Robot control apparatus, robot control system, robot control method, and computer-readable storage medium storing a robot control program
AssigneeOMRON Corporation
InventorsFelix Vondrigalski, Yoshihisa Ijiri
Life of this patent
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Abstract
A robot control apparatus according to one or more embodiments may include: a calculating unit configured to calculate an interference range of a robot based on a model of the robot in a state in which an object is gripped by a gripper with which the robot is equipped; and a planning unit configured to plan a motion of the robot based on the model and the interference range.
Claims20
A robot control apparatus comprising a processor configured with a program to perform operations comprising:
- calculating an interference range of a robot based on a model of the robot simulating motion of the robot in a virtual space, in a state in which an object is gripped by a gripper with which the robot is equipped;
- and
- planning a motion of the robot based on the model of motion of the robot in the virtual space and the interference range, wherein the interference range of the robot is calculated by:
- calculating angles of a plurality of joints of the robot;
- and
- calculating a leading end position of the object gripped by the gripper from the calculated angles.
A robot control method for causing a processor comprised in a robot control apparatus to perform operations comprising:
- calculating an interference range of a robot based on a model of the robot simulating motion of the robot in a virtual space, in a state in which the robot grips an object using a gripper;
- and
- planning a motion of the robot based on the model of motion of the robot in the virtual space and the interference range, wherein
- the interference range of the robot is calculated by:
- calculating angles of a plurality of joints of the robot;
- and
- calculating a leading end position of the object gripped by the gripper from the calculated angles.
A non-transitory computer-readable storage medium storing a robot control program, which when read and executed, causes a processor comprised in a robot control apparatus to perform operations comprising:
- calculating an interference range of a robot based on a model of the robot simulating motion of the robot in a virtual space, in a state in which an object is gripped by a gripper with which the robot is equipped;
- and
- planning a motion of the robot based on the model of motion of the robot in the virtual space and the interference range, wherein
- the interference range of the robot is calculated by:
- calculating angles of a plurality of joints of the robot;
- and
- calculating a leading end position of the object gripped by the gripper from the calculated angles.
Dependencies are inferred from the claim text.