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US 12,759,147 B2Granted
Robot system and robot movement control apparatus
AssigneeFanuc Corporation
InventorsYoshinori Ochiishi, Hiroshi Iijima
Life of this patent
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Abstract
A robot system is provided with a robot including a free cart and a manipulator mounted on the free cart, and a control device for controlling the manipulator. The control device controls the manipulator to execute a predetermined task, and also controls the manipulator to move the robot itself.
Claims9
A robot system, comprising:
- a robot including a free cart and a manipulator mounted on the free cart;
- and
- a control device for controlling the manipulator, wherein
- the control device controls the manipulator to execute a predetermined task, calculates a movement trajectory of an end of a hand equipped at the manipulator based on a displacement from a current position to a next position of the robot and, based on the movement trajectory of the end of the hand, controls the manipulator to move the robot itself to the next position,
- the hand is attached to a distal end of the manipulator,
- the control device operates the manipulator with the hand grasping a fixed object on a movement path of the robot to move the robot toward or away from the fixed object, and
- the control device
- based on a posture change and a displacement of a movement target position with respect to the current position of the robot, calculates a coordinate transformation matrix from a first robot coordinate system having the current position of the robot as an origin to a second robot coordinate system having the movement target position as an origin,
- calculates a hand movement trajectory from a hand position of the hand grasping the fixed object to a position obtained by multiplying the hand position of the hand grasping the fixed object by an inverse matrix of the coordinate transformation matrix, and
- controls the manipulator in accordance with the hand movement trajectory to move the robot from the current position to the movement target position.
7 more elements
A robot movement control apparatus for controlling movement of a robot including a free cart, a manipulator mounted on the free cart, and a hand equipped at a distal end of the manipulator, the robot movement control apparatus comprising:
- a unit for calculating a first coordinate transformation matrix (T1) for transforming a position and a posture in a world coordinate system to a position and a posture in a first robot coordinate system having a current position of the robot as an origin, based on a position and rotational angles around axes of the first robot coordinate system with respect to the world coordinate system;
- a unit for transforming, by the first coordinate transformation matrix (T1), a grasping position at which the hand grasps a fixed object on a movement path of the robot to a grasping position expressed in the first robot coordinate system;
- a unit for calculating a second coordinate transformation matrix (T2) from the first robot coordinate system to a second robot coordinate system having a movement target position as an origin, based on a posture change and a displacement of the movement target position with respect to the current position of the robot;
- a unit for calculating a hand movement trajectory from the grasping position expressed in the first robot coordinate system to a position obtained by multiplying the grasping position expressed in the first robot coordinate system by an inverse matrix of the second coordinate transformation matrix (T2);
- and
- a control unit for controlling the manipulator in accordance with the hand movement trajectory to move the robot from the current position to the movement target position,
- wherein the control unit controls the manipulator to execute a predetermined task, calculates a movement trajectory of an end of the hand based on a displacement from a current position to a next position of the robot and, based on the movement trajectory of the end of the hand, controls the manipulator to move the robot itself to the next position.
4 more elements
Dependencies are inferred from the claim text.