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US 2010/0145515 A1Published application
Robot system and control method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsMitsuaki NAKANISHI, Makoto WADA
Life of this patent
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Abstract
A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.
Claims12
A robot system comprising:
- a robot arm driven by a motor;
- a collision detector that detects a collision between the robot arm and an obstacle;
- and
- a stopping method selector that controls the robot arm by selecting a stopping method from among a plurality of stopping methods on the basis of the information obtained by the collision detector.
1 more element
A method of controlling a robot system, comprising the steps of:
- controlling a part of a robot arm by controlling a motor when a collision is detected in the robot arm;
- and
- causing a stopping method selector to stop the robot arm by using any one of a plurality of stopping methods.
A method of controlling a robot system, comprising the steps of:
- controlling a part of a robot arm by controlling a motor when a collision is detected;
- storing a position command data at the moment of the detection of the collision;
- and
- returning all parts of the robot arm moving around respective axes at a low speed to the position for which the position command data are stored before causing the robot arm to be operated again when a requirement for an operation of the robot arm is made.
1 more element
Dependencies are inferred from the claim text.