Patent ID: 9132546
Filing Date: 2015-09-15
Classification: B25J,G05B

Abstract:
1. A robot control apparatus that causes a robot provided with a hand on an end of an arm to perform a pick-up operation that uses the hand to grasp and move a workpiece detected by a workpiece detection unit, the robot control apparatus comprising: a parameter storage unit configured to store a first parameter and a second parameter, wherein the first parameter defines a position and a geometric shape of a non-interference area in which no interference occurs between the hand and a surrounding environment, and the second parameter defines a geometric shape and a size of a work area through which the hand potentially passes when moving to grasp the workpiece; a program execution unit configured to execute an operation description program including a sequence of instructions described corresponding to procedures of the pick-up operation to cause the robot to drive the arm to move the hand; a work area computation unit configured to read the second parameter regarding the work area from the parameter storage unit and to compute, based on a position and an attitude of the workpiece obtained from the workpiece detection unit, a position and an orientation of the work area with reference to the position of the workpiece detected by the workpiece detection unit; an overlap computation unit configured to read the first parameter regarding the non-interference area from the parameter storage and to compute an overlap between a surrounding environment area excluding the non-interference area and the work area having the position and the orientation computed by the work area computation unit; and an interference-accompanying operation execution unit configured to execute, if there is the overlap between the surrounding environment area and the work area having the position and the orientation computed by the work area computation unit, a predetermined operation as an interference-accompanying operation in response to the hand going into the work area.