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Patent Searching and Data


Title:
ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2017/002208
Kind Code:
A1
Abstract:
A robot system is provided with a robot (10) and a movement control section. The robot (10) is provided with a base, a turning base (12), a first arm (13), a second arm (15), and a third arm (16). The base end of the first arm (13) is supported by the turning base so as to allow turning around a horizontal second axis. The base end of a redundant arm (14) is supported by the distal end of the first arm (13) so as to allow turning around a redundant axis that is parallel to the second axis. The base end of the second arm (15) is supported by the distal end of the redundant arm (14) so as to allow turning around a third axis that is parallel to the second axis. The base end of the third arm (16) is supported by the distal end of the second arm (15) so as to allow rotation around a fourth axis that is perpendicular to the third axis. The movement control section (111) moves the redundant arm so as to linearly move a control point provided on the fourth axis while maintaining the orientation of the fourth axis.

Inventors:
OKAHISA, Manabu (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
KAGAWA, Ryuta (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
INOUE, Hikaru (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
HIRO, Tatsuo (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
Application Number:
JP2015/068890
Publication Date:
January 05, 2017
Filing Date:
June 30, 2015
Export Citation:
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Assignee:
KABUSHIKI KAISHA YASKAWA DENKI (2-1 Kurosaki-Shiroishi, Yahatanishi-ku Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
International Classes:
B25J13/00
Foreign References:
JPH09314487A1997-12-09
JP2007221031A2007-08-30
JPH0647689A1994-02-22
JP2002210684A2002-07-30
JP2012228761A2012-11-22
JPH07108476A1995-04-25
JPH05220681A1993-08-31
Other References:
MANJA KIRCANSKI: "Combined analytical-gradient- projection inverse kinematic solutions for simple redundant manipulators", PROCEEDINGS OF FIFTH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1991. 'ROBOTS IN UNSTRUCTURED ENVIRONMENTS', 91 ICAR., vol. 2, June 1991 (1991-06-01), pages 1228 - 1231, XP032159903
JING XIA ET AL.: "Analytical inverse kinematic computation for anthropomorphic manipulator based on human-like motion optimization and maximum reachable region optimization", PROCEEDINGS OF 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO, December 2014 (2014-12-01), pages 2292 - 2297, XP032764947
Attorney, Agent or Firm:
SAKAI, Hiroaki (Sakai International Patent Office, Toranomon Mitsui Building 8-1, Kasumigaseki 3-chome, Chiyoda-k, Tokyo 13, 〒1000013, JP)
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