Patent Document ID: 9393691
Application ID: 13147415
Patent Status: 1

Claim One:
1. An industrial robot system including a robot having a manipulator and a hand with a plurality of fingers, and used for a production system for assembling a product which is an object to be manufactured, comprising: action planning circuitry for temporary halts to generate task information and a first work path in order to address a temporary halt that constitutes an obstacle to a teaching task when a production line is started up and adjusted, the first work path defining approximated and unrefined robot movements from a start point to an end point; error-inducing-task restraining circuitry to generate error information used for restraining a task inducing an error based on the task information; task-teaching circuitry to generate a second work path specifying absolute coordinates based on the first work path, the error information, and an input from an operator, the second work path defining specific and refined robot movements from the start point to the end point; operation mastering circuitry to generate a third work path optimized for the robot based on the second work path, the third work path defining optimized robot movements from the start point to the end point; a memory that stores a hand library formed by associating an assembly task of the robot and control software with each other; optimum-task-operation circuitry to generate an operation sequence of specific tasks; the memory stores a specific task library for storing the operation sequence of specific tasks; error-recovery-task teaching circuitry to teach an error recovery task according to an error state based on an operation history in the task-teaching circuitry; the memory stores an error recovery library for storing the error recovery task; finger-eye-camera measurement circuitry and three-dimensional recognition circuitry to generate operation monitoring information on the robot, and to input the operation monitoring information to the error-inducing-task restraining circuitry, the task-teaching circuitry, and the operation mastering circuitry, the finger-eye-camera measurement circuitry including a different finger camera provided close to the fingertip of each finger of the hand and an omnidirectional mirror that is opposite to each finger and finger camera so at least one of the finger cameras can capture a reflected image of the fingertip and a periphery of the fingertip as a partial basis for the operation monitoring information on the robot; and a controller to control the robot based on the second work path and the third work path, and on the operation monitoring information, wherein: the action planning circuitry generates the first work path based on configuration information on the production system and the object to be manufactured including at least part connection information, geometric shape data, and facility layout data, information stored in the hand library, the specific task library, the error recovery library, and the error information from the error-inducing-task restraining circuitry; the task information includes at least a check point for examining a temporary halt during the task, a recovery point returning to which enables the task to resume when the check point is not passed, a recovery path for returning to the recovery point, work paths connecting the respective points to each other, and a sequence describing the execution sequence of each of the work paths, and a synchronization point; the task-teaching circuitry, based on the input by the operator, warns the operator about a task operation that is likely to cause a mistake when the second work path is being generated; the error-recovery-task teaching circuitry calculates error recovery information on components including the robot based on a cause for occurrence of the error and the operation history from the task-teaching circuitry; and the action planning circuitry for temporary halts, the task-teaching circuitry, and the operation mastering circuitry generate program information including the third work path required for teaching the robot from the configuration information on the production system and the object to be manufactured.