Robot system
A robot system including a plurality of robots, controllers that respectively control the robots, hands attached to wrist ends of the robots and configured to hold and release a workpiece, and a sensor configured to detect that the workpiece is being held by the hands of the robots. The controllers are interconnected and configured to exchange signals so that the robots operate in coordination in response to an operation command that includes a coordination command, and prohibit operation of each of the robots based on an operation command that lacks a coordination command in a state in which the sensor detects the workpiece being held.
1. A robot system comprising:
a plurality of robots;
a plurality of controllers that respectively control the robots;
hands attached to wrist ends of the robots and configured to hold a workpiece; and
a sensor configured to detect that the workpiece is being held by the hands of the robots,
wherein the plurality of controllers are configured to:
control the robots to operate in coordination in response to an operation command that includes a coordination command;
prohibit operation of each of the robots based on an operation command that lacks a coordination command when the sensor detects that the workpiece is being co-held by the robot; and
control the robots to operate in response to the operation command that lacks the coordination command and based on detection result of the sensor, wherein the detection result indicates that the robots are not co-holding the workpiece.
2. The robot system according to claim 1 , further comprising a notifying device configured to notify that the plurality of controllers have prohibited the operations of the robots when the plurality of controllers prohibit the operations of the robots.
3. A robot system comprising:
a plurality of robots;
a plurality of controllers that respectively control the robots;
hands attached to wrist ends of the robots and configured to hold a workpiece; and
a sensor configured to detect that the workpiece is being held by the hands of the robots,
wherein the plurality of controllers are interconnected and configured to exchange signals so that the robots operate in coordination in response to an operation command that includes a coordination command, and prohibit operation of each of the robots based on an operation command that lacks a coordination command in a state in which the sensor detects that the workpiece is being co-held by the robot, and
wherein, when the sensor detects the workpiece being held and when the operation command including the coordination command is used, the plurality of controllers sequentially monitor a relative position between a coordinate axis fixed with respect to the hand of one of the robots and a coordinate axis fixed with respect to the hand of another one of the robots and the plurality of controllers sequentially monitor orientations of the one hand and the other hand, and prohibit operation of the robots if the orientations and the relative position between the two coordinate axes change by an amount equal to or more than a particular threshold.