Title:
遠隔操縦マニピュレータシステム及びその運転方法
Document Type and Number:
Japanese Patent JP6814735
Kind Code:
B2
Abstract:
A robot system includes a robot main body including a robot arm, an end effector attached to the robot arm, and a force sensing device configured to detect a force applied to a tip end of the end effector, an actual reaction-force information generator configured to generate force-sensing information according to the force detected by the force sensing device, and output the force-sensing information as actual reaction-force information, a virtual reaction-force information generator configured to output a component of the force detected by the force sensing device, that has a magnitude proportional to a time differentiation value, as virtual reaction-force information, an adder configured to output information obtained by adding the actual reaction-force information outputted from the actual reaction-force information generator to the virtual reaction-force information outputted from the virtual reaction-force information generator, as synthetic reaction-force information, an operating device configured to output, when an operator is made to sense a force according to the synthetic reaction-force information outputted from the adder and the operator operates, operating information according to the operation, and a motion controller configured to control operation of the robot main body according to the operating information outputted from the operating device.
Inventors:
Yasuhiko Hashimoto
Masayuki Sweep
Masayuki Sweep
Application Number:
JP2017536172A
Publication Date:
January 20, 2021
Filing Date:
May 27, 2016
Export Citation:
Assignee:
Kawasaki Heavy Industries, Ltd.
International Classes:
B25J13/00; B25J13/08
Domestic Patent References:
| JP2003311661A | ||||
| JP2014503376A | ||||
| JP2002077675A | ||||
| JP9212219A | ||||
| JP2006113858A |
Attorney, Agent or Firm:
Patent business corporation Yuko patent office