US 12,214,505 B2
Robot controller, robot control method, and storage medium storing robot control program
Nanase Haruo, Tokyo (JP); Kiyoshi Maekawa, Tokyo (JP); Koji Shiratsuchi, Tokyo (JP); and Takuya Okahara, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Appl. No. 18/009,988
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Jul. 8, 2020, PCT No. PCT/JP2020/026686
§ 371(c)(1), (2) Date Dec. 13, 2022,
PCT Pub. No. WO2022/009333, PCT Pub. Date Jan. 13, 2022.
Prior Publication US 2023/0226691 A1, Jul. 20, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/161 (2013.01); B25J 9/163 (2013.01); B25J 9/1633 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robot controller comprising:
axis motor control circuitry to control an axis motor that drives a corresponding one of a plurality of axes that moves joints of a robot;
storage circuitry to store robot information, end point information, and obstacle information, the robot information being information on the robot, the end point information including information on an action start point at which a specific position of the robot starts an action and information on an action goal point at which the specific position of the robot ends the action, the obstacle information being information on an obstacle with respect to the robot; and
action command generation circuitry to: generate, on the basis of the robot information and the end point information, a first action command as an action command for the axis motor, the first action command minimizing a first action time, the first action time being an action time of movement when the specific position of the robot is moved from the action start point to the action goal point without considering the obstacle; and to select, from among the axes, an axis having a longest action time when the action is performed in accordance with the first action command, the selected axis being a major axis, wherein
the first action command includes another axis command and a major axis command, the other axis command being an action command for an axis other than the major axis, the major axis command being an action command for the major axis, and
the action command generation circuitry
generates an action command different from the first action command and adjusts the other axis command so as to reduce a second action time, the second action time being an action time according to another axis command included in the generated action command, and
outputs, to the axis motor control circuitry, a second action command that includes the major axis command and the other axis command after adjustment and corresponds to a first trajectory when determining, on the basis of the obstacle information, that the first trajectory corresponding to the second action command is a trajectory that avoids a clash between the robot and the obstacle.