Teaching unit for robots
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsHideo Nagata, Youichi Tanaka, Yasuyuki Inoue, Hirotaka Morita
Life of this patent
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Abstract
A direct teaching apparatus which allows an operator to perform the direct teaching of a robot in safety. The apparatus includes a force detector and a teaching tool. The tool includes a working tool or handle fixed to the first detector and held by the operator to lead the robot. It also includes a device for computing the position or speed directive based on the force detector data and a motion model. It further includes a device for computing the generation torque of a motor for driving a robot depending on the position or speed directive and a controller to control the generated torque.
Claims14
An apparatus for direct teaching of a robot by using a force detector and a teaching tool composed of one of a working tool and an exclusive handle which is fixed to said force detector and held by an operator for leading the robot, comprising:
- a motion model operation unit configured to compute one of a position and a speed directive based on information outputted from said force detector and a motion model for inertia and viscosity of an arm;
- a device configured to change a limit of a torque directive of a robot driving motor calculated and based on one of said position and said speed directive;
- a computation device configured to calculate a friction compensation torque which acts on a driving portion of each articulation of said robot;
- a computation device configured to calculate a gravity compensation torque which works on each articulation shaft of said robot;
- and
- an adder configured to add a sum of the compensation torque of said friction and the compensation torque of said gravity to the torque directive after the torque is limited by the device configured to change the limit of said torque directive.
An apparatus for direct teaching of a robot, comprising:
- a force detector and a teaching handle fixed to said force detector and held by an operator for leading the robot;
- a motion model unit configured to compute a position or a speed directive based on data of said force detector and a motion model;
- a computer configured to calculate a generation torque of a motor for driving said robot based on one of said position and said speed directive;
- a compliance mechanism provided between said teaching handle and one of a tip of the robot and a fixed position on a working tool to be used for attachment of the teaching handle;
- a device configured to change a signal at a time when said compliance mechanism is subjected to a fixed amount of displacement;
- and
- a stopper configured to arrest motion of the robot upon receiving said signal.
An apparatus for direct teaching of a robot, comprising:
- a motion model operation unit for the robot,
- a teaching handle disposed on a tip of the robot,
- a force sensor interposed therebetween and configured to detect a force applied to said teaching handle held by an operator,
- a device configured to move a robot arm in a direction of a detected force for teaching a working position, and
- one of a teaching tool and a holder attached through a compliance mechanism to the tip of the robot, said teaching handle being attached said to one of said teaching tool and said holder through said force sensor.
Dependencies are inferred from the claim text.