Robot control apparatus, robot control method, and robot control program
AssigneeOMRON Corporation
InventorsAkane NAKASHIMA, Takeshi KOJIMA, Kennosuke HAYASHI, Haruka FUJII
Life of this patent
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Abstract
A robot control apparatus includes a workpiece orientation calculation unit, an arrival prediction unit, a robot orientation calculation unit, and a trajectory data generation unit. The arrival prediction unit obtains a picking prediction position at which a workpiece that is conveyed by a conveyance apparatus may be picked up by a picking apparatus or the like, based on conveyance speed information supplied by the conveyance apparatus or the like and the sensing information supplied by an image acquisition apparatus.
Claims15
A robot control apparatus for controlling a robot configured to pick up a workpiece that is conveyed by a conveyance apparatus, the robot control apparatus comprising:
- a workpiece orientation calculation unit configured to calculate an orientation of the workpiece based on sensing information of the workpiece that is output from a measurement apparatus;
- an arrival prediction unit configured to obtain a picking prediction position at which the workpiece that is being conveyed is predicted to be picked up by the robot, based on the sensing information of the workpiece and a conveyance speed of the conveyance apparatus;
- a robot orientation calculation unit configured to calculate an orientation at the picking prediction position of the robot based on the calculated orientation of the workpiece and the picking prediction position;
- and
- a trajectory data generation unit configured to acquire an orientation at an operation start position of the robot and generate trajectory data expressing an operation trajectory of the robot from the operation start position to the picking prediction position, based on the acquired orientation at the operation start position of the robot and the orientation at the picking prediction position of the robot.
A robot control method for controlling a robot configured to pick up a workpiece that is conveyed by a conveyance apparatus, the robot control method comprising:
- calculating an orientation of the workpiece based on sensing information of the workpiece that is output from a measurement apparatus;
- obtaining a picking prediction position at which the workpiece that is being conveyed is predicted to be picked up by the robot, based on the sensing information of the workpiece and a conveyance speed of the conveyance apparatus;
- calculating an orientation at the picking prediction position of the robot based on the calculated orientation of the workpiece and the picking prediction position;
- and
- acquiring an orientation at an operation start position of the robot and generating trajectory data expressing an operation trajectory of the robot from the operation start position to the picking prediction position, based on the acquired orientation at the operation start position of the robot and the orientation at the picking prediction position of the robot.
A non-transitory computer-readable recording medium storing a robot control program for causing a computer configured to control a robot configured to pick up a workpiece that is conveyed by a conveyance apparatus to operate as:
- a workpiece orientation calculation unit configured to calculate an orientation of the workpiece based on sensing information of the workpiece that is output from a measurement apparatus;
- an arrival prediction unit configured to obtain a picking prediction position at which the workpiece that is being conveyed is predicted to be picked up by the robot, based on the sensing information of the workpiece and a conveyance speed of the conveyance apparatus;
- a robot orientation calculation unit configured to calculate an orientation at the picking prediction position of the robot based on the calculated orientation of the workpiece and the picking prediction position;
- and
- a trajectory data generation unit configured to acquire an orientation at an operation start position of the robot and generate trajectory data expressing an operation trajectory of the robot from the operation start position to the picking prediction position, based on the acquired orientation at the operation start position of the robot and the orientation at the picking prediction position of the robot.
Dependencies are inferred from the claim text.