To place many movable parts in desired operation simultaneously by suitably combining necessary irreducible manual operations by an operator and automated functions together according to a requested robot operation.SOLUTION: A multiple-arm mobile robot 10 comprises: a vehicle body 14 including a plurality of arm units 11 capable of operating within predetermined ranges; a travel body 15 operating to move the vehicle body 14; and a control unit 17 controlling movements of movable parts of the respective arm units 11 and a travel body 15. The control unit 17 includes a controller 44 which performs dynamic authority allocation between manual operation to allow some movable parts to operate as manual operation parts according to operator's operation, and automatic control to allow movable parts excluding the manual operation parts to automatically operate as automatic operation parts. The controller 44 is so set as to change dynamic authority allocation so that a combination of movable parts as the manual operation part and the automatic operation part differs with predetermined modes and timings.SELECTED DRAWING: Figure 1

    【課題】要求されるロボット動作に応じ、必要最小限の操作者のマニュアル操作と自動化機能とを好適に組み合わせ、多数の可動部分について所望の動作を同時に行う。【解決手段】複腕移動ロボット10は、所定範囲内で動作可能な複数のアームユニット11を含む車体14と、車体14を移動させるように動作する走行体15と、各アームユニット11及び走行体14の各可動部位の動作を制御する制御ユニット17とを備えている。制御ユニット17は、一部の可動部位をマニュアル動作部位として操作者の操作に応じて動作させるマニュアル制御と、マニュアル動作部位を除く可動部位を自動動作部位として自動的に動作させる自動制御との動的権限配分を行う制御装置44を含む。制御装置44では、所定のモードやタイミング毎に、マニュアル動作部位及び自動動作部位となる可動部位の組み合わせが異なるように動的権限配分を変更可能に設定される。【選択図】 図1


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    Title :

    MULTIPLE-ARM MOBILE ROBOT AND COOPERATION CONTROL SYSTEM FOR ROBOT


    Additional title:

    複腕移動ロボット及びロボットの協調制御システム


    Contributors:

    Publication date :

    2019-07-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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