Robot system, method for controlling robot system, method for manufacturing product using robot system, control program, and recording medium

1 . A robot system comprising:

a robot body;

a plurality of first control devices provided in the robot body;

a second control device configured to communicate with the plurality of first control devices;

a first communication medium configured to enable the plurality of first control devices to communicate with the second control device; and

a second communication medium configured to enable the plurality of first control devices to communicate with the second control device,

wherein the second control device selectively operates in one of a first mode and a second mode,

wherein in the first mode, the second control device communicates with a part of the plurality of first control devices not using the second communication medium and using the first communication medium, and the second control device communicates with the rest of the plurality of first control devices not using the first communication medium and using the second communication medium,

wherein in the second mode, the second control device transmits information to all the plurality of first control devices using both the first communication medium and second communication medium,

wherein the robot body includes a first detection unit configured to acquire a state of the robot body and a second detection unit different from the first detection unit,

wherein the plurality of first control devices transmit a first detection result of the first detection unit and a second detection result of the second detection unit to the second control device,

wherein when communicating in the first mode, the second control device switches to the second mode on a basis of a comparison result of the first detection result and the second detection result,

wherein a first control device among the plurality of first control devices divides one of the first detection result and the second detection result and transmits the divided results to the second control device in different periods, and

wherein the first control device divides one of the first detection result and the second detection result into a first bit group, a second bit group, a third bit group, and a fourth bit group.

2 . The robot system according to claim 1 , wherein the first detection unit is used to control the robot body, and the second detection unit is used to determine whether the first detection unit is normal.

3 . The robot system according to claim 1 , wherein the second control device executes the second mode to stop the robot body.

4 . The robot system according to claim 1 , wherein the second control device executes the second mode when a user teaches the robot body.

5 . The robot system according to claim 4 , wherein the teaching is done by the user operating the robot body by using an external input device or by directly touching the robot body.

6 . The robot system according to claim 1 , wherein the second control device executes the second mode when a user is in close vicinity to the robot body.

7 . The robot system according to claim 6 , wherein the second control device communicates with the first control device in the first mode when the robot body operates normally and switches from the first mode to the second mode when the user is in close vicinity to the robot body.

8 . The robot system according to claim 6 , wherein the second control device executes the second mode to reduce a speed of an operation performed by the robot body.

9 . The robot system according to claim 1 , wherein the first communication medium and the second communication medium are wired communication media in the form of communication lines.

10 . The robot system according to claim 1 , wherein the first communication medium and the second communication medium are wireless communication media in the form of wireless devices.

11 . The robot system according to claim 1 , wherein the first communication medium and the second communication medium are wired communication media in the form of communication lines,

wherein a third communication medium and a fourth communication medium each different from the first communication medium and the second communication medium are wireless communication media in the form of wireless devices, and

wherein the second control device executes the first mode using the third communication medium and the fourth communication medium that are wireless communication media and executes the second mode using the first communication medium and the second communication medium that are wired communication media.

12 . The robot system according to claim 11 , wherein the second control device communicates with the part of the plurality of first control devices using the third communication medium and communicates with the rest of the plurality of first control devices using the fourth communication medium in the first mode.

13 . The robot system according to claim 1 , wherein the first communication medium and the second communication medium are used in parallel in the second mode, and the same information is transmitted from the second control device to each of target first control device among in the plurality of first control devices.

14 . A method for manufacturing a product, the method comprising:

manufacturing the product using the robot system according to claim 1 .

15 . A method for controlling a robot system, the robot system including a robot body, a plurality of first control devices provided in the robot body, a second control device configured to communicate with the plurality of first control devices, a first communication medium configured to enable the plurality of first control devices to communicate with the second control device, and a second communication medium configured to enable the plurality of first control devices to communicate with the second control device, the method comprising:

selectively executing a first mode and a second mode,

wherein in the first mode, the second control device communicates with a part of the plurality of first control devices not using the second communication medium and using the first communication medium, and the second control device communicates with the rest of the plurality of first control devices not using the first communication medium and using the second communication medium,

wherein in the second mode, the second control device transmits information to all the plurality of first control devices using both the first communication medium and second communication medium,

wherein the robot body includes a first detection unit configured to acquire a state of the robot body and a second detection unit different from the first detection unit,

wherein the plurality of first control devices transmit a first detection result of the first detection unit and a second detection result of the second detection unit to the second control device,

wherein when communicating in the first mode, the second control device switches to the second mode on a basis of a comparison result of the first detection result and the second detection result,

wherein the first control device divides one of the first detection result and the second detection result and transmits the divided results to the second control device in different periods, and

wherein the plurality of first control device divides one of the first detection result and the second detection result into a first bit group, a second bit group, a third bit group, and a fourth bit group.

16 . A non-transitory computer-readable recording medium storing one or more control programs including executable instructions, which when executed by a computer, cause the computer to perform the method according to claim 15 .