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US 8,423,189 B2Granted
Robot system and control method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsMitsuaki Nakanishi, Makoto Wada
Life of this patent
Estimating the term…
Abstract
A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.
Claims13
A robot system comprising:
- a robot arm driven by a motor;
- a collision detector that detects a collision between the robot arm and an obstacle;
- and
- a stopping method selector that controls the robot arm by selecting a stopping method from among a plurality of stopping methods on the basis of the information obtained by the collision detector,
- wherein the stopping method selector selects the stopping method on the basis of the information obtained by the collision detector and information indicating at which joint axis of the robot arm the collision is detected,
- wherein, when the joint axis for which the collision is detected is a fundamental axis, the stopping method selector causes all parts of the robot arm moving around respective axes to be pulled back upon detection of the collision, and
- wherein, when the joint axis for which the collision is detected is a wrist axis, the stopping method selector is configured to cause:
- a part of the robot arm moving around the wrist axis to be stopped by flexible stopping processing and a second part of the robot arm moving around the fundamental axis to be stopped by immediate stopping processing upon detection of the collision, or
- all parts of the robot arm moving around respective axes to be pulled back upon detection of the collision.
6 more elements
A method of controlling a robot system, comprising the steps of:
- detecting a collision by a collision detector in a robot arm;
- controlling a part of the robot arm by controlling a motor when the collision is detected;
- and
- causing a stopping method selector to stop the robot arm by using any one of a plurality of stopping methods,
- wherein the stopping method selector selects the stopping method on the basis of the information obtained by the collision detector and information indicating at which joint axis of the robot arm the collision is detected,
- wherein, when the joint axis for which the collision is detected is a fundamental axis, the stopping method selector causes all parts of the robot arm moving around respective axes to be pulled back upon detection of the collision, and
- wherein, when the joint axis for which the collision is detected is a wrist axis, the stopping method selector is configured to cause:
- a part of the robot arm moving around the wrist axis to be stopped by flexible stopping processing and a second part of the robot arm moving around the fundamental axis to be stopped by immediate stopping processing upon detection of the collision, or
- all parts of the robot arm moving around respective axes to be pulled back upon detection of the collision.
6 more elements
A method of controlling a robot system, comprising the steps of:
- detecting a collision by a collision detector in a robot arm;
- controlling a part of the robot arm by controlling a motor when the collision is detected;
- storing a position command data at the moment of the detection of the collision;
- causing a stopping method selector to stop the robot arm by using any one of a plurality of stopping methods;
- and
- returning all parts of the robot arm moving around respective axes at a low speed to the position for which the position command data are stored before causing the robot arm to be operated again when a requirement for an operation of the robot arm is made,
- wherein the stopping method selector selects the stopping method on the basis of the information obtained by the collision detector and information indicating at which joint axis of the robot arm the collision is detected,
- wherein, when the joint axis for which the collision is detected is a fundamental axis, the stopping method selector causes all parts of the robot arm moving around respective axes to be pulled back upon detection of the collision, and
- wherein, when the joint axis for which the collision is detected is a wrist axis, the stopping method selector is configured to cause:
- a part of the robot arm moving around the wrist axis to be stopped by flexible stopped processing and a second part of the robot arm moving around the fundamental axis to be stopped by immediate stopping processing upon detection of the collision, or
- all parts of the robot arm moving around respective axes to be pulled back upon detection of the collision.
8 more elements
Dependencies are inferred from the claim text.