Robot, control device for robot arm and control program for robot arm
AssigneePanasonic Corporation
InventorYasunao OKAZAKI
Life of this patent
Estimating the term…
Abstract
A robot arm, which is driven by an elastic body actuator and has a plurality of joints, is provided with an arm-end supporting member that supports the robot arm when made in contact with a supporting surface that is placed on an arm-end portion of the robot arm and a control unit that controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other, and further controls a position and orientation of the arm-end portion of the robot arm.
Claims14
A robot comprising:
- a robot arm that is driven by an elastic body actuator and has a plurality of joints;
- an arm-end supporting member that is placed near a wrist portion of the robot arm on a base side from the wrist portion, and supports the arm-end portion of the robot arm by making in contact with a supporting surface of the robot arm;
- and
- a control unit that controls a position and an orientation of the arm-end portion of the robot arm and controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other, wherein
- the control unit
- (i) controls the force in a manner so as to press the arm-end supporting member onto the supporting surface to stop the position of the arm-end portion of the robot arm, and then controls the orientation of the arm-end portion, and
- (ii) carries out a force control by using a pressing force that is smaller than the force controlled upon moving the orientation of the arm-end portion so that the position of the arm-end portion is shifted.
A robot comprising:
- a robot arm that is driven by an elastic body actuator and has a plurality of joints;
- an arm-end supporting member that is placed near a wrist portion of the robot arm on a base side from the wrist portion, and supports the arm-end portion of the robot arm by making in contact with a supporting surface of the robot arm;
- and
- a control unit that controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other, and further controls a position and an orientation of the arm-end portion of the robot arm, wherein
- the control unit controls to decelerate an arm-end velocity of the robot arm by utilizing friction generated by the contact between the arm-end supporting member and the supporting surface.
A control device for a robot arm, which controls a robot arm that is driven by an elastic body actuator and has a plurality of joints, by making an arm-end supporting member that is placed near a wrist portion of the robot arm on a base side from the wrist portion in contact with a supporting surface so that the arm-end portion of the robot arm is supported, wherein
- the control device
- controls a position and an orientation of the arm-end portion of the robot arm and controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other,
- (i) controls the force in a manner so as to press the arm-end supporting member onto the supporting surface to stop the position of the arm-end portion of the robot arm, and then controls the orientation of the arm-end portion, and
- (ii) carries out a force control by using a pressing force that is smaller than the force controlled upon moving the orientation of the arm-end portion so that the position of the arm-end portion is shifted.
A control program for a robot arm, which controls a robot arm that is driven by an elastic body actuator and has a plurality of joints, by making an arm-end supporting member that is placed near a wrist portion of the robot arm on a base side from the wrist portion in contact with a supporting surface so that the arm-end portion of the robot arm is supported, the control program causing a computer to:
- controlling a position and an orientation of the arm-end portion of the robot arm, and controlling a force by which the arm-end supporting member and the supporting surface are made in contact with each other,
- (i) controlling the force in a manner so as to press the arm-end supporting member onto the supporting surface to stop the position of the arm-end portion of the robot arm, and then controlling the orientation of the arm-end portion, and
- (ii) carrying out a force control by using a pressing force that is smaller than the force controlled upon moving the orientation of the arm-end portion so that the position of the arm-end portion is shifted.
Dependencies are inferred from the claim text.