Robot system and robot control device
A robot system including a first robot and a second robot carrying out a coordinated operation, a first robot control device, a second robot control device, and a sensor, wherein each of the first and second robot control devices include a trajectory planning unit for planning an action, a control unit for executing the action, a collision prediction unit for predicting a collision and an external disturbance based on information from the sensor, and an interlocking-preventing unit, wherein a first interlocking-preventing unit of the first robot generates an avoiding trajectory and transmits the avoiding trajectory to a second interlocking-preventing unit when the first collision prediction unit predicts a collision with the external disturbance; and the first and second robots carry out actions to avoid the external disturbance.
1 . A robot system comprising:
a first robot;
a second robot configured to perform a cooperative operation with the first robot, wherein the cooperative operation comprises supporting of a single target object;
a sensor; and
a control device comprising a processor configured to:
receive, from the sensor, information indicating presence or approach of a disturbance in a predefined trajectory of at least one of the first robot or the second robot;
predict, based on the information, a collision of the first robot or the second robot with the disturbance during the cooperative operation;
generate, responsive to predicting the collision, avoidance trajectory data according to at least a maximum acceleration of at least one of the first robot or the second robot, the avoidance trajectory data comprising an avoidance trajectory for a portion of at least one of the first robot or the second robot to avoid the disturbance or maintain support of the single target object during the present or approach of the disturbance; and
transmit the avoidance trajectory data to the first robot and the second robot, wherein the first robot and the second robot execute the avoidance trajectory responsive to the avoidance trajectory data.
2 . The robot system according to claim 1 , wherein the processor is configured to:
identify that another robot performing the cooperative operation with the first robot is the second robot.
3 . The robot system according to claim 1 , wherein the avoidance trajectory comprises is a trajectory of supporting portions of the first robot and the second robot.
4 . The robot system according to claim 3 , wherein the supporting portions are hands or loading portions.
5 . The robot system according to claim 1 , wherein the the processor is configured to:
estimate the maximum acceleration of at least one of the first robot or the second robot.
6 . The robot system according to claim 1 , wherein each of the first robot and the second robot includes a manipulator having a joint portion.
7 . The robot system according to claim 1 , wherein each of the first robot and the second robot includes wheels for movement.
8 . A robot control device that controls a cooperative operation of a robot, the robot control device comprising:
a processor configured to:
plan an operation of the robot;
perform the operation of the robot;
receive, from a sensor, information indicating presence or approach of a disturbance in a predefined trajectory of at least one of the robot or another robot;
predict, based on the information, collision of the robot or the other robot with a disturbance during the cooperative operation, the cooperative operation comprises supporting of a single target object;
generate, responsive to predicting the collision, avoidance trajectory data for the robot according to at least a maximum acceleration of at least one of the robot or the other robot, the avoidance trajectory data comprising an avoidance trajectory for a portion of at least one of the robot or the other robot to avoid the disturbance or maintain support of the single target object during the present or approach of the disturbance; and
transmit the avoidance trajectory data to the other robot, wherein the robot and the other robot execute the avoidance trajectory responsive to the avoidance trajectory data.
9 . The robot control device according to claim 8 , wherein a processor configured to:
identify the other robot that performs the cooperative operation together with the robot.