Abstract: Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

Abstract: A method of generating a robot operation command includes extracting a work command from an overall work flow; extracting, from a command definition database, a command definition corresponding to the extracted work command, the work command having been read; generating, by referring to the read work command, a set of unit jobs in which at least one work command is arranged in order, based on the extracted command definition; generating, for a plurality of unit jobs, a connecting job for causing a robot to be moved from an end position of a previous unit job to a start position of a subsequent unit job; and generating a robot operation command in which the unit jobs and the connecting job are continuous.

Abstract: Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

Abstract: A method of generating a robot operation command includes extracting a work command from an overall work flow; extracting, from a command definition database, a command definition corresponding to the extracted work command, the work command having been read; generating, by referring to the read work command, a set of unit jobs in which at least one work command is arranged in order, based on the extracted command definition; generating, for a plurality of unit jobs, a connecting job for causing a robot to be moved from an end position of a previous unit job to a start position of a subsequent unit job; and generating a robot operation command in which the unit jobs and the connecting job are continuous.

Abstract: Provided is an operation command generation device, which is configured to generate an operation command, which is a collection of jobs to be performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols, the operation command generation device circuitry includes: a job generation unit configured to generate, based on the protocol chart, a job; a priority instruction unit configured to instruct a priority condition for determining a job execution order; and an execution order determination unit configured to determine an execution order of the jobs based on the priority instructed by the priority instruction unit by using a first condition about repeatedly execution of the jobs according to the number of the containers and a second condition about execution order of the jobs according to the arrangement of the process symbols in the protocol chart.

Abstract: A dispensing system includes an automatic dispensing machine configured to perform a dispensing work related to content of a container, and at least one controller configured to acquire measured data of properties of the content, and control the automatic dispensing machine to perform a dispensing operation based on the measured data.

Abstract: A method of generating a robot operation command includes extracting a work command from an overall work flow; extracting, from a command definition database, a command definition corresponding to the extracted work command, the work command having been read; generating, by referring to the read work command, a set of unit jobs in which at least one work command is arranged in order, based on the extracted command definition; generating, for a plurality of unit jobs, a connecting job for causing a robot to be moved from an end position of a previous unit job to a start position of a subsequent unit job; and generating a robot operation command in which the unit jobs and the connecting job are continuous.

Abstract: Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

Abstract: Provided is an operation command generation device including: an execution order determination unit configured to determine, based on respective arrangement positions of a plurality of process symbols each representing a process for a process subject on a protocol chart including the plurality of process symbols, an execution order of the plurality of process symbols; and a process symbol conversion unit configured to respectively convert the plurality of process symbols into jobs for a process system including at least a robot so that processes represented by the plurality of process symbols are executed in the execution order determined by the execution order determination unit.

Abstract: Provided is an operation command generation device, which is configured to generate an operation command, which is a collection of jobs to fee performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols, the operation command generation device circuitry includes: a job generation unit configured to generate, based on the protocol chart, a job; apriority instruction unit configured to instruct a priority condition for determining a job execution order; and an execution order determination unit configured to determine an execution order of the jobs based on the priority instructed by the priority instruction unit by using a first condition about repeatedly execution of the jobs according to the number of the containers and a second condition about execution order of the jobs according to the arrangement of the process symbols in the protocol chart.

Abstract: Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

Abstract: Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

Abstract: A processing system at least including a processing apparatus including a robot configured to perform, in accordance with operation commands, processes on a container that contains an object to be processed in a biochemistry, biotechnology, or life science field includes an image capturing apparatus and a monitoring apparatus. The image capturing apparatus continuously captures a moving image of the processes. The monitoring apparatus includes a storage unit, a list display unit, and a playback unit. The storage unit stores the moving image captured by the image capturing apparatus. The list display unit displays at least one of a list of the processes and a list of operation information items of each indicating an operation the robot. The playback unit plays the moving image from a timing corresponding to a process specified from the list of processes or an operation information item specified from the list of operation information items.

Abstract: Provided is a protocol chart creation device, including: an initial symbol arrangement unit configured to arrange an initial symbol representing an initial state of a container for containing a specimen; a procedure line arrangement unit configured to arrange a procedure line representing a process order for the container in a direction along a first axis from the initial symbol; a process symbol arrangement unit configured to arrange a process symbol representing a process to be carried out on the container along the procedure line, and to arrange, when there are a plurality of processes to be carried out on one container, the process symbols representing the processes along the procedure line; and a separation unit configured to separate arrangements of the initial symbols, the procedure lines, and the process symbols for different containers in a direction along a second axis intersecting the first axis.

Abstract: A processing system at least including a processing apparatus including a robot configured to perform, in accordance with operation commands, processes on a container that contains an object to be processed in a biochemistry, biotechnology, or life science field includes an image capturing apparatus and a monitoring apparatus. The image capturing apparatus continuously captures a moving image of the processes. The monitoring apparatus includes a storage unit, a list display unit, and a playback unit. The storage unit stores the moving image captured by the image capturing apparatus. The list display unit displays at least one of a list of the processes and a list of operation information items of each indicating an operation the robot. The playback unit plays the moving image from a timing corresponding to a process specified from the list of processes or an operation information item specified from the list of operation information items.

Abstract: A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.

Abstract: A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.

Abstract: A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.

Abstract: A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.

Abstract: A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).