Remote control system, remote control method, and remote control program for performing haptic control
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsKazuki Kurashima, Hitoshi Hasunuma, Masayuki Kamon
Life of this patent
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Abstract
A remote control system includes an operator to be operated by an operating person, a robot that moves according to operation on the operator, a haptic notifier that notifies occurrence of contact of the robot with an object to the operating person, and a controller that performs force control of moving the robot according to an operation force applied from the operating person to the operator and moving the operator according to a reactive force received by the robot from the outside and notification control of notifying the occurrence of the contact to the operating person via the haptic notifier if the robot contacts the object.
Claims9
A remote control system comprising:
- an operator to be operated by an operating person;
- a robot that moves according to operation on the operator, the robot having a contact force sensor that detects a contact force acting on the robot from outside;
- a haptic notifier that notifies occurrence of contact of the robot with an object to the operating person;
- and
- a controller that performs (i) force control of moving the robot according to an operation force applied from the operating person to the operator and moving the operator according to a reactive force received by the robot from the outside and (ii) notification control of notifying the occurrence of the contact to the operating person via the haptic notifier if the robot contacts the object, wherein
- the controller
- uses the contact force detected by the contact force sensor for the force control,
- determines the occurrence of the contact of the robot based on the contact force detected by the contact force sensor in the notification control,
- performs the notification control if the contact force detected by the contact force sensor is a predetermined upper limit or less, and
- performs no notification control with the haptic notifier if the contact force detected by the contact force sensor exceeds the upper limit.
A remote control method for controlling a robot via an operator, comprising:
- performing force control of moving the robot according to an operation force applied from an operating person to the operator and moving the operator according to a reactive force received by the robot from an outside;
- and
- performing notification control of notifying occurrence of contact to the operating person via a haptic notifier if the robot contacts an object wherein
- the force control uses contact force acting on the robot from the outside that is detected by a contact force sensor of the robot,
- the occurrence of the contact of the robot is determined in the notification control based on the contact force detected by the force sensor,
- the notification control is performed if the contact force detected by the contact force sensor is a predetermined upper limit or less, and
- no notification control is performed with the haptic notifier if the contact force detected by the contact force sensor exceeds the upper limit.
A non-transitory computer-readable storage medium storing a remote control program causing a computer to implement a function of controlling a remote control system including an operator to be operated by an operating person and a robot that moves according to operation on the operator, the remote control program further causing the computer to implement
- a function of performing force control of moving the robot according to an operation force applied from the operating person to the operator and moving the operator according to a reactive force received by the robot from outside, and
- a function of performing notification control of notifying occurrence of contact to the operating person via a haptic notifier if the robot contacts an object, wherein
- the force control uses contact force acting on the robot from the outside that is detected by a contact force sensor of the robot,
- the occurrence of the contact of the robot is determined in the notification control based on the contact force detected by the force sensor,
- the computer is caused to implement the notification control if the contact force detected by the contact force sensor is a predetermined upper limit or less, and
- the computer is caused to implement no notification control with the haptic notifier if the contact force detected by the contact force sensor exceeds the upper limit.
Dependencies are inferred from the claim text.