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US 11,738,451 B2Granted
Control system and control method of control system
AssigneeOMRON Corporation
InventorHidehiko Sekimoto
Life of this patent
Estimating the term…
Abstract
A control system is provided. A second robot in this control system has a trajectory calculation unit which calculates a trajectory of the second robot so as to avoid a first robot if it is determined that the first robot and the second robot will collide.
Claims8
A control system in which a control device and a plurality of robots with multiple joints are connected in series to a same network, wherein
- the control device is configured to add information indicating target positions of movable parts of the plurality of robots to control data, and transmit the control data to the network,
- the plurality of robots comprise a first robot and a second robot, and
- the second robot comprises a processor configured to:
- acquire, via the network, the control data to which trajectory identification information for specifying a trajectory from a current position to a target position of a movable part of the first robot and target position information indicating a target position of a movable part of the second robot are added;
- determine whether the first robot and the second robot collide based on the trajectory of the movable part of the first robot and a trajectory from a current position to the target position of the movable part of the second robot that is specified from a target position of the second robot;
- and
- correct the trajectory of the movable part of the second robot so as to avoid the trajectory of the movable part of the first robot in the event of collision between the first robot and the second robot.
4 more elements
A control method of a control system in which a control device and a plurality of robots are connected in series to a same network,
- the control device being configured to add information indicating target positions of movable parts of the plurality of robots to control data, and transmit the control data to the network,
- the plurality of robots comprising a first robot and a second robot, wherein
- the control method of a control system comprises performing in the second robot:
- a step of acquiring, via the network, the control data to which trajectory identification information for specifying a trajectory from a current position to a target position of a movable part of the first robot and target position information indicating a target position of a movable part of the second robot are added;
- a determination step of determining whether the first robot and the second robot collide based on the trajectory of the movable part of the first robot and a trajectory from a current position to the target position of the movable part of the second robot that is specified from a target position of the second robot;
- and
- a trajectory calculation step of correcting the trajectory of the movable part of the second robot so as to avoid the trajectory of the movable part of the first robot in the event of collision between the first robot and the second robot.
4 more elements
Dependencies are inferred from the claim text.