公开(公告)号：US20180065254A1

公开(公告)日：2018-03-08

申请号：US15807574

申请日：2017-11-09

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Ryuta KAGAWA ,  Hikaru INOUE ,  Tatsuo HIRO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/047 ,  B25J9/06 ,  B25J9/1643 ,  G05B2219/39082

Abstract: A robot system includes a robot and a motion control unit. The robot includes a bottom, a swiveling base, first to third arms. A bottom side of the first arm is supported on the swiveling base swivelably around a horizontal-direction second axis. A bottom side of the redundant arm is supported on a leading side of the first arm swivelably around an axis parallel to the second axis. A bottom side of the second arm is supported on a leading side of the redundant arm swivelably around a third axis parallel to the second axis. A bottom side of the third arm is supported on a leading side of the second arm rotatably around a fourth axis perpendicular to the third axis. The motion control unit activates the redundant arm so that a control point provided on the fourth axis linearly moves while maintaining a direction of the fourth axis.

公开(公告)号：US20140135982A1

公开(公告)日：2014-05-15

申请号：US14077215

申请日：2013-11-12

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Reiko MAJIMA ,  Hikaru INOUE

IPC: G05B19/418

CPC classification number: G05B19/4182 ,  Y02P90/083 ,  Y02P90/28

Abstract: A robot system is provided, which includes a conveying device for conveying a workpiece, a robot for performing a predetermined task to the workpiece being conveyed by the conveying device, a drive source for driving the conveying device; and a control device for controlling operations of the robot and the drive source. The control device includes a drive source instruction value calculation module for calculating a drive source instruction value indicative of an instruction to operate the drive source, and a robot instruction value calculation module or calculating a robot instruction value indicative of an instruction to operate the robot based on the drive source instruction value calculated by the drive source instruction value calculation module.

Abstract translation: 提供了一种机器人系统，其包括用于输送工件的输送装置，用于对由输送装置输送的工件执行预定任务的机器人，用于驱动输送装置的驱动源; 以及用于控制机器人和驱动源的操作的控制装置。 控制装置包括：驱动源指示值计算模块，用于计算指示操作驱动源的指令的驱动源指令值;以及机器人指令值计算模块，或者计算表示基于机器人操作的指令的机器人指令值 由驱动源指令值计算模块计算的驱动源指令值。