Robot System and Control Method for Robot

Patent metadata

Field	Value
Publication number	US-2021331319-A1
Application number	US-202117235978-A
Country	US
Kind code	A1
Filing date	Apr 21, 2021
Priority date	Apr 22, 2020
Publication date	Oct 28, 2021
Grant date	—

Abstract

An arm of a robot is configured to which an arm cover for covering a wire or a pipe placed outside of the arm is attachable. An input reception unit receives first input indicating attachment of the arm cover to the arm. A movable range determination unit determines a movable range of the robot to be a second movable range smaller than a first movable range without the attachment of the arm cover according to the first input. A robot control unit controls an operation of the robot according to the second movable range.

First claim

What is claimed is:

1 . A robot system comprising:
a robot having an arm configured to which an arm cover for covering a wire or a pipe placed outside of the arm is attachable; an input reception unit that receives first input indicating attachment of the arm cover to the arm; a movable range determination unit that determines a movable range of the robot to be a second movable range smaller than a first movable range without the attachment of the arm cover according to the first input; and a robot control unit that controls an operation of the robot according to the second movable range.

2 . The robot system according to claim 1 , wherein
the arm is configured to which a plurality of types of arm covers are attachable as the arm cover, the first input is input for a distinction of the attached arm cover among the plurality of types of arm covers, and a plurality of the second movable ranges corresponding to the plurality of types of arm covers are registered in the movable range determination unit in advance, and one of the plurality of the second movable ranges is selected according to the first input.

3 . The robot system according to claim 1 , wherein
the input reception unit is configured to receive second input having an influence on the movable range of the robot in addition to the first input, and the movable range determination unit determines the second movable range from the first input and the second input using a machine-learned determination model.

4 . The robot system according to claim 1 , wherein
the input reception unit is realized by a personal computer and the first input is executed by a user.

5 . The robot system according to claim 1 , wherein
the arm has a sensor that senses attachment of the arm cover, and the input reception unit receives a detection result of the sensor as the first input.

6 . A control method for a robot configured to which an arm cover for covering a wire or a pipe placed outside of an arm is attachable, comprising:
(a) receiving first input indicating attachment of the arm cover to the arm; (b) determining a movable range of the robot to be a second movable range smaller than a first movable range without the attachment of the arm cover according to the first input; and (c) controlling an operation of the robot according to the second movable range.

Assignees

• Seiko Epson Corp

Inventors

• Kobayashi Masakazu

Classifications

• B25J9/02

  characterised by movement of the arms, e.g. cartesian coordinate type (B25J9/06 takes precedence) · CPC title

• B25J9/1602 Primary

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

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J9/163 Primary

  learning, adaptive, model based, rule based expert control · CPC title