Robot and method of controlling the same
AssigneesSintokogio, Ltd., University of Yamanashi
InventorsYoshikane Tanaami, Miyuki Hayashi, Yoshiyuki Noda
Life of this patent
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Abstract
A robot includes a robot hand, a robot arm, a force sensor, and a control device. The control device performs admittance control to determine a position of the robot hand in accordance with a force detected by the force sensor, and provides, to the robot arm, an instruction to move the robot hand to the determined position. Further, the control device records, as teaching data, the instruction provided to the robot arm.
Claims10
A robot comprising:
- a robot arm;
- a robot hand attached to the robot hand;
- a force sensor configured to detect a force acting on the robot hand;
- a control device that performs admittance control to determine a position of the robot hand in accordance with the force detected by the force sensor, provides, to the robot arm, an instruction to move the robot hand to the determined position, and records, as teaching data, the instruction provided to the robot arm;
- and
- a manipulating device,
- wherein the control device operating in a first operation mode performs admittance control to determine positions in three directions of the robot hand in accordance with forces in the three directions detected by the force sensor, and
- wherein the control device operating in a second operation mode performs admittance control to determine positions in two directions of the robot hand in accordance with forces in the two directions detected by the force sensor, and performs velocity control to determine a position in the remaining one direction of the robot hand in accordance with a manipulated variable inputted into the manipulating device.
A method of controlling a robot comprising a robot arm, a robot hand attached to the robot arm, and a force sensor configured to detect a force acting on the robot hand, the method comprising a controlling step of:
- performing admittance control to determine a position of the robot hand in accordance with the force detected by the force sensor;
- providing, to the robot arm, an instruction to move the robot hand to the determined position;
- and
- recording, as teaching data, the instruction provided to the robot arm, the controlling step being performed by use of a control device,
- wherein the control device operating in a first operation performs admittance control to determine positions in three directions of the robot hand in accordance with forces in the three directions detected by the force sensor, and
- wherein the control device operating in a second operation mode performs admittance control to determine positions in two directions of the robot hand in accordance with forces in the two directions detected by the force sensor, and performs velocity control to determine a position in the remaining one direction of the robot hand in accordance with a manipulated variable inputted into a manipulating device.
Dependencies are inferred from the claim text.