Control method and control device for mobile robot, and robot system
AssigneeSeiko Epson Corporation
InventorHiroyuki KANAI
Life of this patent
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Abstract
A control method includes: a step A of calculating a work posture of a mobile robot with respect to a target object at a plurality of stop candidate positions within a stop error range centered on a target stop position; and a step B of changing the target stop position when the mobile robot is unable to take a controllable work posture at at least one stop candidate position of the plurality of stop candidate positions.
Claims6
A control method for a mobile robot including a moving pedestal and a manipulator mounted on the moving pedestal, the control method comprising:
- a step A of calculating, using a target stop position of the mobile robot for performing work on a target object, a stop error of the mobile robot, and a position of the target object, a work posture of the mobile robot with respect to the target object at a plurality of stop candidate positions within a stop error range centered on the target stop position;
- and
- a step B of changing the target stop position when the mobile robot is unable to take a controllable work posture at at least one stop candidate position among the plurality of stop candidate positions.
A control device that controls a mobile robot including a moving pedestal and a manipulator mounted on the moving pedestal, the control device comprising:
- a posture calculation unit that calculates, using a target stop position of the mobile robot for performing work on a target object, a stop error when movement of the mobile robot is stopped, and a position of the target object, a work posture of the mobile robot with respect to the target object at a plurality of stop candidate positions within a stop error range centered on the target stop position;
- and
- a position changing unit that changes the target stop position when the mobile robot is unable to take a controllable work posture at at least one stop candidate position among the plurality of stop candidate positions.
A robot system, comprising:
- a mobile robot including a moving pedestal and a manipulator mounted on the moving pedestal;
- and
- a control device that controls the mobile robot, wherein
- the control device includes:
- a posture calculation unit that calculates, using a target stop position of the mobile robot for performing work on a target object, a stop error when movement of the mobile robot is stopped, and a position of the target object, a work posture of the mobile robot with respect to the target object at a plurality of stop candidate positions within a stop error range centered on the target stop position;
- and
- a position changing unit that changes the target stop position when the mobile robot is unable to take a controllable work posture at at least one stop candidate position among the plurality of stop candidate positions.
Dependencies are inferred from the claim text.