Work support device, work support method, computer program product, and work support system

A work support method executed by a work support device including an arm including a grasping part that grasps an object, a plurality of joint parts, and a plurality of link parts actuatably coupled through each joint part, and a brake provided to at least one of the joint parts that restricts actuation of the arm, the method comprising:

• determining the state of the arm;
• and
• controlling the brake to restrict the actuation of the arm in accordance with the state of the arm,
• wherein
• the arm is supported by a linear movement slider that is provided to a scaffold capable of accommodating a worker,
• the grasping part and one of the link parts are coupled with each other through one of the joint parts, and the link parts are coupled with each other through one of the joint parts,
• the brake restricts actuation of the arm by restricting actuation of the at least one of the joint parts, and
• the method further comprises:
• deriving a target angle that is a joint angle of each joint part when the grasping part is positioned at a target position,
• determining, as the state, whether at least one of the joint parts has reached the target angle, and
• controlling the brake to restrict the actuation of the arm by restricting the actuation of the joint part determined to have reached the target angle.

A computer program product having a non-transitory computer readable medium including programmed instructions, wherein the instructions, when executed by a computer configured to control a work support device including an arm including a grasping part that grasps an object, a plurality of joint parts, and a plurality of link parts actuatably coupled through each joint part, and a brake provided to at least one of the joint parts that restricts actuation of the arm, cause the computer to perform:

• determining the state of the arm;
• and
• controlling the brake to restrict the actuation of the arm in accordance with the state of the arm,
• wherein
• the arm is supported by a linear movement slider that is provided to a scaffold capable of accommodating a worker,
• the grasping part and one of the link parts are coupled with each other through one of the joint parts, and the link parts are coupled with each other through one of the joint parts,
• the brake restricts actuation of the arm by restricting actuation of the at least one of the joint parts, and
• the instructions further cause the computer to perform:
• deriving a target angle that is a joint angle of each joint part when the grasping part is positioned at a target position,
• determining, as the state, whether at least one of the joint parts has reached the target angle, and
• controlling the brake to restrict the actuation of the arm by restricting the actuation of the joint part determined to have reached the target angle.

A work support system comprising:

• an arm including a grasping part that grasps an object, a plurality of joint parts, and a plurality of link parts actuatably coupled through each joint part;
• a brake provided to at least one of the joint parts that restricts actuation of the arm;
• a linear movement slider that is provided to a scaffold capable of accommodating a worker and that supports the arm;
• a processor;
• and
• a memory storing instructions that, when executed by the processor, cause the processor to:
• determine a state of the arm;
• and
• control the brake to restrict the actuation of the arm in accordance with the state of the arm,
• wherein
• the grasping part and one of the link parts are coupled with each other through one of the joint parts, and the link parts are coupled with each other through one of the joint parts,
• the brake restricts actuation of the arm by restricting actuation of the at least one of the joint parts, and
• the memory further stores instructions that, when executed by the processor, cause the processor to:
• derive a target angle that is a joint angle of each joint part when the grasping part is positioned at a target position,
• determine, as the state, whether at least one of the joint parts has reached the target angle, and
• control the brake to restrict the actuation of the arm by restricting the actuation of the joint part determined to have reached the target angle.