Kawasaki Jukogyo Kabushiki Kaisha

Shinya Kitano

Masaya Yoshida

Kazuo Fujimori

Hiroyuki Okada

Atsushi Nakaya

Junichi Sugahara

Yukihiro Kawaguchi

Ippei Shimizu

Yukimasa Yamada

Keita Kikuchi

Hiroyuki Yoshida

A video confirmation computer for confirming video related to robot operation includes a storage unit and a processor. The storage unit stores information on the position of the electric motor that drives a link body of the robot received from the controller of the robot and information on the video obtained by a camera attached to the robot. The processor makes at least one of the video confirmation computer itself and a computer connected to the video confirmation computer display a model area and a video area side by side. In the model area, a two-dimensional or three-dimensional model reproducing the posture of the robot is displayed by computer graphics. In the video area, the video is displayed.

Video confirmation computer

A robot control device configured to control operation of a robot configured to transfer a substrate while holding the substrate. The robot includes a robotic arm having at least one joint axis, and an end effector provided to a tip end of the robotic arm and configured to hold the substrate. A position and a posture of the end effector are defined by values of N variables. A value of at least one of the N variables that define a holding position and a holding posture of the end effector for holding the substrate placed on the installation position by the end effector is independent from a value of the corresponding variable among the N variables that define a withdrawn position and a withdrawn posture of the end effector after retreating the end effector in the holding position and the holding posture from the installation position.

Robot control device, robot provided with the same, and robot system

A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm; a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition; a display that displays at least one of the movement trajectory of the arm or the movement trajectory of the hand, the movement trajectories being derived by the deriver; and a corrector that corrects the movement trajectory displayed on the display according to user's input operation.

Robot teaching device and robot teaching program

A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm, and a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition while changing the position of the base.

Teaching device for robot and teaching program for robot

A substrate mapping devicemaps a plurality of substratesinside a container where the substratesare accommodated so as to be arrayed in a given arrayed direction. The substrate mapping deviceincludes a sensorconfigured to detect a state of the substrate, a manipulatorconfigured to move the sensor, and a control deviceconfigured to control the manipulatorto move the sensoralong a mapping course. The control devicesets a first mapping position and a second mapping position different in the position in the arrayed direction of the substratesfrom the first mapping position, and sets the mapping course based on the first mapping position and the second mapping position.

Substrate mapping device, method of mapping by the device, and method of teaching the mapping

A robot control device configured to control operation of a robot configured to transfer a substrate while holding the substrate is provided. The substrate becomes in a first state where an end effector holds the substrate and the substrate is not placed at an installation position, when the end effector positions at a first teaching point above the installation position. The substrate becomes in a second state where the end effector does not hold the substrate and the substrate is placed at the installation position, when the end effector positions at a second teaching point below the installation position. The first and second states can be switched by causing the robot to perform a first operation to move the end effector from either one of the first teaching point and the second teaching point to the other one of the first teaching point and the second teaching point.

Robot control device, robot, and method of controlling the robot

A robot controlling part () of a substrate transferring robot performs an operation regulating control when a substrate is placed on a substrate placing part (). The operation regulating control is a control in which a hand () is moved in accordance with an operation plan that regulates the movement of the hand in a regulation target section (A) where the hand is moved to have a vertical acceleration component exceeding a given first threshold (L), the movement of the hand including at least one of a horizontal velocity component exceeding a given second threshold (L) and an acceleration component exceeding a given third threshold.

Growing community of inventors

Kobe, Japan

Shinya Kitano