US 12,330,308 B2
Robot system, parallel link mechanism, control method, control device, and storage medium
Masahiro Saito, Yokohama (JP); Taketo Shiba, Yokohama (JP); Yasunori Fuchikami, Yokohama (JP); and Hiromasa Takahashi, Minato (JP)
Assigned to KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed by KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed on Sep. 7, 2022, as Appl. No. 17/930,270.
Application 17/930,270 is a continuation of application No. PCT/JP2021/005497, filed on Feb. 15, 2021.
Claims priority of application No. 2020-040214 (JP), filed on Mar. 9, 2020.
Prior Publication US 2023/0001581 A1, Jan. 5, 2023
Int. Cl. B25J 9/16 (2006.01); B23K 31/12 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/1664 (2013.01) [B23K 31/125 (2013.01); B25J 9/1623 (2013.01); B25J 9/1653 (2013.01); B25J 9/1697 (2013.01); B25J 17/0216 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robot system, comprising:
an arm mechanism that is articulated;
a parallel link mechanism having at least four degrees of freedom with respect to the arm mechanism, the parallel link mechanism including
a fixed part mounted to a distal part of the arm mechanism, and
a movable part mounted to the fixed part via a plurality of parallel links, the movable part being movable with respect to the fixed part;
an end effector mounted to the movable part, the end effector including a plurality of ultrasonic sensors;
a detector configured to detect a position or orientation of a control point, the control point being set at a part of the movable part or a part of the end effector; and
a control device configured to control the arm mechanism and the parallel link mechanism to control the position or orientation of the control point,
the control device being configured to perform
a first operation of setting a posture of the control point to a first posture by moving the arm mechanism, the first posture being prescribed, and
a second operation of setting the posture of the control point to a task posture by moving the parallel link mechanism based on a detection result of the detector, the second operation being performed after the first operation,
the end effector being configured to perform a task in the task posture,
after the second operation, the control device being configured to
refer to a reception result of a reflected wave, the plurality of ultrasonic sensors transmitting an ultrasonic wave to a task object to obtain the reception result,
calculate an angle between the plurality of ultrasonic sensors and a direction perpendicular to the task object based on the reception result, and
move the parallel link mechanism so that the angle becomes smaller.