Robotic system control method and controller

A non-transitory computer-readable medium storing processor instructions for performing a control method of a robotic system that includes a robot having a robotic arm and an end effector,

• the processor instructions including:
• an instruction for deriving an approach location at which the end effector grips an operation object;
• an instruction for deriving a scan location for scanning identification information of the operation object;
• and
• an instruction for creating or deriving a control sequence to instruct the robot to execute the control sequence, based on the approach location and the scan location,
• wherein the control sequence includes the following:
• gripping the operation object at a start location;
• scanning an identifier of the operation object with a scanner located between the start location and a task location;
• temporarily releasing the operation object from the end effector and regripping the operation object by the end effector to be shifted, at a shift location, when a predetermined condition is satisfied;
• moving the operation object to the task location,
• setting the predetermined condition based on a condition that a storage efficiency of the operation object at the task location is increased when the operation object is shifted and a direction of gripping the operation object by the end effector is changed;
• and
• calculating a first storage efficiency at the task location before shifting the operation object and a second storage efficiency at the task location after shifting the operation object.

A controller of a robotic system that includes a robot having a robotic arm and an end effector, the controller comprising:

• a communication device configured to communicate with a remote device;
• and
• a processor coupled to the communication device, wherein the processor is configured to execute a control method, the control method comprising:
• deriving an approach location at which the end effector grips an operation object;
• deriving a scan location for scanning an identifier of the operation object;
• and
• based on the approach location and the scan location, deriving a control sequence to instruct the robot to execute the control sequence,
• wherein the control sequence includes:
• gripping the operation object at a start location;
• scanning identification information of the operation object with a scanner located between the start location and a task location;
• calculating a first storage efficiency at the task location before shifting the operation object and a second storage efficiency at the task location after shifting the operation object;
• temporarily releasing the operation object from the end effector and regripping the operation object by the end effector to be shifted, at a shift location, when a predetermined condition is satisfied, wherein the predetermined condition is set based on a condition that a storage efficiency of the operation object at the task location is increased when the operation object is shifted and a direction of gripping the operation object by the end effector is changed;
• and
• moving the operation object to the task location.