Manipulator and control method therefor

A manipulator comprising:

• a working unit including an end effector axis and at least one posture axis by which an orientation of said end effector axis is changed;
• a mechanical unit disposed on said working unit for operating said end effector axis and said posture axis;
• an end effector axis actuator for driving said end effector axis, and at least one posture axis actuator for driving said posture axis;
• a controller for controlling movement positions of said end effector axis actuator and said posture axis actuator, thereby operating said end effector axis and said posture axis;
• and
• a torque generation detector for detecting a timing at which torque is generated on at least one of said end effector axis and said posture axis,
• wherein, when said torque generation detector detects said timing, said controller controls the movement position of said posture axis actuator so as to be shifted by a predetermined amount in a same direction as a direction at which an interference torque is generated by said mechanical unit, and
• wherein said torque generation detector detects said timing based on a change in a movement direction of said posture axis.

A method for controlling a manipulator, said manipulator comprising:

• a working unit including an end effector axis and at least one posture axis by which an orientation of said end effector axis is changed;
• a mechanical unit disposed on said working unit for operating said end effector axis and said posture axis;
• an end effector axis actuator for driving said end effector axis, and at least one posture axis actuator for driving said posture axis;
• and
• a controller for controlling movement positions of said end effector axis actuator and said posture axis actuator, thereby operating said end effector axis and said posture axis,
• said method comprising the steps of:
• providing a torque generation detector for detecting a timing at which torque is generated on at least one of said end effector axis and said posture axis;
• and
• when said torque generation detector detects said timing based on said end effector axis reaching an end of a movement range, controlling, by said controller, the movement position of said posture axis actuator so as to be shifted by a predetermined amount in a same direction as a direction at which an interference torque is generated by said mechanical unit.

A method for controlling a manipulator, said manipulator comprising:

• a working unit including an end effector axis and at least one posture axis by which an orientation of said end effector axis is changed;
• a mechanical unit disposed on said working unit for operating said end effector axis and said posture axis;
• an end effector axis actuator for driving said end effector axis, and at least one posture axis actuator for driving said posture axis;
• and
• a controller for controlling movement positions of said end effector axis actuator and said posture axis actuator, thereby operating said end effector axis and said posture axis,
• said method comprising the steps of:
• providing a torque generation detector for detecting a timing at which torque is generated on at least one of said end effector axis and said posture axis;
• and
• when said torque generation detector detects said timing based on a change in a movement direction of said posture axis, controlling, by said controller, the movement position of said posture axis actuator so as to be shifted by a predetermined amount in a same direction as a direction at which an interference torque is generated by said mechanical unit.