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US 4,906,907 AGranted
Robot system
AssigneeHitachi, Ltd.
InventorsAkira Tsuchihashi, Shinichi Takarada
Life of this patent
Estimating the term…
Abstract
A robot system in which a force (torque) exerted on an end effector disposed at an end of a robot to hold an object is sensed to achieve a positioning control. The robot system includes a unit to sense an inertial force exerted on the end effector and the sensed result is fed back so as to remove the influence of the inertia force, thereby effecting an accurate positioning control.
Claims22
A robot system comprising:
- a robot having at least a joint therein;
- joint drive means for driving said joint in said robot;
- hold means disposed at an end of said robot for holding an object;
- actuation means for actuating said hold means;
- sense means for sensing a force (torque) exerted on said hold means;
- second sense means for sensing an inertia force exerted on said hold means;
- and
- means responsive to the sensed results from said first and second sense means for determining a corrected external force by subtraction a sensed inertia force exerted on the object held by the hold means from the force sensed by said first sense means and controlling said joint drive means depending on said determined corrected external force.
5 more elements
A robot system comprising:
- a robot having at least a joint therein;
- joint drive means for driving said robot;
- means disposed at an end of said robot for holding an object;
- actuator means for actuating said hold means;
- first sense means for sensing a force (torque) exerted on said hold means;
- sense means for sensing an inertia force effected on said hold means;
- third sense means for sensing an inertia force exerted on said robot;
- and
- means for controlling said joint drive means depending on sensed results from said first, second, and third sense means.
6 more elements
A robot system comprising:
- a robot having at least a joint therein;
- joint drive devices for driving said robot;
- means disposed at an end of said robot for holding an object;
- first sense means for sensing a force (torque) exerted on said hold means;
- control means for generating control signals for said joint drive devices depending on the sensed result from said first sense means;
- second sense means for sensing an inertia force exerted on said hold means;
- and
- means for correcting the control signals from said control means depending on the sensed result from said second sense means and for supplying resultant signals to said joint drive devices so that an inertia force exerted on the object is removed from the force sensed by said first sense means.
5 more elements
A robot system in a microgravity condition comprising:
- a robot having at least a joint therein;
- joint drive means for driving said joint in said robot;
- gripper means disposed at an end of said robot for holding an object;
- actuation means for actuating said gripper means;
- first sense means for sensing a force (torque) exerted on said gripper means;
- second sense means for sensing an inertia force exerted on said gripper means;
- and
- means responsive to the sensed results from said first and second sense means for determining a corrected external force by subtracting a sensed inertia force exerted on the object held by the gripper means from the force sensed by said first sense means and controlling said joint drive means depending on said determined corrected external force.
5 more elements
A robot system in a microgravity condition comprising:
- a robot having at least a joint therein;
- joint drive means for driving said robot;
- gripper means disposed at an end of said robot for holding an object;
- actuator means for actuating said gripper means;
- first sense means for sensing a force (torque) exerted said gripper means;
- second sense means for sensing an inertia force exerted on said gripper means;
- third sense means for sensing an inertia force exerted on said robot;
- and
- means for controlling the joint drive means depending on sensed results from said first, second and third sense means.
6 more elements
A robot system in a microgravity condition comprising:
- a robot having at least a joint therein;
- joint drive devices for driving said robot;
- gripper means disposed at an end of said robot for holding an object;
- first sense means for sensing a force (torque) exerted on said gripper means;
- control means for generating control signals for said joint drive devices depending on the sensed result from said first sense means;
- second sense means for sensing an inertia force exerted on said gripper means;
- and
- means for correcting the control signals from said control means depending on the sensed result from said second sense means and for supplying resultant signals to said joint drive devices so that an inertia force exerted on the object is removed from the force sensed by said first sense means.
5 more elements
Dependencies are inferred from the claim text.