US 7,321,808 B2
Robot and multiple robot control method
Kenji Nagamatsu, Nagoya (Japan)
Assigned to Denso Wave Incorporated, Tokyo (Japan)
Filed on Nov. 22, 2006, as Appl. No. 11/602,979.
Claims priority of application No. 2005-338764 (JP), filed on Nov. 24, 2005.
Prior Publication US 2007/0118249 A1, May 24, 2007
Int. Cl. G05B 19/418 (2006.01)
U.S. Cl. 700—248  [700/245; 700/246; 700/247; 700/249; 700/250; 700/251; 700/252; 700/253; 700/254; 700/255; 318/568.11; 318/568.12; 318/568.13; 318/568.14; 318/568.16; 219/121.61; 219/121.62; 219/121.64; 219/125.11; 219/125.12; 901/2; 901/8; 901/9; 901/16; 901/23] 6 Claims
OG exemplary drawing
 
1. A multiple robot control method for a plurality of robots each with a movable part, in which the plurality of robots share a workspace and operate the movable parts, respectively, the method comprising:
when braking of a motion of the operated movable part of a first robot in the plurality of robots is assumed to be started at plurality of points in time, estimating a first stop position of the movable part of the first robot at each point in time;
when braking of a motion of the operated movable part of a second robot in the plurality of robots is assumed to be started at the plurality of points in time, obtaining an estimated second stop position of the movable part of the second robot at each point in time;
determining, at at least one of the points in time, whether the estimated first stop position of the movable part of the first robot and at least one of an actual position and the obtained second stop position of the movable part of the second robot are contained in the shared workspace; and
braking the movable part of the first robot when it is determined that the estimated first stop position of the movable part of the first robot at the at least one of the points in time and at least one of the actual position and the obtained second stop position of the movable part of the second robot at the at least one of the points in time are contained in the shared workspace.