Robot controller and robot control method for synchronous operation and adjusting robot movement based on two movement times
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsNaoyuki Matsumoto, Masatoshi Sano
Life of this patent
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Abstract
A controller calculates first movement times when moving each robot hand from a movement start position to a synchronous operation position in a shortest time and decides the longest first movement time as a second movement time. The controller generates, for each robot, a robot operation plan for moving each robot hand without stopping from the movement start position to the synchronous operation position in the second movement time. The robot hand of each robot moves from the movement start position to the synchronous operation position without stopping and simultaneously reach the synchronous operation positions.
Claims10
A robot controller that moves each standard moving part installed on each of a plurality of robots from each movement start position set for each of the robots to each synchronous operation position set for each of the robots and simultaneously performs operations of the robots, comprising:
- first movement time calculating means for calculating, for each of the robots, first movement times tot1 and tot2 when moving each of the standard moving parts in a shortest time from the movement start positions to each of the synchronous operation positions;
- second movement time deciding means for deciding a longest first movement time among the first movement times tot1 and tot2 calculated by the first movement time calculating means as a second movement time tot_max;
- operation plan generating means for generating, for each of the robots, an operation plan of speed change of the standard moving parts for moving the standard moving parts, without stopping, from each of the movement start positions to each of the synchronous operation positions in the second movement time tot_max decided by the second movement time deciding means;
- operation completion judging means for judging an operation completion condition in which the robot can execute a next operation plan;
- and
- robot controlling means, when judging by the operation completion judging means that all of the robots to be simultaneously operated enter the operation completion condition, for simultaneously controlling each of the robots in accordance with next operation plans of each of the robots, which is generated by the operation plan generating means,
- wherein the operation plan generating means, when the first movement times tot1 and tot2 of a target robot are shorter than the second movement time tot_max, generates the operation plan of speed change of the standard moving parts of the target robot so as to change acceleration times ta11 and ta21, deceleration times td11 and td21, times at uniform speed ts11 and ts21, and maximum moving speeds V11 and V21 of the standard moving parts in comparison to a case that the target robot moves in the first movement times tot1 and tot2 according to the following equations:
- ta11=ta1*tot_max/tot1,
- ts11=ts1*tot_max/tot1,
- td11=td1*tot_max/tot1,
- V11=V1*tot1/tot_max,
- ta21=ta2*tot_max/tot2,
- ts21=ts2*tot_max/tot2,
- td21=td2*tot_max/tot2,
- V21=V2*tot2/tot_max,
- wherein ta1 and ta2 are acceleration times, td1 and td2 are deceleration times, ts1 and ts2 are times at uniform speed and V1 and V2 are maximum moving speeds for each robot, respectively, according to a case that the robot moves in the first movement times tot1 and tot2.
A robot control method for moving each standard moving part installed on each of a plurality of robots to each synchronous operation position set for each of the robots and simultaneously performing operations of the robots, comprising:
- a first movement time calculation step for calculating, for each of the robots, first movement times tot1 and tot2 when moving each of the standard moving parts in a shortest time from movement start positions to each of the synchronous operation positions;
- a second movement time decision step for deciding a longest first movement time among the first movement times tot1 and tot2 calculated at the first movement time calculation step as a second movement time tot_max;
- an operation plan generation step for generating, for each of the robots, an operation plan of speed change of the standard moving parts for moving the standard moving parts, without stopping, from each of the movement start positions to each of the synchronous operation positions, in the second movement time tot_max decided at the second movement time decision step;
- an operation completion judgment step for judging an operation completion condition in which the robot can execute a next operation plan;
- and
- a robot control step, when judging at the operation completion judgment step that all of the robots to be simultaneously operated enter the operation completion condition, for simultaneously controlling each of the robots in accordance with next operation plans of each of the robots, which is generated at the operation plan generation step,
- wherein in the operation plan generation step, when the first movement times tot1 and tot2 of a target robot are shorter than the second movement time tot_max, the operation plan of speed change of the standard moving part of the target robot is generated so as to change acceleration times ta11 and ta21, deceleration times td11 and td21, times at uniform speed ts11 and ts21, and maximum moving speeds V11 and V21 of the standard moving part in comparison to a case that the target robot moves in the first movement times tot1 and tot2 according to the following equations:
- ta11=ta1*tot_max/tot1,
- ts11=ts1*tot_max/tot1,
- td11=td1*tot_max/tot1,
- V11=V1*tot1/tot_max,
- ta21=ta2*tot_max/tot2,
- ts21=ts2*tot_max/tot2,
- td21=td2*tot_max/tot2,
- V21=V2*tot2/tot_max,
- wherein ta1 and ta2 are acceleration times, td1 and td2 are deceleration times, ts1 and ts2 are times at uniform speed and V1 and V2 are maximum moving speeds for each robot, respectively, according to a case that the robot moves in the first movement times tot1 and tot2.
Dependencies are inferred from the claim text.