The present invention relates to a robot system , control method , robot , workbench, cart, control program, recording medium, and article manufacturing method.

本発明の一つの態様は、第１ロボットと第２ロボットとを備えたロボットシステムにおいて、前記第２ロボットの動作を制御する制御部を備え、前記制御部が、前記第１ロボットを用いて取得した、前記第１ロボットまたは前記第２ロボットが実施する作業に対応する軌道に関する軌道情報と、前記第２ロボットの前記第１ロボットに対する差分情報と、を取得し、前記軌道情報と、前記差分情報と、を用いて、前記第２ロボットの動作を制御する、ことを特徴とするロボットシステムである。 One aspect of the present invention is a robot system comprising a first robot and a second robot, further comprising a control section for controlling the motion of the second robot, wherein the control section uses the first robot to acquire trajectory information relating to the trajectory corresponding to the work performed by the first robot or the second robot, and difference information of the second robot with respect to the first robot, and acquiring the trajectory information and the difference information; and controlling the motion of the second robot .

Claims

In a robot system comprising a first robot and a second robot ,
A control unit that controls the operation of the second robot,
The control unit
trajectory information about a trajectory corresponding to the work performed by the first robot or the second robot, which is acquired using the first robot;
obtaining difference information of the second robot with respect to the first robot;
controlling the motion of the second robot using the trajectory information and the difference information ;
A robot system characterized by :

The robot system according to claim 1,
the first robot is a master robot having a form corresponding to the second robot;
using the master robot to set the work to be performed by the second robot;
The trajectory information is time-series data of joint angles of the master robot,
A robot system characterized by :

The robot system according to claim 1,
The first robot is a virtual master robot that operates in a virtual environment by computer simulation and has a form corresponding to the second robot,
setting the work to be performed by the second robot using the virtual master robot;
The trajectory information is time-series data of joint angles of the virtual master robot,
A robot system characterized by :

In the robot system according to any one of claims 1 to 3,
The difference information is individual difference information of the second robot with respect to the first robot.
A robot system characterized by:

In the robot system according to claim 4,
The individual difference information is information about a difference in mechanical mechanism between the second robot and the first robot.
A robot system characterized by:

In the robot system according to claim 4 or 5,
The individual difference information includes the link parameter difference, the end effector length difference, the link or end effector weight difference, the link or joint stiffness difference, the tip end difference, and the link parameter difference between the second robot and the first robot. is at least one of
A robot system characterized by:

In the robot system according to claim 6,
The link parameter is at least one of a link length, a link twist angle, an inter-link distance, and an inter-link angle.
A robot system characterized by:

In the robot system according to any one of claims 1 to 7,
Equipped with a workbench and trolley,
The second robot is arranged on the carriage and performs work on the workbench,
A robot system characterized by:

In the robot system according to claim 8,
The trajectory information corresponds to work performed by the first robot or the second robot on the workbench.
A robot system characterized by:

In the robot system according to claim 8 or 9,
A relative positional relationship between the work table and the carriage is determined by a coupling mechanism between the work table and the carriage.
A robot system characterized by:

In the robot system according to any one of claims 8 to 10,
The workbench and the carriage are electrically connected via a connector,
A robot system characterized by:

In the robot system according to any one of claims 8 to 11,
The second robot can be self-propelled by the carriage, and the second robot is moved to be placed on the workbench.
A robot system characterized by:

In the robot system according to any one of claims 8 to 12,
A first storage unit storing the trajectory information is arranged on the workbench,
A second storage unit storing the difference information is arranged on the second robot or the carriage,
A robot system characterized by:

In the robot system according to any one of claims 8 to 13,
The control unit is arranged on the workbench, the second robot, or the carriage,
A robot system characterized by:

In the robot system according to any one of claims 8 to 14,
When an abnormality occurs in the second robot, the control unit arranges a second robot different from the second robot on the workbench.
A robot system characterized by:

The robot system according to claim 15, wherein
The control unit notifies when a second robot different from the second robot cannot be placed on the workbench.
A robot system characterized by:

17. The robot system of claim 16, wherein
the controller performs the notification using at least one of voice, display, email, message text;
A robot system characterized by:

In the robot system according to any one of claims 1 to 17,
Identification information capable of specifying the difference information corresponding to the second robot is given to the second robot, and the control unit acquires the difference information via the identification information.
A robot system characterized by:

19. The robotic system of claim 18, wherein
The identification information is a tag or sticker on which a code is recorded,
A robot system characterized by:

The robot system according to claim 19, wherein
The code is string information or a barcode,
A robot system characterized by:

In the robot system according to any one of claims 1 to 20,
Based on the difference information, the control unit corrects the position information for allowing the predetermined part of the first robot to pass in the trajectory information so that the predetermined part of the second robot can pass through.
A robot system characterized by:

22. The robotic system of claim 21, wherein
The position information is angle information at joints of the first robot or the second robot.
A robot system characterized by:

A method of manufacturing an article, comprising manufacturing an article using the robot system according to any one of claims 1 to 22.

In a control method of a robot system including a first robot and a second robot,
The robot system includes a control unit that controls the operation of the second robot,
The control unit
trajectory information about a trajectory corresponding to the work performed by the first robot or the second robot, which is acquired using the first robot;
obtaining difference information of the second robot with respect to the first robot;
controlling the motion of the second robot using the trajectory information and the difference information;
A control method characterized by:

being a robot
motion is controlled using trajectory information about a trajectory corresponding to the work performed by the robot and difference information of the robot with respect to a reference robot;
A robot characterized by:

A robot control method comprising:
Acquiring trajectory information about a trajectory corresponding to a work performed by the robot and difference information of the robot with respect to a reference robot;
controlling the motion of the robot using the trajectory information and the difference information;
A control method characterized by:

A workbench on which a robot works,
A workbench that controls the motion of a previous robot by using trajectory information about a trajectory corresponding to the work performed by the robot and difference information of the robot with respect to a reference robot.

A control method for a workbench on which a robot works, comprising:
Acquiring trajectory information about a trajectory corresponding to a work performed by the robot and difference information of the robot with respect to a reference robot;
Controlling the motion of the previous robot using the trajectory information and the difference information;
A control method characterized by:

A cart on which a robot is arranged,
A carriage that controls the motion of a previous robot by using trajectory information about a trajectory corresponding to the work performed by the robot and difference information of the robot with respect to the reference robot.

A control method for a cart on which a robot works, comprising:
Acquiring trajectory information about a trajectory corresponding to a work performed by the robot and difference information of the robot with respect to a reference robot;
Controlling the motion of the previous robot using the trajectory information and the difference information;
A control method characterized by:

A control program that causes a computer to execute the control method according to any one of claims 24, 26, 28, and 30.

A computer-readable recording medium storing the control program according to claim 31.