Title:
ROBOT, ROBOT CONTROL DEVICE, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2011/080856
Kind Code:
A1
Abstract:
Provided is a robot that has: a multi-jointed robot arm (5); an external-force detection means (3) which is provided on the arm and detects external forces; a joint mobility state calculation means (2) which calculates the mobility states of the joints on the arm; an external-force transformation means (24) which, on the basis of the mobility states calculated by the joint mobility state calculation means, transforms the external forces detected by the external-force detection means into transformed external forces; and a control means (25, 29) that, on the basis of the transformed external forces, controls the arm (5) such that the movements thereof are restricted.
Inventors:
OKAZAKI, Yasunao (())
Application Number:
JP2010/006271
Publication Date:
July 07, 2011
Filing Date:
October 22, 2010
Export Citation:
Assignee:
PANASONIC CORPORATION (1006, Oaza Kadoma Kadoma-sh, Osaka 01, 〒5718501, JP)
パナソニック株式会社 (〒01 大阪府門真市大字門真１００６番地 Osaka, 〒5718501, JP)
パナソニック株式会社 (〒01 大阪府門真市大字門真１００６番地 Osaka, 〒5718501, JP)
International Classes:
B25J13/08
Attorney, Agent or Firm:
TANAKA, Mitsuo et al. (AOYAMA & PARTNERS, IMP Building3-7, Shiromi 1-chome, Chuo-k, Osaka-shi Osaka 01, 〒5400001, JP)
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