US 10,232,509 B2Granted

Robot apparatus

AssigneeCanona Kabushiki Kaisha

InventorMasatoshi Sasaki

Life of this patent

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Abstract

A robot apparatus includes a manipulator, a teaching apparatus, and a control apparatus. The manipulator includes a hand and an arm having a plurality of joints. The teaching apparatus teaches operation of the manipulator. The control apparatus controls the manipulator based on a control signal from the teaching apparatus for causing the manipulator to operate in a predetermined operation direction. In a case where the predetermined operation direction has been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a regular speed. In a case where the predetermined operation direction has not been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a speed lower than or equal to a safety speed that is set based on the regular speed.

Claims13

Dependent claims

A robot apparatus comprising:

a manipulator including a hand and an arm having a plurality of joints;
a teaching apparatus operable by an operator to teach operation of the manipulator;
and
a controller configured to control, based on receiving a control signal from the teaching apparatus, the manipulator to operate in a predetermined operation,
wherein, in a case where the predetermined operation has been checked, the controller transmits, to the manipulator, a control signal to control the manipulator to operate at a regular speed,
wherein, in a case where the predetermined operation has not been checked, the controller transmits, to the manipulator, a control signal to control the manipulator to operate at a speed lower than or equal to a safety speed, and
wherein, based on an actual performance of operation which has been performed by the manipulator for a preset distance or farther, a transition from an erroneous manipulation avoiding status, in which operation is performed at a speed lower than or equal to the safety speed, to a regular operation status, in which operation is performed at the regular speed, is performed.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/352,389Filed 15 Nov 2016 · continuation
Priority: JP 2013-24412426 Nov 2013
Published: US 2017/0057084 A12 Mar 2017
Granted: 19 Mar 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification9 codes

B25J 9/163
Characterised by the control loop: learning, adaptive, model based, rule based expert control
G05B 13/00
Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance
G05B 2219/40225
Robotics, robotics mapping to robotics vision: during start up, control robot with low speed, after a while gradually higher
Y10S 901/28
Arm part: joint

Family

Application14/521,158Parent of this continuation · filed 22 Oct 2014
US 2017/0057084 A1Pre-grant publication · published 2 Mar 2017
US 9,527,210 B2Parent of this continuation
US 2015/0148954 A1Published application
US 10,232,509 B2This patent

From the US filing history. Foreign family members aren’t listed.