Title:
COOPERATIVE CONTROL METHOD OF ROBOT AND COOPERATIVE CONTROL DEVICE THEREOF
Document Type and Number:
Japanese Patent JP2717771
Kind Code:
B2
Abstract:
PURPOSE: To provide cooperative control method and a cooperative control device of a robot which has improved in general purpose use.
CONSTITUTION: External force and internal force of an object is calculated by force detection signals from a plurality of robot force sensors 11, 21 and force control amount of respective robots 10 and 20 is obtained by the calculated internal force and also compliance control amount of the respective robots is obtained from the internal force. Force compensating amount of respective robots is obtained from the both control amount and the respective robots 10, 20 are operated based on the value. Thus, a robot cooperative control device 30 has a force converting part 31 for converting the force detection signal into a force converting signal corresponding to a designated mode, a cooperative control part 32 which has force/compliance model parts 321, 322 for calculating force/compliance control amount based on the force converting signal and a distribution part 33 for distributing the calculated force/compliance control amount to corresponding robots 10 and 20.
Inventors:
Fujimori Jun
Toshiyuki Ibedo
Kiyoshi 500i
Katsura Katsura
Toshiyuki Ibedo
Kiyoshi 500i
Katsura Katsura
Application Number:
JP30955894A
Publication Date:
February 25, 1998
Filing Date:
November 17, 1994
Export Citation:
Assignee:
Kawasaki Heavy Industries, Ltd.
International Classes:
B25J9/10; B25J13/08; (IPC1-7): B25J9/10; B25J13/08
Domestic Patent References:
| JP81559A | ||||
| JP5241661A | ||||
| JP6246661U |
Attorney, Agent or Firm:
Taro Sogi