Title:
ROBOT SYSTEM AND ROBOT SYSTEM CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2018/212265
Kind Code:
A1
Abstract:
The invention has: a slave unit (1) that includes a slave-side force detection unit (12) to detect the direction and magnitude of a reactive force (fs) acting upon a workpiece (W) held in a working end (11a) of a slave arm (11); a master unit (2) that includes a master-side force detection unit (22) to detect the direction and magnitude of a reactive force (fm) having been applied by an operator (P) on a working end (21a) of a master arm (21); and a system control unit (3) that generates a slave operation command (xs) and a master operation command (xm) on the basis of the reactive force (fm) and the reactive force (fs). The system control unit (3) has a regulator (32) that, when the reactive force (fs) exceeds a preset allowable force (flim), corrects the direction of movement of the working end (11a) so that the movement of the working end (11a) in the direction to press an object (T) is regulated.
Inventors:
SHIMOMURA NOBUYASU
KAMON MASAYUKI
FUJIMORI JUN
KINOSHITA HIROKI
SHITAKA TAKUYA
TAKAHASHI HIROKI
KAMON MASAYUKI
FUJIMORI JUN
KINOSHITA HIROKI
SHITAKA TAKUYA
TAKAHASHI HIROKI
Application Number:
PCT/JP2018/019046
Publication Date:
November 22, 2018
Filing Date:
May 17, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J3/00
Foreign References:
| JPH08229858A | 1996-09-10 | |||
| JPH08281573A | 1996-10-29 |
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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