ROBOT SYSTEM, RECOVERY PROGRAM GENERATION DEVICE, CONTROL SUPPORT DEVICE, CONTROL DEVICE, PROGRAM, RECOVERY PROGRAM GENERATION METHOD, AND RECOVERY PROGRAM OUTPUT METHOD

• Main Authors: KUWABARA KOICHI, HASHIGUCHI YUKIO
• Format: Patent
• Language: Chinese; English
• Published: 31.12.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

A robot system (1) is provided with: a robot (10); peripheral equipment (50) disposed to the periphery of the robot (10); a control unit (112) which causes at least the robot (10) to operate on the basis of a program; an interruption unit (113) which interrupts a series of a plurality of operations, performed by the robot (10) in tandem with the peripheral equipment (50) and on the basis of an operation program, when an irregular state occurs in the peripheral equipment (50); and a simulator (300) which generates a recovery program on the basis of at least robot state information, of the robot (10), at the point in time when operation was interrupted due to the occurrence of the irregular state, wherein, on the basis of the recovery program, the control unit (112) causes the robot (10) operate with respect to the peripheral equipment (50) such that operations performed via the interrupted operation program can be continued. 机器人系统(1)包括：机器人(10)；周边设备(50)，配置在机器人(10)的周边；控制部(112)，基于程序至少使机器人(10)动作；中断部(113)，当在周边设备(50