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公开(公告)号：EP3342556A1
公开(公告)日：2018-07-04
申请号：EP16838715.7
申请日：2016-05-27
发明人： HASHIMOTO, Yasuhiko , SHIMOMURA, Nobuyasu , MAEHARA, Tsuyoshi , KAMON, Masayuki , KUROSAWA, Yasushi , TANAKA, Shigetsugu
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot system according to the present disclosure includes a master device configured to receive an operating instruction from an operator, a slave arm, a storage device configured to store operating sequence information that defines processing carried out by the slave arm, and a control device configured to control operation of the slave arm. The control device includes a receiver configured to receive an input signal, a motion controller configured to determine whether an operating mode of the slave arm is to be an automatic mode, a manual mode or a correctable automatic mode and control the operation of the slave arm in the determined operating mode, and a continuation determinator configured to determine whether a continuation of the automatic mode is permitted. In a process at which the slave arm is scheduled to operate in the automatic mode, after the motion controller suspends the operation of the slave arm in the automatic mode at a given step of the process, the continuation determinator determines whether the continuation of the automatic mode is permitted based on the input signal received by the receiver when the operation is suspended. Thus, the slave arm is appropriately operated in a process at which the slave arm is scheduled to operate in the automatic mode.
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公开(公告)号：EP3342551A1
公开(公告)日：2018-07-04
申请号：EP16838708.2
申请日：2016-05-27
发明人： HASHIMOTO, Yasuhiko , SHIMOMURA, Nobuyasu , MAEHARA, Tsuyoshi , KAMON, Masayuki , KUROSAWA, Yasushi , TANAKA, Shigetsugu
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot system includes a robot main body, a memory part configured to store information for causing the robot main body to perform a given operation, as saved operational information, a motion controller configured to control the operation of the robot main body by using the saved operational information as automatic operational information for causing the robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting the operation of the robot main body during operation. The motion controller controls the robot main body to perform an operation corrected from the operation related to the automatic operational information in response to a reception of the manipulating information while the robot main body is operating by using the automatic operational information. The memory part is configured to be storable of corrected operational information for causing the robot main body to perform the corrected operation as saved operational information, when the robot main body performs the corrected operation.
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公开(公告)号：EP3342549A1
公开(公告)日：2018-07-04
申请号：EP16838702.5
申请日：2016-05-27
发明人： HASHIMOTO, Yasuhiko , SHIMOMURA, Nobuyasu , KAMON, Masayuki , KUROSAWA, Yasushi , TANAKA, Shigetsugu
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： In a remote control robot system including a plurality of slave arms, the slave arm has a plurality of control modes of an automatic mode in which the slave arm is operated based on a task program, a manual mode in which the slave arm is operated based on an operator's operation received by a master device, and a correctable automatic mode in which the slave arm is operated based on the task program while the operation is sequentially corrected by the operator's operation received by the master device. Operation sequence information includes an automatic part in which the slave arm performs a work in the automatic mode, and a selected part in which the slave arm performs a work in one selected from the plurality of control modes, and the selected parts do not overlap with each other in time among the plurality of slave arms. Based on the operation sequence information, the plurality of slave arms are operated.
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