Driving apparatus, control method, robot, recording medium, and method of manufacturing products
AssigneeCanon Kabushiki Kaisha
InventorsMasaru Ogata, Junichi Fukuda, Yohji Nakajima
Life of this patent
Estimating the term…
Abstract
A driving apparatus is configured to displace a second link with respect to a first link. The driving apparatus includes a driving portion including an output portion configured to output a driving force that displaces the second link, a sensor configured to obtain information on force, a connection member configured to connect the output portion and the sensor, a first bearing, and a second bearing. The sensor is connected between the second link and the connection member. The first bearing and the second bearing are connected to the connection member for displacing the second link with respect to the first link.
Claims19
A driving apparatus configured to displace a second link with respect to a first link, the driving apparatus comprising:
- a driving portion including an output portion configured to output a driving force that displaces the second link;
- a sensor configured to obtain information on force;
- a connection member configured to connect the output portion and the sensor;
- a first bearing;
- and
- a second bearing,
- wherein the sensor is connected between the second link and the connection member,
- wherein the first bearing is provided on the first link and is connected to the output portion to rotatably support the output portion with respect to the first link or connected to the connection member to rotatably support the connection member with respect to the first link, and
- wherein the second bearing is provided on the first link and is connected to the connection member to rotatably support the connection member with respect to the first link.
A method of controlling a driving apparatus that displaces a second link with respect to a first link, the method comprising:
- controlling, by a control portion, a driving portion, based on an information on force obtained by a sensor,
- wherein the driving apparatus includes;
- the driving portion including an output portion configured to output a driving force that displaces the second link;
- the sensor configured to obtain information on force;
- a connection member configured to connect the output portion and the sensor;
- a first bearing;
- and
- a second bearing, and
- wherein the sensor is connected between the second link and the connection member,
- wherein the first bearing is provided on the first link and is connected to the output portion to rotatably support the output portion with respect to the first link or connected to the connection member to rotatably support the connection member with respect to the first link, and
- wherein the second bearing is provided on the first link and is connected to the connection member to rotatably support the connection member with respect to the first link.
A robot configured to displace a second link with respect to a first link, the robot comprising:
- a driving portion including an output portion configured to output a driving force that displaces the second link;
- a sensor configured to obtain information on force;
- a connection member configured to connect the output portion and the sensor;
- a first bearing;
- and
- a second bearing,
- wherein the sensor is connected between the second link and the connection member
- wherein the first bearing is provided on the first link and is connected to the output portion to rotatably support the output portion with respect to the first link or connected to the connection member to rotatably support the connection member with respect to the first link, and
- wherein the second bearing is provided on the first link and is connected to the connection member to rotatably support the connection member with respect to the first link.
A method of controlling a robot that displaces a second link with respect to a first link, the method comprising:
- controlling, by a control portion, a driving portion, based on an information on force obtained by a sensor,
- wherein the robot includes;
- the driving portion including an output portion configured to output a driving force that displaces the second link;
- the sensor configured to obtain information on force;
- a connection member configured to connect the output portion and the sensor;
- a first bearing;
- and
- a second bearing, and
- wherein the sensor is connected between the second link and the connection member,
- wherein the first bearing is provided on the first link and is connected to the output portion to rotatably support the output portion with respect to the first link or connected to the connection member to rotatably support the connection member with respect to the first link, and
- wherein the second bearing is provided on the first link and is connected to the connection member to rotatably support the connection member with respect to the first link.
Dependencies are inferred from the claim text.