Power assist device and method of controlling the power assist device
OwnerHideyuki Murayamainventor
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Abstract
A method of controlling a power assist device including a workpiece holding device, a handle, a force sensor that measures operating force of a worker that acts on the handle, a robot arm that supports the workpiece holding device, and a control device that controls an action of the robot arm based on a measurement result of the force sensor. The workpiece holding device includes an angle sensor that measures an inclination angle of the workpiece holding device. An action of robot arm is controlled by the control device based on measurement results of the angle sensor and of the force sensor.
Claims9
A power assist device comprising:
- a workpiece holding device that holds a workpiece;
- a handle that is provided in the workpiece holding device and adapted to be an operating part operated by a worker;
- a force sensor that is provided in the workpiece holding device and measures operating force of the worker that acts on the handle;
- a robot arm that supports the workpiece holding device;
- a control device that controls an action of the robot arm based on a measurement result of the force sensor;
- and
- an angle measuring device that is provided in the workpiece holding device and measures an inclination angle of the workpiece holding device,
- wherein the control device corrects the measurement result of the force sensor based on a measurement result of the angle measuring device and controls an action of the robot arm based on a corrected measurement result of the force sensor
A method of controlling a power assist device comprising:
- measuring operating force of a worker that acts on a handle provided in a workpiece holding device that holds a workpiece;
- measuring an inclination angle of the workpiece holding device;
- correcting a measured operating force based on a measured inclination angle;
- and
- controlling an action of the robot arm based on a corrected operating force.
Dependencies are inferred from the claim text.