Robot system
AssigneeFanuc Corporation
InventorsJunya Terasaka, Masao Motohashi
Life of this patent
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Abstract
A robot system including a plurality of robots, controllers that respectively control the robots, hands attached to wrist ends of the robots and configured to hold and release a workpiece, and a sensor configured to detect that the workpiece is being held by the hands of the robots. The controllers are interconnected and configured to exchange signals so that the robots operate in coordination in response to an operation command that includes a coordination command, and prohibit operation of each of the robots based on an operation command that lacks a coordination command in a state in which the sensor detects the workpiece being held.
Claims3
A robot system comprising:
- a plurality of robots;
- a plurality of controllers that respectively control the robots;
- hands attached to wrist ends of the robots and configured to hold a workpiece;
- and
- a sensor configured to detect that the workpiece is being held by the hands of the robots,
- wherein the plurality of controllers are configured to:
- control the robots to operate in coordination in response to an operation command that includes a coordination command;
- prohibit operation of each of the robots based on an operation command that lacks a coordination command when the sensor detects that the workpiece is being co-held by the robot;
- and
- control the robots to operate in response to the operation command that lacks the coordination command and based on detection result of the sensor, wherein the detection result indicates that the robots are not co-holding the workpiece.
A robot system comprising:
- a plurality of robots;
- a plurality of controllers that respectively control the robots;
- hands attached to wrist ends of the robots and configured to hold a workpiece;
- and
- a sensor configured to detect that the workpiece is being held by the hands of the robots,
- wherein the plurality of controllers are interconnected and configured to exchange signals so that the robots operate in coordination in response to an operation command that includes a coordination command, and prohibit operation of each of the robots based on an operation command that lacks a coordination command in a state in which the sensor detects that the workpiece is being co-held by the robot, and
- wherein, when the sensor detects the workpiece being held and when the operation command including the coordination command is used, the plurality of controllers sequentially monitor a relative position between a coordinate axis fixed with respect to the hand of one of the robots and a coordinate axis fixed with respect to the hand of another one of the robots and the plurality of controllers sequentially monitor orientations of the one hand and the other hand, and prohibit operation of the robots if the orientations and the relative position between the two coordinate axes change by an amount equal to or more than a particular threshold.
Dependencies are inferred from the claim text.