# US 12,759,147 B2 · Robot system and robot movement control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,147 B2 - Document ID: US12759147B2 - Status: Granted - Kind: B2 - Application number: 18/266,188 - Filed: 2021-12-15 - Published: 2024-02-15 - Granted: 2026-10-13 - Earliest claimed: 2020-12-22 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Yoshinori Ochiishi; Hiroshi Iijima - Web page: https://patentgrep.com/patent/US12759147B2 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 5/007: {mounted on wheels} - B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it} - G05B 2219/40607: Fixed camera to observe workspace, object, workpiece, global - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The robot system according to claim 1, wherein a protruding body having a predetermined shape is installed as the fixed object along the movement path of the robot. ### Claim 3 (depends on 1) The robot system according to claim 1, further comprising: an overhead camera for detecting a position of the robot. ### Claim 4 (depends on 1) The robot system according to claim 1, wherein a sensor for detecting a position of the robot is installed along the movement path of the robot. ### Claim 5 (depends on 1) The robot system according to claim 1, wherein the robot is equipped with a sensor for detecting a position. ### Claim 6 (depends on 1) The robot system according to claim 1, further comprising: a guide mechanism installed for guiding a movement of the robot. ### Claim 7 (depends on 6) The robot system according to claim 6, wherein the guide mechanism includes a guide pole laid along a movement trajectory of the robot and a slider inserted into the guide pole, and the robot or the free cart is detachably attached to the slider. ### Claim 8 (depends on 1) The robot system according to claim 1, wherein the robot is moved toward or away from the fixed object on the movement path of the robot by operating the manipulator with a part of the manipulator pressed against the fixed object. ### Claim 9 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.