Title:
POSITION AND FORCE CONTROL SYSTEM, POSITION AND FORCE CONTROL METHOD AND PROGRAM
Document Type and Number:
Japanese Patent JP2021137899
Kind Code:
A
Abstract:
To perform work equivalent to manual work by a person using a machine.SOLUTION: In a position and force control system 1, a work tool 296a of a work device 2 is used in work for a work surface. A gimbal part 29 holds the work tool 296a so that its attitude can be changed. A first arm 22 and a second arm 25 hold the gimbal part 29 so that its position can be changed to the work surface. A plurality of actuators for driving joints of the work device 2 drives the gimbal part 29, and joints of the first arm 22 and the second arm 25. A control device 6 controls the plurality of actuators for driving the joints of the work device 2. The control device 6 controls the plurality of actuators for driving the joints of the work device 2 on the basis of information on positions of the joints in operations of the first arm 22, the second arm 25 and the gimbal part 29 when a worker performs work on the work tool 296a.SELECTED DRAWING: Figure 1
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Inventors:
UEDA HISATERU
SEISHU YOSHIO
KAMIJO HIROAKI
SATO KEIGO
NOZAKI TAKAHIRO
ONISHI KOHEI
SEISHU YOSHIO
KAMIJO HIROAKI
SATO KEIGO
NOZAKI TAKAHIRO
ONISHI KOHEI
Application Number:
JP2020036314A
Publication Date:
September 16, 2021
Filing Date:
March 03, 2020
Export Citation:
Assignee:
OHBAYASHI CORP
KEIO GIJUKU
KEIO GIJUKU
International Classes:
B25J3/00
Attorney, Agent or Firm:
Yasuhiro Bono