US 12,304,075 B2
Planning system, planning method, and non-transitory computer readable storage medium
Ryo Kabutan, Kitakyushu (JP); Makoto Takahashi, Kitakyushu (JP); Wataru Watanabe, Kitakyushu (JP); Keisuke Yonehara, Kitakyushu (JP); and Takuya Kadoya, Kitakyushu (JP)
Assigned to KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Nov. 7, 2022, as Appl. No. 17/982,395.
Claims priority of application No. 2021-181872 (JP), filed on Nov. 8, 2021.
Prior Publication US 2023/0141876 A1, May 11, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1661 (2013.01); B25J 9/1666 (2013.01); B25J 9/1682 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A planning robot system comprising:
search circuitry configured to run a simulation to repeatedly generate candidate positions which are candidates for a target position with respect to a motion of a robot;
selection circuitry configured to select the target position among the candidate positions; and
the search circuitry comprising:
evaluation circuitry configured to calculate an evaluation value corresponding to each of the candidate positions;
estimation circuitry configured to generate a calculation model showing a relationship between each of the candidate positions and the evaluation value with a regression analysis; and
setting circuitry configured to set a new candidate position based on the calculation model,
wherein the search circuitry is configured to run the simulation to search a motion of a partner device which is configured to process a workpiece in cooperation with the robot, and configured to set, as the candidate positions, processing positions at which the partner device cooperates with the robot to process the workpiece,
wherein the search circuitry is configured to search a relative posture relationship between candidate postures of the robot and candidate postures of the partner device at each of the candidate positions, and
wherein the robot system further comprises:
program generation circuitry configured to generate an operation program for positioning the robot at the target position selected in real space; and
a robot controller configured to receive the operation program, the robot controller operating the robot based on the operation program.