US 12,377,543 B2
Path planning during execution of robot control
Takahiro Maeda, Fukuoka (JP); Motoharu Maruno, Fukuoka (JP); and Yuta Arita, Fukuoka (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Feb. 6, 2023, as Appl. No. 18/164,631.
Claims priority of application No. 2022-019414 (JP), filed on Feb. 10, 2022.
Prior Publication US 2023/0249347 A1, Aug. 10, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1671 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot system comprising:
a robot; and
circuitry configured to:
sequentially call a plurality of operating commands representing an operation path of the robot including a predetermined section and an undetermined section, wherein the plurality of operating commands are pre-arranged and stored in advance of operating the robot and include one or more move commands that define the predetermined section, and an auto command that designates an arrival point of the undetermined section;
operate the robot to move along the predetermined section in response to calling the one or more move commands;
generate, in response to calling the auto command, an additional path to the arrival point of the undetermined section based on surrounding environment information of the robot, wherein the additional path is generated while operating the robot based on the one or more move commands; and
operate the robot to move along the additional path toward the arrival point.