Robot control method and robot
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorYASUHIRO KINUGASA
Life of this patent
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Abstract
A robot control method includes defining a robot monitor model that covers at least a part of the robot and defining a monitor region parallel to a coordinate system for the robot. The monitor region is configured to monitor a range of motion of the robot. The method further includes transforming a position of a definition point that is an arbitrary point contained in the robot monitor model into a position of the definition point in a coordinate system different from the coordinate system for the robot (ST9), determining whether or not the robot monitor model is put into contact with a boundary surface of the monitor region by using the transformed position of the definition point (ST6), and stopping motion of the robot if the robot monitor model is put into contact with the boundary surface (ST8).
Claims2
A method for controlling a robot, comprising:
- defining a robot monitor model that is a region covering at least a part of the robot;
- defining a monitor region parallel to a coordinate system for the robot, the monitor region being configured to monitor a range of motion of the robot;
- transforming a position of a definition point that is an arbitrary point contained in the robot monitor model into a position of the definition point in a coordinate system different from the coordinate system for the robot;
- determining whether or not the robot monitor model is put into contact with a boundary surface of the monitor region by using the transformed position of the definition point;
- and
- stopping motion of the robot on condition that the robot monitor model is put into contact with the boundary surface.
A robot comprising:
- a robot body;
- and
- a control device to control the robot body,
- the control device executing steps comprising:
- defining a robot monitor model that is a region covering at least a part of the robot body;
- defining a monitor region parallel to a coordinate system for the robot body, the monitor region being configured to monitor a range of motion of the robot body;
- transforming a position of a definition point that is an arbitrary point contained in the robot monitor model into a position of the definition point in a coordinate system different from the coordinate system for the robot;
- determining whether or not the robot monitor model is put into contact with a boundary surface of the monitor region by using the transformed position of the definition point;
- and
- stopping motion of the robot body on condition that the robot monitor model is put into contact with the boundary surface.
Dependencies are inferred from the claim text.