Robot control system and robot control method

Patent metadata

Field	Value
Publication number	US-9108315-B2
Application number	US-201113316562-A
Country	US
Kind code	B2
Filing date	Dec 12, 2011
Priority date	Aug 16, 2011
Publication date	Aug 18, 2015
Grant date	Aug 18, 2015

Abstract

A robot control system according to an aspect of an embodiment includes a plurality of robots, at least one external axis, and converters. The robots perform axis behaviors. The external axes are a movable axis shared by the robots and are mutually connected to the robots. Each of the converters assumes a virtual robot formed by connecting all the external axes to the one robot and converts acquisition values on positions of the robot and the external axes acquired for the virtual robot into conversion values indicating absolute positions in a predetermined normal coordinate system.

First claim

What is claimed is:

1. A robot control system comprising:
a plurality of robots, each robot having a respective axis;
at least one external axis that is a movable axis shared by the robots;
position detectors respectively provided in association with the at least one external axis and the axes of the robots, the position detectors configured to detect positions of the at least one external axis and the axes of the robots; and
converters of which each assumes a virtual robot formed by connecting all the external axes to a corresponding robot of the robots and converts acquisition values on positions of the corresponding robot and the at least one external axis acquired by the position detectors for the virtual robot into conversion values indicating absolute positions in a predetermined normal coordinate system, wherein
the converters are separated from each other, and
each of the converters is connected to the position detectors that are associated with the at least one external axis.

2. The robot control system according to claim 1 , wherein each of the converters determines whether the corresponding robot and the at least one external axis are within a predetermined operating area on the basis of the conversion values.

3. The robot control system according to claim 1 , wherein each of the converters assumes the corresponding virtual robot, in which the robot is a start end and the at least one external axis are connected to the start end in a row, and employs a base coordinate system, of which a base is an external axis located at a termination end of the row, as the normal coordinate system.

4. The robot control system according to claim 1 , wherein the at least one external axis includes at least one of a pivot axis, about which a base rotatably supports a body supporting the robots, and a traveling axis, along which the base the supporting the body travels.

5. The robot control system according to claim 1 , wherein each of the robots include a multi-axis robot.

6. The robot control system according to claim 1 , wherein each detector provided in association with the at least one external axis is connected to the converters such that a position detector of the plurality of position detectors is first connected to a first converter of the plurality of converters and subsequently connected to a second converter of the plurality of converters.

7. The robot control system according to claim 1 , further comprising a memory that stores configuration definition information for the virtual robot, wherein
the at least one external axis comprises first and second external axes, and
each of the converters determines one or more external axes of the corresponding virtual robot based on the configuration definition information stored in the memory, determines a base coordinate system, of which abase is the external first axis, as the normal coordinate system when the external axis of the corresponding virtual robot is the first external axis, and determines a base coordinate system, of which a base is the second external axis, as the normal coordinate system when the external axes of the corresponding virtual robot are the first and second external axes.

8. A robot control method comprising:
assuming virtual robots of which each includes a robot having a respective axis, and at least one external axis that is a movable axis connected to the robot;
detecting, by a plurality of position detectors provided in association with the at least one external axis and the axes of the robots, positions of the at least one external axis and the axes of the robots;
acquiring, from the plurality of position detectors, values on positions of the robot and the at least one external axis for the virtual robots; and
converting, by a plurality of converters which are separated from each other, corresponding values of the acquired values into conversion values indicating absolute positions in a predetermined normal coordinate system.

9. A robot control system comprising:
a plurality of robots, each robot having a respective axis;
at least one external axis that is a movable axis shared by the robots;
a plurality of detecting means for detecting positions of the at least one external axis and the axes of the robots; and
a plurality of converting means of which each assumes a virtual robot formed by connecting all the external axes to a corresponding robot of the plurality of robots and converts acquisition values on positions of the corresponding robot and the external axes acquired by the detecting means for the virtual robot into conversion values indicating absolute positions in a predetermined normal coordinate system, wherein
respective ones of the converting means separated from each other, and
respective ones of the converting means are connected to the detecting means that are associated with the at least one external axis.

Assignees

• Ishida Daisuke
• Inoue Hikaru
• Maehara Shinichi
• Takanishi Kanji
• Yaskawa Denki Seisakusho Kk

Inventors

• Ishida Daisuke
• Inoue Hikaru
• Maehara Shinichi
• Takanishi Kanji

Classifications

• B25J9/0087

  Dual arms (double SCARA arms B25J9/043) · CPC title

• B25J5/02

  travelling along a guideway · CPC title

• B25J9/1682 Primary

  Dual arm manipulator; Coordination of several manipulators · CPC title