JP2022018843A5 - Robot system, control method, article manufacturing method, program, and recording medium - Google Patents
Robot system, control method, article manufacturing method, program, and recording medium Download PDFInfo
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- JP2022018843A5 JP2022018843A5 JP2020122227A JP2020122227A JP2022018843A5 JP 2022018843 A5 JP2022018843 A5 JP 2022018843A5 JP 2020122227 A JP2020122227 A JP 2020122227A JP 2020122227 A JP2020122227 A JP 2020122227A JP 2022018843 A5 JP2022018843 A5 JP 2022018843A5
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本開示の第1態様は、所定部位を有するロボットと、前記所定部位が、第1方向、または前記第1方向とは異なる第2方向に移動するよう前記ロボットを制御する制御部と、を備え、前記制御部は、前記所定部位を前記第1方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第2方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットアームを制御する、ことを特徴とするロボットシステムである。 A first aspect of the present disclosure is a robot system comprising: a robot having a predetermined part; and a controller that controls the robot so that the predetermined part moves in a first direction or in a second direction that is different from the first direction .
本開示の第2態様は、所定部位を有するロボットにおいて、前記所定部位が、第1方向、または前記第1方向とは異なる第2方向に移動するよう前記ロボットを制御する制御方法であって、前記所定部位を前記第1方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第2方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、ことを特徴とする制御方法である。 A second aspect of the present disclosure is a control method for controlling a robot having a predetermined part so that the predetermined part moves in a first direction or in a second direction different from the first direction, wherein the robot is controlled such that the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction are different .
本開示の第3態様は、所定部位を有するロボットにおいて、前記所定部位が、第1方向、または前記第1方向とは異なる第2方向に移動するよう前記ロボットを制御して、物品を製造する物品の製造方法であって、前記所定部位を前記第1方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第2方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御し、物品を製造する、ことを特徴とする物品の製造方法である。 A third aspect of the present disclosure is an article manufacturing method for manufacturing an article by controlling a robot having a predetermined part so that the predetermined part moves in a first direction or in a second direction different from the first direction, wherein the robot is controlled so as to make the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction different, thereby manufacturing the article . .
Claims (22)
前記所定部位が、第1方向、または前記第1方向とは異なる第2方向に移動するよう前記ロボットを制御する制御部と、を備え、
前記制御部は、
前記所定部位を前記第1方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第2方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、
ことを特徴とするロボットシステム。 a robot having a predetermined part ;
a control unit that controls the robot so that the predetermined part moves in a first direction or in a second direction different from the first direction ;
The control unit
controlling the robot so that the posture of the predetermined portion when moving the predetermined portion in the first direction and the posture of the predetermined portion when moving the predetermined portion in the second direction are different;
A robot system characterized by:
前記所定部位を前記第1方向に移動させる場合の所定軸線まわりの前記所定部位の姿勢と、前記所定部位を前記第2方向に移動させる場合の前記所定軸線まわりの前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、 controlling the robot so that the attitude of the predetermined portion about the predetermined axis when moving the predetermined portion in the first direction is different from the attitude of the predetermined portion about the predetermined axis when moving the predetermined portion in the second direction;
ことを特徴とする請求項1に記載のロボットシステム。 The robot system according to claim 1, characterized by:
ことを特徴とする請求項2に記載のロボットシステム。 3. The robot system according to claim 2, characterized by:
ことを特徴とする請求項3に記載のロボットシステム。 4. The robot system according to claim 3, characterized in that:
ことを特徴とする請求項3または4に記載のロボットシステム。 5. The robot system according to claim 3 or 4, characterized in that:
ことを特徴とする請求項5に記載のロボットシステム。 6. The robot system according to claim 5, characterized in that:
前記制御部は、前記ロボットを前記エンコーダから取得される前記伝達機構部の入力軸の回転角度の情報に基づく前記ロボットの位置制御を実行可能なモードを有する、 The control unit has a mode capable of executing position control of the robot based on information on the rotation angle of the input shaft of the transmission mechanism acquired from the encoder.
ことを特徴とする請求項5または6に記載のロボットシステム。 7. The robot system according to claim 5 or 6, characterized in that:
前記伝達機構部は、前記ロボットアームの基端側の第1関節に設けられている、 The transmission mechanism is provided at a first joint on the base end side of the robot arm,
ことを特徴とする請求項5乃至7のいずれか1項に記載のロボットシステム。 The robot system according to any one of claims 5 to 7, characterized in that:
ことを特徴とする請求項3乃至8のいずれか1項に記載のロボットシステム。 The robot system according to any one of claims 3 to 8, characterized in that:
ことを特徴とする請求項3乃至9のいずれか1項に記載のロボットシステム。 The robot system according to any one of claims 3 to 9, characterized in that:
ことを特徴とする請求項2に記載のロボットシステム。 3. The robot system according to claim 2, characterized by:
ことを特徴とする請求項1乃至11のいずれか1項に記載のロボットシステム。 The control unit controls the robot to shift the predetermined part in a direction intersecting the first direction and the second direction when switching the movement of the predetermined part from the second direction to the first direction or from the first direction to the second direction .
The robot system according to any one of claims 1 to 11 , characterized in that:
ことを特徴とする請求項1乃至12のいずれか1項に記載のロボットシステム。 The robot system according to any one of claims 1 to 12, characterized in that:
ことを特徴とする請求項1乃至13のいずれか1項に記載のロボットシステム。 14. The robot system according to any one of claims 1 to 13, characterized in that:
ことを特徴とする請求項1乃至14のいずれか1項に記載のロボットシステム。 The robot system according to any one of claims 1 to 14, characterized in that:
ことを特徴とする請求項15に記載のロボットシステム。 16. The robot system according to claim 15, characterized by:
ことを特徴とする請求項1乃至16のいずれか1項に記載のロボットシステム。 17. The robot system according to any one of claims 1 to 16, characterized in that:
ことを特徴とする請求項1乃至17のいずれか1項に記載のロボットシステム。 18. The robot system according to any one of claims 1 to 17, characterized in that:
前記所定部位を前記第1方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第2方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御する、 controlling the robot so that the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction are different;
ことを特徴とする制御方法。 A control method characterized by:
前記所定部位を前記第1方向に移動させる場合の前記所定部位の姿勢と、前記所定部位を前記第2方向に移動させる場合の前記所定部位の姿勢とを異ならせるよう、前記ロボットを制御し、物品を製造する、
ことを特徴とする物品の製造方法。 An article manufacturing method for manufacturing an article by controlling a robot having a predetermined portion so that the predetermined portion moves in a first direction or in a second direction different from the first direction, comprising:
manufacturing an article by controlling the robot so that the attitude of the predetermined part when moving the predetermined part in the first direction and the attitude of the predetermined part when moving the predetermined part in the second direction are different;
A method for manufacturing an article characterized by:
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JP2022018843A5 true JP2022018843A5 (en) | 2023-07-26 |
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