Title:
ROBOT SYSTEM, CONTROL METHOD, AND PASSIVE ARM
Document Type and Number:
WIPO Patent Application WO/2022/138502
Kind Code:
A1
Abstract:
A robot system (1) comprises: a robot arm (310A, 310B); a passive arm (100, 200) which is engaged and disengaged with the robot arm and which is moved by the robot arm; and a control device (500A, 500B) which controls a first motion and a second motion of the robot arm. The first motion is a motion that is performed by the robot arm to act on an object (VB), and the second motion is a motion that is performed by the robot arm to cause the passive arm to act on the object. In the second motion, the control device executes: interlocking the robot arm and the passive arm; bringing the passive arm into engagement with the object by causing the robot arm to operate the passive arm; and causing the robot arm to operate the passive arm being in engagement with the object so as to cause the passive arm to act on the object.
Inventors:
FUJISAWA SHINICHI
ITO JUNJI
ITO JUNJI
Application Number:
PCT/JP2021/046801
Publication Date:
June 30, 2022
Filing Date:
December 17, 2021
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J9/16; B25J9/06; B25J19/00
Domestic Patent References:
| WO2008108401A1 | 2008-09-12 | |||
| WO2011055766A1 | 2011-05-12 | |||
| WO2010091722A1 | 2010-08-19 |
Foreign References:
| JPS63267180A | 1988-11-04 | |||
| JPS60201845A | 1985-10-12 | |||
| JPH091492A | 1997-01-07 | |||
| JPH0655484A | 1994-03-01 | |||
| JPH0866889A | 1996-03-12 | |||
| JP2019048364A | 2019-03-28 | |||
| JP2013031890A | 2013-02-14 | |||
| JP2018122367A | 2018-08-09 |
Attorney, Agent or Firm:
ARCO PATENT & TRADEMARK ATTORNEYS (JP)
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