Robot control device, robot, and robot system
AssigneeSeiko Epson Corporation
InventorShunsuke Toshimitsu
Life of this patent
Estimating the term…
Abstract
A robot control device that controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device comprising: a processor, wherein the processor is configured to suppress interference between an object and the B arm by limiting a rotation range of the C arm in a case where the object is attached to the C arm.
Claims12
A robot control device that controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device comprising:
- a processor that is configured to execute computer-executable instructions so as to control the robot,
- wherein the processor is configured to limit a rotation range of the C arm to suppress interference between an object and the B arm, when the B arm is in the first state and the processor is configured to provide unlimited rotation range of the C arm when the B arm is not in the first state, the object being attached to an outer surface of the C arm, and the processor being configured to limit the rotation range of the C arm by predetermined limits entered by a user.
A robot comprising:
- an A arm that is rotatable about an A rotation axis;
- a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis;
- and
- a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm,
- wherein interference between an object and the B arm is suppressed by limiting a rotation range of the C arm by a processor when the B arm is in the first state, the rotation range of the C arm being limited by predetermined limits entered by a user, the rotation range of the C arm being unlimited when the B arm is not in the first state, and the object being attached to an outer surface of the C arm.
A robot system comprising:
- a robot that includes an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm;
- and
- a robot control device that includes a processor that is configured to execute computer-executable instructions so as to control the robot,
- wherein the processor is configured to suppress interference between an object and the B arm by limiting a rotation range of the C arm when the B arm is in the first state, the processor being configured to limit the rotation range by predetermined limits entered by a user, the processor being configured to provide unlimited rotation range of the C arm when the B arm is not in the first state, and the object being attached to an outer surface of the C arm.
Dependencies are inferred from the claim text.