Robot system, movement path generation device, and movement path generation method

Robot system, movement path generation device, and movement path generation method

In this robot system (100), a control device (50) evaluates a plurality of generated candidates for holding postures on the basis of an index including the difficulty of interference with surrounding objects by at least one of a robot arm (11) and a hand (20) at the time of holding a workpiece (2),...

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Bibliographische Detailangaben
Hauptverfasser: MATSUDA KIPPEI, HONMA TOSHIYUKI, TAKAYAMA YUKI, ITO SHIMPEI, SHITAKA TAKUYA
Format: Patent
Sprache:chi ; eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Beschreibung
Zusammenfassung:In this robot system (100), a control device (50) evaluates a plurality of generated candidates for holding postures on the basis of an index including the difficulty of interference with surrounding objects by at least one of a robot arm (11) and a hand (20) at the time of holding a workpiece (2), and generates a movement path (P). 在该机器人系统(100)中，控制装置(50)根据包含在保持工件(2)的时刻的机器人臂(11)和手(20)中的至少一方对周围物体的干涉难度的指标来评价所生成的多个保持姿势的候选，并生成移动路径(P)。