Title:
ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2017/033379
Kind Code:
A1
Abstract:
A robot system is provided with: a robot body equipped with a robot arm and an end effector installed on the robot arm; an operation device, which has an operation unit and, when the operation unit is operated, outputs operation information corresponding to said operation; an action control unit for controlling the action of the robot body according to the operation information output from the operation device; a velocity-detecting means for detecting the velocity of the tip of the end effector; an imaginary reaction force information generator for outputting force information comprising a first force component with a positive correlation to the velocity of the end effector tip as imaginary reaction force information; and a force-imparting device for imparting force to the operation unit to cause the operator to feel a force corresponding to the imaginary reaction force information output from the imaginary reaction force information generator.
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Inventors:
TOJO TSUYOSHI
Application Number:
PCT/JP2016/003064
Publication Date:
March 02, 2017
Filing Date:
June 24, 2016
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
MEDICAROID CORP (JP)
MEDICAROID CORP (JP)
International Classes:
B25J3/00; B25J15/08
Foreign References:
| JP2008194789A | 2008-08-28 | |||
| JP2003039348A | 2003-02-13 | |||
| JP2006102866A | 2006-04-20 | |||
| JPS5639884A | 1981-04-15 | |||
| JP2011224696A | 2011-11-10 | |||
| JPH07194609A | 1995-08-01 | |||
| JP2014148037A | 2014-08-21 |
Other References:
See also references of EP 3342544A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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