Robot system

Patent metadata

Field	Value
Publication number	US-11130232-B2
Application number	US-201816223891-A
Country	US
Kind code	B2
Filing date	Dec 18, 2018
Priority date	Dec 18, 2017
Publication date	Sep 28, 2021
Grant date	Sep 28, 2021

Abstract

A robot system may include a robot controller; and a target robot. The target robot may include a first memory to store device specific data including individual identification data; and an individual difference parameter unique to the target robot. The robot controller may include a second memory structured to store the individual identification data and the individual difference parameter of the target robot connected to the robot controller; and a controller to control the target robot on the basis of model configuration information the individual difference parameter stored in the second memory. The controller may check the individual identification data read from the first memory unit against the individual identification data stored in the second memory unit and, in accordance with a checking result, update the individual difference parameter stored in the second memory unit with the individual difference parameter read from the first memory unit.

First claim

What is claimed is:

1. A robot system comprising:
a robot controller; and
a target robot as a target of control by the robot controller,
wherein the target robot comprises plural drive shafts, each of the plural drive shafts comprises:
a motor;
an encoder that detects a rotary position of the motor; and
a first memory unit provided in the encoder structured to store device specific data comprising:
individual identification data used to identify said target robot; and
an individual difference parameter unique to the encoder, wherein the robot controller comprises:
a second memory unit structured to store the individual identification data and the individual difference parameter provided in the encoder of each of the plural drive shafts of the target robot connected to said robot controller; and
a control unit structured to control the target robot on the basis of model configuration information common to a same model as the target robot and the individual difference parameter stored in the second memory unit, and

wherein the control unit is structured to check the individual identification data and the individual difference parameter read from the first memory unit provided in the encoder of each of the plural drive shafts against the individual identification data and the individual difference parameter stored in the second memory unit and, in accordance with a checking result, update the individual difference parameter stored in the second memory unit with the individual difference parameter read from the first memory unit in a case that the individual difference parameter stored in the second memory unit does not match the individual difference parameter read from the first memory unit provided in the encoder of each of the plural drive shafts.

2. The robot system according to claim 1 ,
wherein the target robot comprises a robot body as a manipulator and an auxiliary component, and each of the robot body and the auxiliary component comprising at least one of the plural drive shafts comprising the first memory unit, and
wherein the control unit is structured such that, in the case where only an individual identification data of the auxiliary component read from the first memory unit differs from the individual identification data of the auxiliary component stored in the second memory unit, the control unit determines that the auxiliary component has been replaced, and updates only the individual difference parameter of the auxiliary component in the second memory unit.

3. The robot system according to claim 2 , wherein the device specific data comprises information on the model of the target robot, and the control unit is structured such that, in the case where the information on the model in the device specific data does not match the model as the target of the robot controller, the control unit disallows a start of the robot system.

4. The robot system according to claim 3 , wherein the device specific data comprises information on a configuration of the target robot, and the control unit is structured such that, in the case where the information on the configuration in the device specific data does not match a configuration of the target robot of the model as the target of the robot controller, the control unit disallows the start of the robot system.

5. The robot system according to claim 4 , wherein the individual difference parameter is an offset value from a position of an origin.

6. The robot system according to claim 1 , wherein the control unit is structured to detect replacement of the motor in the target robot on the basis of the device specific data, and, when detecting the replacement of the motor, disallow the start of the robot system.

7. The robot system according to claim 1 , wherein the device specific data comprises information on the model of the target robot, and the control unit is structured such that, in the case where the information on the model in the device specific data does not match the model as the target of the robot controller, the control unit disallows a start of the robot system.

8. The robot system according to claim 1 , wherein the device specific data comprises information on a configuration of the target robot, and the control unit is structured such that, in the case where the information on the configuration in the device specific data does not match a configuration of the target robot of the model as the target of the robot controller, the control unit disallows a start of the robot system.

9. The robot system according to claim 1 , wherein the individual difference parameter is an offset value from a position of an origin.

10. A robot system comprising:
a robot controller; and
a target robot as a target of control by the robot controller,
wherein the target robot comprises plural drive shaft, each of the plural drive shafts comprises:
a motor;
an encoder that detects a rotary position of the motor; and
a first memory provided in the encoder structured to store device specific data comprising:
individual identification data used to identify said target robot; and
an individual difference parameter unique to the encoder, wherein the robot controller comprises:
a second memory structured to store the individual identification data and the individual difference parameter provided in the encoder of each of the plural drive shafts of the target robot connected to said robot controller; and
a controller structured to control the target robot on the basis of model configuration information common to a same model as the target robot and the individual difference parameter stored in the second memory, and

wherein the controller is structured to check the individual identification data and the individual difference parameter read from the first memory provided in the encoder of each of the plural drive shafts against the individual identification data and the individual difference parameter stored in the second memory and, in accordance with a checking result, update the individual difference parameter stored in the second memory with the individual difference parameter read from the first memory in a case that the individual difference parameter stored in the second memory unit does not match the individual difference parameter read from the first memory unit provided in the encoder of each of the plural drive shafts.

Assignees

• Nidec Sankyo Corp

Inventors

• Okumura Hirokatsu
• Otsuji Jun
• Inomata Tetsuya

Classifications

• B25J9/1656 Primary

  characterised by programming, planning systems for manipulators · CPC title

• B25J9/1692

  Calibration of manipulator · CPC title

• B25J9/08

  characterised by modular constructions · CPC title

• B25J9/1628

  characterised by the control loop · CPC title

• B25J9/1602 Primary

  characterised by the control system, structure, architecture · CPC title