Title:
ロボット
Document Type and Number:
Japanese Patent JP4277683
Kind Code:
B2
Abstract:
It is constructed so as to detect a joint movement position of a robot arm by a position detector and a joint movement speed is calculated from change amounts of the joint movement position and elapsed time and is compared with an allowable movement speed and unlocking and locking of a brake are controlled so that the joint movement speed of an arm at the time of brake unlocking becomes within a constant value even when a shape, an attitude and a load condition of the robot arm vary. Therefore, movement work of the arm by the brake unlocking can be performed alone and a robot with high safety can be obtained.
Inventors:
Kenji Murata
Application Number:
JP2003521675A
Publication Date:
June 10, 2009
Filing Date:
April 12, 2002
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
B25J19/00; B25J9/16; B25J9/18; F16D59/00
Domestic Patent References:
| JP11179691A | ||||
| JP10151596A | ||||
| JP2000047732A |
Attorney, Agent or Firm:
Shogo Takahashi
Tadahiko Inaba
Kanako Murakami
Nakatsuru Kazutaka
Tadahiko Inaba
Kanako Murakami
Nakatsuru Kazutaka