Title:
DIRECT TEACHING DEVICE FOR ROBOT
Document Type and Number:
Japanese Patent JP3465253
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To make it possible that an operater safely carrys out teaching by restricting the generated torque more than necessary quantity of a motor even in case where the operater gives excessive operating force to a force detector, or the operater is put between arms or the arm and a work, and using a simple teaching device.
SOLUTION: A direct teaching device is equipped with a force detector 21; a teaching tool 20 composed of a working tool 22 which is fixed to the detector and used by an operater for grasping and leading a robot or an exclusive handle 23; a motion model computing section 24 serving as a means for computing a position or speed command on the information of the force detector and a motion model; a flexible servo system 25 composed of a means for computing the generated torque of the motor on the position or speed command and a means for restricting the generated torque; and a means 29 for storing command information or actual detecter information.
Inventors:
Hideo Nagata
Yasuyuki Inoue
Yasuyuki Inoue
Application Number:
JP26791695A
Publication Date:
November 10, 2003
Filing Date:
September 20, 1995
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
B25J9/22; (IPC1-7): B25J9/22
Domestic Patent References:
| JP63278777A | ||||
| JP6254302A | ||||
| JP60252911A | ||||
| JP6376488U |