Device and method for controlling cooperative robot
AssigneeHanwha Corporation
InventorsYoun Lee, Chang Woo Song
Life of this patent
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Abstract
As a preferred embodiment of the present invention, a device for controlling a collaborative robot includes a collision detection unit configured to sense a collision of the collaborative robot; a control unit configured to control an operation mode of the collaborative robot when the collision detection unit senses the collision; and a collision countermeasure unit configured to apply, when the collision detection unit senses the collision, a collision compensation value to each of a plurality of joints in the collaborative robot so as to change a proceeding direction of a force applied to the each of the plurality of joints.
Claims20
A device for controlling a collaborative robot, the device comprising:
- a collision sensor configured to sense a collision of the collaborative robot;
- and
- a controller comprising at least one processor configured, based on the collision sensor sensing the collision and without a user intervention, to:
- change an operation mode of the collaborative robot to a torque mode;
- apply a collision compensation value as a reaction force to each of a plurality of joints in the collaborative robot;
- change a proceeding direction of a force applied to each of the joints according to the collision compensation value, and release the collision,
- wherein the collision compensation value is proportional to at least a location variation of each of the joints measured during a predetermined time period prior to sensing the collision by the collision sensor.
A device for controlling a collaborative robot, the device comprising:
- a collision sensor configured to sense a collision of the collaborative robot;
- and
- a controller comprising at least one processor configured, based on the collision sensor sensing the collision and without a user intervention, to:
- change an operation mode of the collaborative robot to a torque mode;
- apply a collision compensation value as a reaction force to each of a plurality of joints in the collaborative robot;
- change a proceeding direction of a force applied to each of the joints according to the collision compensation value, and remove the collision;
- and
- change the operation mode of the collaborative robot to a position mode after the collision is removed,
- wherein the collision compensation value is proportional to at least a location variation of each of the joints measured during a predetermined time period prior to sensing the collision by the collision sensor.
A method of controlling a collaborative robot, the method comprising:
- sensing, by a collision sensor, a collision of at least one of a plurality of joints in the collaborative robot;
- changing, by a controller, an operation mode of the collaborative robot to a torque mode based on the sensing the collision;
- applying, by the controller, a collision compensation value as a reaction force to each of a plurality of joints in the collaborative robot;
- changing, by the controller, a proceeding direction of a force applied to each of the joints according to the collision compensation value and without a user intervention, and releasing the collision,
- wherein the collision compensation value is proportional to at least a location variation of each of the joints measured during a predetermined time period prior to sensing the collision by the collision sensor.
Dependencies are inferred from the claim text.