Drive-controlling method and apparatus and robot having the apparatus
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsMasatoshi Sano, Tsuyoshi Maehara, Tetsuhiko Nishimura, Hiroaki Kagaya, Naoyuki Matsumoto
Life of this patent
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Abstract
Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.
Claims12
A drive-controlling method, comprising the steps of:
- storing a driving route of a robot arm being driven by a driver;
- detecting a collision of the robot arm with an obstacle, wherein a reference level of detecting the collision of the robot arm with the obstacle is set based on operational data of the driver which is obtained by actually driving the robot arm;
- and it is considered that the collision is detected when a current value or a rate of change in the current value of a servo motor driving the robot arm exceeds the reference level;
- and
- controlling the driver such that the robot arm leaves a predetermined distance from the obstacle based on the stored driving route of the robot arm before the collision is detected.
A drive-controlling apparatus, comprising:
- a route storing memory for storing a driving route of a robot arm being driven by a driver;
- a collision detector for detecting a collision of the robot arm with an obstacle, wherein a reference level of detecting the collision of the robot arm with the obstacle is set based on operational data of the driver which is obtained by actually driving the robot arm;
- and it is considered that the collision is detected when a current value or a rate of change in the current value of a servo motor driving the robot arm exceeds the reference level;
- and
- a controller for controlling the driver such that the robot arm leaves a predetermined distance from the obstacle based on the stored driving route of the robot arm before the collision is detected.
A robot including an arm, a driver for driving said arm, and a drive controlling apparatus comprising:
- a route storing memory for storing a driving route of said arm being driven by said driver;
- a collision detector for detecting a collision of the arm with an obstacle, wherein a reference level of detecting the collision of the arm with the obstacle is set based on operational data of the driver which is obtained by actually driving the arm;
- and wherein it is considered that the collision is detected when a current value or a rate of change in the current value of a servo motor driving the arm exceeds the reference level;
- and
- a controller for controlling the driver such that the arm leaves a predetermined distance from the obstacle based on the stored driving route of the arm before the collision is detected.
Dependencies are inferred from the claim text.