TRACK PLANNING DEVICE, TRACK PLANNING METHOD AND TRACK PLANNING PROGRAM

• Main Authors: NAKASU NOBUAKI, YAMAUCHI YUTA
• Format: Patent
• Language: English; Japanese
• Published: 07.06.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To provide a track planning device, a track planning method and a track planning program which operates a robot at a high speed while suppressing damage to be exerted to an object to be gripped.SOLUTION: A track planning device for planning a track along which a movable shaft of a robot arm provided with the movable shaft for gripping an object to be gripped moves, retains object to be gripped information which exhibits weight and position of the center of gravity of the object to be gripped, restriction information which exhibits restriction of gripping force and moment applied onto the object to be gripped, and track information which exhibits positions of respective points of a course on the track, applies times when the movable shaft passes through respective points of the course exhibited by the track information so as to satisfy the restrictions of the gripping force and the moment, stores the applied times to the track information and, based on the weight and the position of the center of gravity, changes the position of the points included on the course on the track information so as to lower the gripping force and/or the moment applied onto the object to be gripped.SELECTED DRAWING: Figure 1 【課題】把持物に与えるダメージを抑制しつつロボットを高速に動作させる。【解決手段】可動軸を有し、把持物を把持するロボットアーム、の可動軸が移動する軌道を計画する軌道計画装置は、把持物の重量及び重心位置を示す把持物情報と、把持物にかかる把持力及びモーメントの制約を示す制約情報と、軌道における経路の各点の位置を示す軌道情報と、を保持し、当該重量及び当該重心位置に基づいて、把持力及びモーメントの当該制約を満たすように、軌道情報が示す経路の各点を可動軸が通過する時刻を付与し、付与した時刻を軌道情報に格納し、当該重量及び当該重心位置に基づいて、把持物にかかる把持力及び／又はモーメントを低下させるよう、軌道情報における経路に含まれる点の位置を変更する。【選択図】図１