Title:
METHOD FOR COOPERATIVE CONTROL OF ROBOT
Document Type and Number:
Japanese Patent JP3765713
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide the adaptable cooperative control of robots without requiring a force sensor for each robot operating an object in cooperation.
SOLUTION: In a schematic structure in case of operating the objects using k-pieces of robots, the numeral 100 indicates a robot target trajectory generator, the numeral 200 a robot controller group consisting of k-pieces of robot controllers, the numeral 300 a robot group consisting of k-pieces of robots such as arms for performing actual work, and the numeral 400 the objects (clamped materials) to be intended for the work of k-pieces of robot groups. In this construction of a control system, the target trajectory and the target finger force of each robot is generated from observation values for the target trajectories and the actual trajectories of the objects and target values for internal force generated therein when clamped by the robots. Each robot is controlled by control following the target trajectory and the target finger force individually given by the corresponding robot controller. Thus, whole cooperative control is achieved.
Inventors:
Kawasaki Haruhisa
Toshimi Shimizu
Satoshi Ito
Toshimi Shimizu
Satoshi Ito
Application Number:
JP2000209129A
Publication Date:
April 12, 2006
Filing Date:
July 10, 2000
Export Citation:
Assignee:
Japan Science and Technology Agency
International Classes:
B25J9/16; B25J13/00; G05B11/32; G05B11/36; G05B13/02; G05B19/18; (IPC1-7): B25J9/16; B25J13/00; G05B11/32; G05B11/36; G05B13/02; G05B19/18
Domestic Patent References:
| JP7266270A | ||||
| JP1142573A | ||||
| JP42577U |
Attorney, Agent or Firm:
Susumu Kako
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