Title:
ROBOT, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/171281
Kind Code:
A1
Abstract:
The present invention relates to a robot that is capable of avoiding humans such that the robot does not come into contact with an approaching human, and capable of working efficiently in cooperation with humans. Provided is a robot comprising a sensor unit that is mounted to the robot, which has a driving unit, and that detects an obstacle existing in the surroundings of the robot, and a control unit that controls driving of the robot. The control unit is provided with: a spatial distance calculation unit that, via the sensor unit, calculates the spatial distance between the robot and the obstacle; a virtual external force calculation unit that, on the basis of the spatial distance, considers the effects of the obstacle approaching the robot to be a virtual external force, and thereby calculates a virtual external force; an operating speed suppression unit that, on the basis of the spatial distance, considers the effects of the obstacle approaching the robot to be a virtual external force, and suppresses the program operating speed of the robot in accordance with the external force; and a movement adjustment unit that, on the basis of the virtual external force, adjusts the movement of the driving unit and avoids contact between the robot and the obstacle.
Inventors:
NISHIHARA YASUNORI (JP)
TOYOSHIMA TAKEHIRO (JP)
OKUNI SEIJI (JP)
TOYOSHIMA TAKEHIRO (JP)
OKUNI SEIJI (JP)
Application Number:
PCT/JP2023/005336
Publication Date:
September 14, 2023
Filing Date:
February 15, 2023
Export Citation:
Assignee:
MAMEZOU CO LTD (JP)
International Classes:
B25J13/08; B25J19/06
Foreign References:
| JP2003039353A | 2003-02-13 |
Other References:
TAMAKI, TAKESHI ET AL.: "Rheology-based posture control of a multi-link robot", ROBOTICS AND MECHATRONICS CONFERENCE PROCEEDINGS 2005; MAY 24-26, 2009, JAPAN SOCIETY OF MECHANICAL ENGINEERS, JP, 24 May 2009 (2009-05-24) - 26 May 2009 (2009-05-26), JP, pages 2P1 - 2P1-E06(2), XP009549426
Attorney, Agent or Firm:
SHIRASAKA PATENT ATTORNEY CORPORATION (JP)
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