TRAJECTORY PLANNING DEVICE AND TRAJECTORY PLANNING METHOD

• Main Authors: HAYASHI NAOHIRO, NAKASU NOBUAKI
• Format: Patent
• Language: English; Japanese
• Published: 07.09.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING

To reduce operation time while avoiding mutual interference in a multiple arm robot line where a plurality of robot arms work in the same work area.SOLUTION: A trajectory planning device keeps order information representing an operation sequence related to a plurality of components, target position information including picking location and a placing location in an operation of the plurality of components, and structure information representing structures of a plurality of robots. The trajectory planning device assigns operations on the plurality of components to the plurality of robots so that the operations on the plurality of components are performed according to an order indicated by order information, and generates a trajectory plan for performing operations on an assigned component based on the target position information and the structure information for each of the plurality of robots. When an interference occurs between the plurality of robots, the trajectory planning device generates a plurality of trajectory plans including trajectory plans which avoid the interference through different methods, and selects any one of the plurality of trajectory plans based on operation times calculated related to the plurality of trajectory plans.SELECTED DRAWING: Figure 1 【課題】複数のロボットアームが同作業エリアで動作する複腕ロボットラインで相互の干渉を回避しながら作業時間を短縮する。【解決手段】軌道計画装置であって、複数の部品に対する作業の順序を示す順序情報と、複数の部品に対する作業におけるピック位置及びプレイス位置を含む目標位置情報と、複数のロボットの構造を示す構造情報と、保持し、順序情報が示す順序に従って複数の部品に対する作業が実行されるように、複数の部品に対する作業を複数のロボットに割り当て、複数のロボットの各々について、目標位置情報及び構造情報に基づいて、割り当てられた部品に対する作業を行うための軌道計画を生成し、複数のロボット間で干渉が発生する場合、それぞれ異なる方法で干渉を回避する軌道計画を含む複数の軌道計画を生成し、複数の軌道計画について計算された作業時間の長さに基づいて、複数の軌道計画のいずれかを選択する。【選択図】図１