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Application US20190134819
Published 2019-05-09
Robot Control Device
A robot control device includes: a measuring unit to measure a robot control state indicative of a position and a posture of the robot; a work area setting unit to store, for each of work processes, a work area that is defined by work movement of the worker between a start and an end of each of the work processes and includes a space a body of the worker occupies and to set the work area corresponding to the work process currently carried out by the worker based on a signal specifying the work process currently carried out by the worker; and a robot command generator to generate a motion command for the robot based on the work area and the robot control state. The generator varies the command for the robot based on whether the robot is present in the work area.
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- 1. A robot control device to control a robot that operates while sharing a work space with a worker who carries out one or more work processes each having a preset work content, the robot control device comprising:
a robot control state measurer to measure a robot control state indicative of a position and a posture of the robot; a work area setter to prestore, for each of the work processes, data indicative of a work area that is defined by work movement of the worker throughout each of the work processes and includes a space a body of the worker occupies and to set the work area corresponding to the work process currently carried out by the worker on a basis of the data and a work process specifying signal specifying the work process currently carried out by the worker; and a robot command generator to generate a motion command for the robot on the basis of the work area and the robot control state, wherein the robot command generator varies the motion command for the robot on the basis of whether the robot is present in the work area.
- 5. A robot control device to control a robot that operates while sharing a work space with a worker who carries out one or more work processes each having a preset work content, the robot control device comprising:
a worker measurer to measure a worker state indicative of a position and a posture of the worker; a robot control state measurer to measure a robot control state indicative of a position and a posture of the robot; a work area setter to prestore, as a work area, data indicative of an area that is defined by work movement of the worker throughout each of the work processes and includes a space a body of the worker occupies and to set the work area corresponding to the work process currently carried out by the worker on a basis of the data and a work process specifying signal specifying the work process currently carried out by the worker; and a robot command generator to generate a motion command for the robot on the basis of the work area, the worker state, and the robot control state, wherein the robot command generator varies the motion command for the robot on the basis of a determination whether the robot enters the work area.
