Operation system of robot arm
AssigneeDenso Wave Incorporated
InventorKoji KAMIYA
Life of this patent
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Abstract
An operation system of a robot arm includes the robot arm disposed in a work box which is sealed, an operation apparatus disposed outside the work box and including an operation device which is operated by an operator to input an operation command of the robot arm, a control apparatus moving the robot arm based on the operation command from the operation apparatus, and a reaction force controller. Based on movable region information which indicates a movable region of the robot arm in the work box, as the robot arm approaches the limit of the movable region, the reaction force controller increases a reaction force which is against a force of moving the operation device by the operator in a direction approaching the limit of the movable region.
Claims5
An operation system of a robot arm comprising:
- the robot arm disposed in a work box which is sealed and an inside of which is visible from outside;
- an operation apparatus disposed outside the work box and including an operation device which is operated by an operator to input an operation command of the robot arm;
- a control apparatus moving the robot arm based on the operation command from the operation apparatus;
- and
- a reaction force controller, wherein
- based on movable region information which indicates a movable region of the robot arm in the work box, as the robot arm approaches a limit of the movable region, the reaction force controller increases a reaction force which is against a force of moving the operation device by the operator in a direction approaching the limit of the movable region.
Dependencies are inferred from the claim text.