Robot system and robot control device

Abstract

A robot system including a first robot, a second robot, a first robot control device for controlling the first robot, a second robot control device for controlling the second robot, and a sensor, the first and second robots carrying out a coordinated operation, wherein: the first robot control device includes a first trajectory planning unit for planning the action of the first robot, a first control unit for executing the planned action of the first robot, a first collision prediction unit for predicting a collision between the first or second robot and an external disturbance on the basis of information from the sensor, and a first interlocking-preventing unit; the second robot control device includes a second trajectory planning unit for planning the action of the second robot, a second control unit for executing the planned action of the second robot, a second collision prediction unit for predicting a collision between the first or second robot and an external disturbance on the basis of information from the sensor, and a second interlocking-preventing unit; the first interlocking-preventing unit generates an external-disturbance-avoiding trajectory for the first robot and transmits the external-disturbance-avoiding trajectory to the second interlocking-preventing unit when the first collision prediction unit predicts a collision with the external disturbance; and the first and second robots carry out actions to avoid the external disturbance. This makes it possible to prevent the occurrence of faults if the action of a robot is suddenly changed due to an external disturbance or the like when a plurality of robots carry out a coordinated operation.

Dependencies are inferred from the claim text.