# US 2024/0198523 A1 · Robot system, and control method and control program thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0198523 A1 - Document ID: US20240198523A1 - Status: Published application - Kind: A1 - Application number: 18/555,280 - Filed: 2022-04-11 - Published: 2024-06-20 - Earliest claimed: 2021-04-15 - Assignees: Kawasaki Jukogyo Kabushiki Kaisha - Applicants: Kawasaki Jukogyo Kabushiki Kaisha - Inventors: Kentaro AZUMA; Tomoki SAKUMA; Masayuki KAMON; Hirokazu SUGIYAMA; Masahiko AKAMATSU; Takanori KOZUKI; Takanori KIRITOSHI; Jun FUJIMORI; Hiroki KINOSHITA; Hiroki TAKAHASHI; Kai SHIMIZU; Yoshiki NAITO - Web page: https://patentgrep.com/patent/US20240198523A1 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 3/00: Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements - B25J 3/04: involving servo mechanisms (servo-actuated heads B25J15/02) - B25J 9/1656: {characterised by programming, planning systems for manipulators} - B25J 9/1689: {Teleoperation} - B25J 11/0055: {Cutting} - B25J 11/0065: {Polishing or grinding} - B25J 13/00: Controls for manipulators (program controls B25J9/16) - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - G05B 19/42: Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A robot system 100 includes an operator 2 to be operated by a user, a robot 1 having an end effector 11 that acts on an object W and a robot arm 12 that moves the end effector 11, and a controller 3 that outputs a command for the robot arm 12 such that the end effector 11 moves according to operation information input via the operator 2. The controller 3 performs coordinate conversion to adapt a reference surface RP in an operation coordinate system set for the operator 2 to the surface of the object W, and generates the command for the robot arm 12 based on the operation information. ## Claims ### Claim 1 A robot system comprising: a master to be operated by a user; a slave having an effector that acts on an object and a mover that moves the effector; and a controller that outputs a command for the mover such that the effector moves according to operation information input via the master, wherein the controller performs coordinate conversion to adapt a reference surface in an operation coordinate system set for the master to a surface of the object, and generates the command for the mover based on the operation information. ### Claim 2 (depends on 1) The robot system of claim 1, wherein the reference surface is a plane in the operation coordinate system. ### Claim 3 (depends on 1) The robot system of claim 1, wherein in the coordinate conversion, the controller maintains a posture of the effector with respect to the surface of the object constant. ### Claim 4 (depends on 3) The robot system of claim 3, wherein the controller changes the posture of the effector such that a reference axis defined in a tool coordinate system set for the effector is coincident with a normal of the object to an intersection between the reference axis and the surface of the object, thereby maintaining the posture of the effector with respect to the surface of the object constant. ### Claim 5 (depends on 1) The robot system of claim 1, wherein the master has a handle to be operated by the user and a support that supports the handle and moves the handle, and the operation coordinate system is fixed to the handle. ### Claim 6 (depends on 5) The robot system of claim 5, wherein the master further has an operation force detector that detects operation force applied to the handle from the user, and the controller has an operation converter that obtains an operation component, which is a command component according to the operation information, using the operation force detected by the operation force detector as the operation information, a converter that obtains a conversion component which is a command component equivalent to the coordinate conversion, and a slave outputter that generates the command for the mover based on the operation component and the conversion component. ### Claim 7 (depends on 6) The robot system of claim 6, wherein the converter has an acquirer that acquires a normal of the object to an intersection between a reference axis defined in a tool coordinate system fixed to the effector and the surface of the object, and a calculator that obtains, as the conversion component, a command component for moving the effector such that the reference axis is coincident with the normal. ### Claim 8 (depends on 6) The robot system of claim 6, further comprising: a contact force detector that detects contact force which is reactive force acting on the effector from the object, wherein the operation converter obtains the operation component based on the operation force detected by the operation force detector and the contact force detected by the contact force detector, and the controller further has a master outputter that generates a command for the support for moving the handle based on the operation component. ### Claim 9 (depends on 8) The robot system of claim 8, wherein the master outputter generates the command for the support based on the operation component without considering the conversion component. ### Claim 10 (depends on 8) The robot system of claim 8, wherein the master outputter generates the command for the support based not only on the operation component but also on the conversion component. ### Claim 11 (depends on 8) The robot system of claim 8, wherein an action of the effector on the object is grinding, cutting, or polishing. ### Claim 12 A method for controlling a robot system including a master to be operated by a user and a slave having an effector that acts on an object and a mover that moves the effector, comprising: outputting a command for the mover such that the effector moves according to operation information input via the master; and performing coordinate conversion to adapt a reference surface in an operation coordinate system set for the master to a surface of the object when generating the command for the mover based on the operation information. ### Claim 13 An article of manufacture comprising a computer-readable medium storing a control program, when executed, causing a computer to implement a function of controlling a robot system including a master to be operated by a user and a slave having an effector that acts on an object and a mover that moves the effector, the function including a function of outputting a command for the mover such that the effector moves according to operation information input via the master, and a function of performing coordinate conversion to adapt a reference surface in an operation coordinate system set for the master to a surface of the object when generating the command for the mover based on the operation information.