ROBOT SYSTEM - KAWASAKI HEAVY IND LTD

Title:

ROBOT SYSTEM

Document Type and Number:

WIPO Patent Application WO/2017/033378

Kind Code:

A1

Abstract:

A robot system is provided with: a robot body equipped with a robot arm, an end effector installed on the robot arm, and a force-detecting device for detecting forces exerted on the tip of the end effector; a real reaction force information generator for generating force-sensing information according to the force detected by the force-detecting device and outputting said force-sensing information as real reaction force information; an imaginary reaction force information generator for outputting a component, which has a magnitude proportional to the time derivative of the force detected by the force-detecting device, as imaginary reaction force information; an adder for outputting the sum of the real reaction force information output from the real reaction force information generator and the imaginary reaction force information output from the imaginary reaction force information generator as combined reaction force information; an operation device for causing an operator to feel a force corresponding to the combined reaction force information output from the adder and, when the operator performs an operation, for outputting operation information corresponding to said operation; and an action control unit for controlling the action of the robot body according to the operation information output from the operation device.

Inventors:

TOJO TSUYOSHI
SHIMOMURA NOBUYASU

Application Number:

PCT/JP2016/003063

Publication Date:

March 02, 2017

Filing Date:

June 24, 2016

Export Citation:

Click for automatic bibliography generation Help

Assignee:

KAWASAKI HEAVY IND LTD (JP)
MEDICAROID CORP (JP)

International Classes:

B25J19/06; B25J15/08

Foreign References:

JP2006102866A	2006-04-20
JP2014000655A	2014-01-09
JPS5639884A	1981-04-15
JP2011224696A	2011-11-10
JPH07194609A	1995-08-01
JP2014148037A	2014-08-21

Other References: