Title:
MOBILE-BODY MANIPULATION DEVICE AND MANIPULATION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2020/217794
Kind Code:
A1
Abstract:
This manipulation device 51 (master device) comprises an upper-body support part 65 that is mounted on the upper body of a manipulator P so as to be capable of moving together with the manipulator P in correspondence with movement of the manipulator P, and a movement command determination unit 94 that determines a command value for controlling movement of a mobile body 1 (slave device) in accordance with an observation value pertaining to an operation state including the speed of movement of the upper-body support part 65 in the movement environment of the manipulator P. A reactive force received by the upper-body support part 65 from the manipulator P can be controlled according to motion control of a movement mechanism 52 and a raising/lowering mechanism 60 in the manipulation device 51.
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Inventors:
TAKENAKA TORU (JP)
Application Number:
PCT/JP2020/012113
Publication Date:
October 29, 2020
Filing Date:
March 18, 2020
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
International Classes:
B25J3/00; B25J5/00; B25J13/02
Foreign References:
| JP2016078179A | 2016-05-16 | |||
| US9789023B1 | 2017-10-17 | |||
| US20140188275A1 | 2014-07-03 | |||
| JP2018043343A | 2018-03-22 | |||
| JP2002264046A | 2002-09-18 | |||
| JPH10217159A | 1998-08-18 | |||
| US5841258A | 1998-11-24 | |||
| JP2013237329A | 2013-11-28 | |||
| US9027693B2 | 2015-05-12 |
Other References:
See also references of EP 3960390A4
Attorney, Agent or Firm:
SATO & ASSOCIATES (JP)
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