Title:
DIRECT TEACHING DEVICE FOR ROBOTS AND METHOD FOR SAME
Document Type and Number:
WIPO Patent Application WO/2019/102746
Kind Code:
A1
Abstract:
A direct teaching device (40) for robots that detects, with a force sensor (34), a manipulating force applied to an articulated robot (10) having a plurality of axes (J1 to J6), that moves the articulated robot (10) according to the force control of a force control unit (42) based on those results and that directly teaches the position thereof, wherein the device comprises: a force estimating unit (41) that estimates the manipulating force being applied to the axes (J1 to J6) on the basis of the detection results of the force sensor (34); an input pattern classifying unit (44) that classifies the input pattern of the manipulating force estimated by the force estimating unit (41) as preset input pattern types; and a force control switching unit (45) that switches the force control of the force control unit (42) in accordance with the input pattern of the manipulating force classified by the input pattern classifying unit (44).
Inventors:
SUGIMOTO KODAI (JP)
SATO HIROKI (JP)
SATO HIROKI (JP)
Application Number:
PCT/JP2018/038332
Publication Date:
May 31, 2019
Filing Date:
October 15, 2018
Export Citation:
Assignee:
AZBIL CORP (JP)
International Classes:
B25J9/22; G05B19/42
Domestic Patent References:
| WO2010079564A1 | 2010-07-15 |
Foreign References:
| JP2009297853A | 2009-12-24 | |||
| JP2008110406A | 2008-05-15 | |||
| JP2017074669A | 2017-04-20 | |||
| JP2014128843A | 2014-07-10 | |||
| JPH03123907A | 1991-05-27 |
Attorney, Agent or Firm:
TAZAWA, Hideaki et al. (JP)
Download PDF:
Previous Patent: ACTUATOR OPERATION SWITCHING DEVICE
Next Patent: NBR COMPOSITION FOR RUBBER LAMINATED METAL
Next Patent: NBR COMPOSITION FOR RUBBER LAMINATED METAL