Title:
ROBOT, AND CONTROL METHOD AND CONTROL PROGRAM THEREFOR
Document Type and Number:
WIPO Patent Application WO/2017/199502
Kind Code:
A1
Abstract:
The purpose of the present invention is to determine whether or not a robot has been set down while the robot is moving without interfering with the movement. Provided is a robot comprising: a servo motor-detecting section (12) for determining whether or not the torque generated in a first servo motor, which is provided on a movable part among multiple movable parts that sustains a reaction force generated when the robot is set down on a prescribed surface, has exceeded a prescribed threshold; and a state-distinguishing section (16) for determining, when the servo motor-detecting section (12) has determined that the torque generated in the first servo motor has exceeded the prescribed threshold, that the robot has been set down on a prescribed surface.
Inventors:
FUKUDA YOHEI
Application Number:
PCT/JP2017/006330
Publication Date:
November 23, 2017
Filing Date:
February 21, 2017
Export Citation:
Assignee:
SHARP KK (JP)
International Classes:
B25J5/00
Domestic Patent References:
| WO2000032360A1 | 2000-06-08 |
Foreign References:
| JP2004306251A | 2004-11-04 | |||
| JP2016055361A | 2016-04-21 | |||
| JPH0871967A | 1996-03-19 | |||
| JP2013013946A | 2013-01-24 |
Attorney, Agent or Firm:
HARAKENZO WORLD PATENT & TRADEMARK (JP)
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