Omron Corporation

Akane Nakashima

Takeshi Kojima

Kennosuke Hayashi

Haruka Fujii

Ryoichi Kuratani

Shinichi Hosomi

Akihiro Suzumura

Akira Nakajima

Toshihiro Moriya

Ryota Akai

Soji Ohmae

Masahiro Ikumo

The present disclosure provides an acquisition unit acquiring an installation position, which serves as a point of origin within a range in which each of a plurality of robots can move, a start position, which is a prescribed location of each of the plurality of robots when in a starting posture, and an end position, which is a prescribed location when in a final posture, and an evaluation unit evaluates, for each of the plurality of robots, the risk of interference between the plurality of robots on the basis of overlap between polyhedra defined on the basis of polygons that include the installation position, the start position and the end position.

Interference evaluation device, method, and program

A robot control device includes: a first acquisition unit to acquire path information relating to a path of a robot and speed information relating to a speed the robot moves on the path; a second acquisition unit to acquire specification information relating to a specification of the robot; a determination unit to determine a segment where an action time of the robot is shortened even when a waypoint is added on the path; a correction unit to correct the path of the robot so as to make inertia of the robot smaller in a segment where an action time of the robot is shortened; a computation unit to compute a load acting on a joint of the robot; and an adjustment unit to adjust a control amount for controlling an acceleration of the robot joint such that the load computed by the computation unit satisfies a target load.

Robot control device, robot control method, and recording medium storing robot control program

An acceleration adjustment apparatus may include a load calculation unit that calculates a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion. The acceleration adjustment apparatus may further include an acceleration adjustment unit that executes at least one of a first adjustment in which, when the peak value of the load calculated by the load calculation unit is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated by the load calculation unit is less than the target value, the acceleration is adjusted to increase.

Acceleration adjustment apparatus and non-transitory computer-readable storage medium storing an acceleration adjustment program

A path planning apparatus is provided with a path planning unit that generates a path of a robot using a plurality of different path planning methods that respectively correspond to a plurality of different constraints determined from the posture of the robot and the characteristics of one or more obstacles that obstruct movement of the robot, an acquisition unit that acquires posture information indicating an initial posture of a robot for which a path is to be generated and a target posture of the robot, and obstacle information indicating a target obstacle that obstructs movement of the robot from the initial posture to the target posture, and a controller that controls the path planning unit so as to generate a path of the robot using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquired by the acquisition unit.

Path planning apparatus, path planning method, and path planning program

A motion generation device may be for generating a movement for changing the robot from a first orientation to a second orientation, and include a first acquisition unit that acquires first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, a second acquisition unit that acquires at least one priority item regarding the movement for changing from the first orientation to the second orientation, and a movement generation unit that generates a motion of the robot that includes a movement path along which the robot moves from the first orientation to the second orientation, based on the first orientation information, the second orientation information, and the priority item that were acquired.

Motion generation method, motion generation device, system, and computer program

Provided is an interference determination method with which whether or not a robot interferes with a surrounding object on a motion path can be computed. At least one intermediate position is set on a motion path of movement from the first position to the second position, a plurality of robot approximated bodies that are each constituted by combining at least two robot approximated bodies at a plurality of postures corresponding to each position are generated, a second combined approximated body constituted by combining at least two first combined approximated bodies is generated with respect to at least one focused part, and the second combined approximated body interferes with a surrounding object approximated body is determined.

Interference determination method, interference determination system, and computer program

An interference determination method is provided to compute whether or not a robot that operates according to a motion path will interfere with a nearby object. A first orientation, a second orientation, and an intermediate orientation of the robot are set, and a first combined approximated body is generated that is configured by combining a plurality of robot approximated bodies, which are obtained by approximating the shape of the robot in these orientations. If it is determined that the robot will interfere with the nearby object, whether to generate a combined approximated body that is smaller than the first combined approximated body is determined based on the amount indicating the interval between two adjacent robot approximated bodies.

A robot control apparatus includes a workpiece orientation calculation unit, an arrival prediction unit, a robot orientation calculation unit, and a trajectory data generation unit. The arrival prediction unit obtains a picking prediction position at which a workpiece that is conveyed by a conveyance apparatus may be picked up by a picking apparatus or the like, based on conveyance speed information supplied by the conveyance apparatus or the like and the sensing information supplied by an image acquisition apparatus.

Robot control apparatus, robot control method, and robot control program

A sensor device has a difference calculation unit that calculates the difference between a predetermined threshold and a current measured value measured by a sensor unit that measures a measurement subject, a change amount recording unit that records the maximum amount of change of the measured value with respect to elapsed time on the basis of a plurality of measured value history records obtained by measuring the measurement subject, and a minimum time calculation unit that calculates the minimum arrival time that is the minimum time for the measurement subject to arrive at the predetermined threshold from the current measured value on the basis of the calculated difference and the recorded maximum amount of change.

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Nara, Japan

Akane Nakashima