Control method, control apparatus, robot system, method for manufacturing a product, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorGEN KIMURA
Life of this patent
Estimating the term…
Abstract
A control method is provided for controlling an operation of a robot in accordance with a speed command for the robot moving in a path. The control method includes: in a case where a predetermined command is received while the robot is operating in accordance with the path, obtaining a parameter set in accordance with a first position downstream of a position where the robot is positioned when the predetermined command is received; obtaining a new speed command satisfying a dynamic restriction based on the obtained parameter set; and controlling, in accordance with the new speed command, the operation of the robot after receiving the predetermined command.
Claims18
A control method for controlling an operation of a robot in accordance with a speed command for the robot moving in a path, the control method comprising:
- in a case where a predetermined command is received while the robot is operating in accordance with the path, obtaining a parameter set in accordance with a first position downstream of a position where the robot is positioned when the predetermined command is received;
- obtaining a new speed command satisfying a dynamic restriction on a basis of the obtained parameter set;
- and
- controlling, in accordance with the new speed command, the operation of the robot after receiving the predetermined command.
A control method for controlling an operation of a robot in accordance with a trajectory of the robot moving in a path, the control method comprising:
- in a case where a predetermined command is received while the robot is operating in accordance with the path, obtaining a parameter set in accordance with a first position downstream of a position where the robot is positioned when the predetermined command is received;
- obtaining a new trajectory satisfying a dynamic restriction on a basis of the obtained parameter set;
- and
- controlling, in accordance with the new trajectory, the operation of the robot after receiving the predetermined command.
A control apparatus configured to control an operation of a robot in accordance with a speed command for the robot moving in a path, the control apparatus being configured to:
- in a case where a predetermined command is received while the robot is operating in accordance with the path, obtain a parameter set in accordance with a first position downstream of a position where the robot is positioned when the predetermined command is received;
- obtain a new speed command satisfying a dynamic restriction on a basis of the obtained parameter set;
- and
- control, in accordance with the new speed command, the operation of the robot after receiving the predetermined command.
Dependencies are inferred from the claim text.