Robot system and method of controlling robot system

A method of controlling a robot system, the robot system including:

• a master arm having an operation end;
• a slave arm having a work end;
• a first sensor that detects a manipulating force given to the operation end by an operator;
• a second sensor that detects a reaction force given to the work end or a workpiece held by the work end;
• a first controller that generates an operating command of the master arm and generates an operating command of the slave arm based on the manipulating force and the reaction force;
• a second controller that controls the master arm based on the operating command of the master arm generated by the first controller;
• and
• a third controller that controls the slave arm based on the operating command of the slave arm generated by the first controller,
• the method comprising:
• exaggeratedly presenting, by the first controller, an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time;
• as a result of the first controller determining that the reaction-force sudden change state is not occurring, by the first controller, generating a first operating command of the master arm based on a result of calculation between the manipulating force and the reaction force and outputting the first operating command to the second controller;
• and
• as a result of the first controller determining that the reaction-force sudden change state is occurring, by the first controller, generating a correction component based on the reaction force, generating a second operating command of the master arm based on a result of calculation in which the correction component is further added to the result of calculation between the manipulating force and the reaction force, and outputting the second operating command to the second controller.

A robot system, comprising:

• a master arm having an operation end;
• a slave arm having a work end;
• a first sensor that detects a manipulating force given to the operation end by an operator;
• a second sensor that detects a reaction force given to the work end or a workpiece held by the work end;
• a first controller that generates an operating command of the master arm and generates an operating command of the slave arm based on the manipulating force and the reaction force;
• a second controller that controls the master arm based on the operating command of the master arm generated by the first controller;
• and
• a third controller that controls the slave arm based on the operating command of the slave arm generated by the first controller,
• wherein the first controller exaggeratedly presents an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time,
• wherein the first controller generates a correction component to correct the operating command of the master arm generated by the first controller based on the reaction force in the reaction-force sudden change state, and
• wherein the correction component is a second order derivative value of the reaction force with respect to time.

A robot system, comprising:

• a master arm having an operation end;
• a slave arm having a work end;
• a first sensor that detects a manipulating force given to the operation end by an operator;
• a second sensor that detects a reaction force given to the work end or a workpiece held by the work end;
• a first controller that generates an operating command of the master arm and generates an operating command of the slave arm based on the manipulating force and the reaction force;
• a second controller that controls the master arm based on the operating command of the master arm generated by the first controller;
• a third controller that controls the slave arm based on the operating command of the slave arm generated by the first controller;
• and
• a memory storing classified work states, wherein positional information on the slave arm, the manipulating force, and the reaction force in a particular work of the robot system are collected as data, and one or more work states are classified according to the collected data,
• wherein the first controller exaggeratedly presents an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time,
• wherein the first controller determines, during operation of the robot system, which work state stored in the memory a current work state is classified based on at least one value among the positional information on the slave arm, the manipulating force, and the reaction force, and
• wherein the first controller determines, during the operation of the robot system, that a work state in which the reaction force occurs in a given direction and the manipulating force occurs in a direction perpendicular to the given direction is a state where an object is searched.