Robot control device and method of controlling same

Patent metadata

Field	Value
Publication number	US-9969085-B2
Application number	US-201715655612-A
Country	US
Kind code	B2
Filing date	Jul 20, 2017
Priority date	Jul 29, 2016
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A control device for a robot, includes a speed calculator that calculates the speed of at least one target point of the robot operating according to an operation program, on the basis of a speed command value written in the operation program; a limitation direction specifier that specifies a direction in which the speed of the at least one target point is limited; a speed limit component calculator that calculates, out of the speed of the at least one target point calculated by the speed calculator, a speed component in the direction specified by the limitation direction specifier; and a speed limiter that limits, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated by the speed limit component calculator is equal to or less than the prespecified speed limit.

First claim

The invention claimed is:

1. A robot control device comprising:
a speed calculator that calculates a speed of at least one target point of a robot operating according to an operation program, on the basis of a speed command value written in the operation program;
a limitation direction specifier that specifies a direction in which the speed of the at least one target point is limited;
a speed limit component calculator that calculates, out of the speed of the at least one target point calculated by the speed calculator, a speed component in the direction specified by the limitation direction specifier; and
a speed limiter that limits, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated by the speed limit component calculator is less than or equal to the prespecified speed limit.

2. The robot control device according to claim 1 , further comprising:
a limitation area specifier that specifies a limitation area in which the motion speed of the robot is limited; and
a position determiner that determines whether the at least one target point of the robot is located in the limitation area, wherein
if the position determiner determines that the at least one target point of the robot is located in the limitation area, the speed limiter limits the motion speed of the robot.

3. The robot control device according to claim 1 , wherein the limitation direction specifier specifies the direction in which the speed of the at least one target point is limited, according to a prespecified coordinate system.

4. The robot control device according to claim 1 , further comprising:
a specification determiner that determines whether there is a specification about the direction in which the speed of the at least one target point is limited, the specification being made by the limitation direction specifier,
wherein if the specification determiner determines that there is no specification about the direction in which the speed of the at least one target point is limited, the speed limiter limits the motion speed of the robot such that all motion of the robot is less than or equal to the prespecified speed limit.

5. The robot control device according to claim 1 , wherein the at least one target point is a control point of the motion of the robot.

6. A robot control method comprising:
a speed calculating step of calculating a speed of at least one target point of a robot operating according to an operation program, on the basis of a speed command value written in the operation program;
a limitation direction specifying step of specifying a direction in which the speed of the at least one target point is limited;
a speed limit component calculating step of calculating, out of the speed of the at least one target point calculated in the speed calculating step, a speed component in the direction specified in the limitation direction specifying step; and
a speed limiting step of limiting, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated in the speed limit component calculating step is less than or equal to the prespecified speed limit.

Assignees

• Fanuc Corp

Inventors

• Sugio Kenji

Classifications

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• B25J9/1602 Primary

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

• G05B2219/40202

  Human robot coexistence · CPC title

• G05B2219/49138

  Adapt working envelop, limit, allowed zone to speed of tool · CPC title

• B25J9/1651 Primary

  acceleration, rate control · CPC title