Title:
EXTERNAL FORCE DETERMINING METHOD OF HUMAN COOPERATION TYPE INDUSTRIAL ROBOT, AND EXTERNAL FORCE DETERMINING DEVICE
Document Type and Number:
Japanese Patent JP2015123520
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an external force determining method capable of accurately determining the presence/absence of external force applied on a robot.SOLUTION: An external force determining method which determines the presence/absence of external force applied on a robot 100 having a first member 2 and a second member 3 movably coupled to the first member 2 through a deceleration mechanism 13, includes: a reference value obtaining step for obtaining a reference value α of a relative position or an angle of the second member 3 to the first member 2, when the external force is not applied, or when it is KATEI that the robot 100 on which known external force is applied is operated by a predetermined command, when the robot 100 is actually operated; an actual value obtaining step for obtaining an actual value β of the relative position or the angle of the second member 3 to the first member 2, when the robot 100 is operated by the predetermined command; and a determining step for determining the presence/absence of the external force applied on the robot 100 on the basis of difference γ between the reference value α and the actual value β, and a predetermined threshold value γs.
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Inventors:
INOUE YOICHI
Application Number:
JP2013268035A
Publication Date:
July 06, 2015
Filing Date:
December 25, 2013
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J19/06
Domestic Patent References:
| JPH0751996A | 1995-02-28 | |||
| JP2003039376A | 2003-02-13 | |||
| JP2003305669A | 2003-10-28 | |||
| JP2013198955A | 2013-10-03 | |||
| JP2010228028A | 2010-10-14 | |||
| JP2010269412A | 2010-12-02 | |||
| JP2013223921A | 2013-10-31 | |||
| JPH0751996A | 1995-02-28 | |||
| JP2003039376A | 2003-02-13 | |||
| JP2003305669A | 2003-10-28 |
Attorney, Agent or Firm:
Atsushi Aoki
Tetsuro Shimada
Shinji Mitsuhashi
Ryuichi Nishimura
Hirose Shigeki
Kazuo Maejima
Tetsuro Shimada
Shinji Mitsuhashi
Ryuichi Nishimura
Hirose Shigeki
Kazuo Maejima
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