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US 2006/0217841 A1Published application
Robot controller and robot control method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsNaoyuki Matsumoto, Masatoshi Sano
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AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsNaoyuki Matsumoto, Masatoshi Sano
Estimating the term…
Term end not estimated
A controller calculates first movement times when moving each robot hand from a movement start position to a synchronous operation position in a shortest time and decides the longest first movement time as a second movement time. The controller generates, for each robot, a robot operation plan for moving each robot hand without stopping from the movement start position to the synchronous operation position in the second movement time. The robot hand of each robot moves from the movement start position to the synchronous operation position without stopping and simultaneously reach the synchronous operation positions.
A robot controller for moving each of standard moving parts installed on each of robots from each of movement start positions set for each of said robots to each of synchronous operation positions set for each of said robots and simultaneously performing operations of said robots, comprising:
A robot control method of moving each of standard moving parts installed on each of robots to each of synchronous operation positions set for each of said robots and simultaneously performing operations of said robots, comprising:
Dependencies are inferred from the claim text.
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Characterised by the tasks executed: dual arm manipulator; Coordination of several manipulators
Characterised by programming, planning systems for manipulators: characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible…:…
From computer integrated manufacturing till monitoring: star network, hub
From the US filing history. Foreign family members aren’t listed.
Backward citations are indexed for grants only.
This application is based upon the prior Japanese Patent Application No. 2005-84497 filed on Mar. 23, 2005, the entire contents of which are incorporated herein by reference.
1. Field of the Invention
The present invention relates to a robot controller and a robot control method for moving each of standard moving parts of each of robots to each of synchronous operation positions respectively set and simultaneously performing operations of the robots.
The above and other objects, features and advantages of the present invention will become more apparent from the following description taken in connection with the accompanying drawings, in which:
FIG. 1 is a block diagram showing a pressing equipment 20 of an embodiment of the present invention;
FIG. 2 is a block diagram showing the functional constitution of a controller 23;
Referring to FIG. 1, the pressing equipment 20 is structured so as to include a plurality of pressing machines 22, a plurality of robots 21 for transferring a workpiece 24 between the pressing machines 22, a plurality of robot controllers 23 for controlling respectively the robots 21, and a hub 25 composing a communicating means for communicably connecting the robot controllers 23. In this embodiment, the pressing equipment 20 is equipped with three pressing machines 22A to 22C and four robots 21A to 21D.
Each robot 21 is a multi-axial robot and in this embodiment, is realized by a six-axial vertical multi-joint robot. The robot 21 is equipped with a rotational body on a base installed on the floor. On the rotational body, a plurality of arms are installed so as to change the angle around each axis. At the front end of the arm at the freest end, a wrist is installed. On the wrist, the robot hand 19 removably holding the workpiece 24 is installed. The robot hand 19 is a standard moving part installed on the robot 21.
Each robot 21 is equipped with a servo motor for each rotational axis of each arm. Each servo motor individually operates each arm. Each servo motor individually changes its angle and drives each arm to move, thus the robot hand 19 can move to an optional position with an optional posture.