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Apparatus and method for controlling robot arm, and robot and program

A control device and robotic hand technology, applied in the direction of program control manipulator, manipulator, program control, etc., can solve problems such as hand shaking, misoperation, burden, etc., and achieve the effect of safe robot control

Active Publication Date: 2010-02-10
PANASONIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] However, in the prior art described in Patent Document 1, when a large force is applied to the robot hand, the restoring force should be reduced, while in Patent Document 2, it should be increased When the load is applied to the limbs, excessive load cannot be applied. In Patent Document 3, other movement, automatic movement, and resistance movement are switched according to the movement of the limbs. Therefore, there is a problem that if the operator's posture is not good, or The operator’s continuous input of force may cause hand tremors to cause misoperation, which may cause the object to be grasped by the robot to tilt, and the objects in the object to fall off, or if the object to be carried is a hard object or a sharp object, it may be caused by Burden on people due to carrying activities

Method used

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  • Apparatus and method for controlling robot arm, and robot and program
  • Apparatus and method for controlling robot arm, and robot and program
  • Apparatus and method for controlling robot arm, and robot and program

Examples

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no. 1 Embodiment approach

[0122] First, the configuration of the robot system 1 including the robot hand control device according to the first embodiment of the present invention will be described. figure 1 It is a figure showing the outline of the configuration of the robot system in the first embodiment of the present invention.

[0123] Such as figure 1 As shown, the robot arm 5 of the robot system 1 equipped with the robot arm 5 and its control device 2 according to the first embodiment of the present invention is installed on the wall 9 of a working table 7 such as a kitchen or a workbench, and the root end of the robot arm 5 can move. The ground is supported by rails 8 fixed on the wall 9, and the robot arm 5 can move laterally (for example, horizontally) along the rails 8 on the rails 8. Furthermore, the hand 30 at the front end of the robot hand 5 of the robot system 1 can hold (for example, grasp) one end of the object 3 to be transported, and the person 4 cooperating with the robot hand 5 ca...

no. 2 Embodiment approach

[0246] The basic configuration of the robot control device 2A according to the second embodiment of the present invention is the same as that of the first embodiment, so the description of the common parts will be omitted, and the different parts will be mainly described in detail below.

[0247] Figure 15 It is a figure explaining the grasping rule table of the conveyance state database 21. Handling status database 21 in addition to Figure 8 Object information of Object 3, or Figure 9 In addition to the information indicating the posture and physical condition of the person 4, it may also have Figure 15 Shown is a grasping rule table 71 that stores the position and posture constraint condition information of the object 3 . The gripping rule table 71 includes items of position maintenance, posture maintenance, and height maintenance, and numerical values ​​of 1 or 0 are recorded in advance for each item. For example, Figure 15 The grasping rule in line 1 is to mainta...

no. 3 Embodiment approach

[0268] The basic configuration of the robot hand control device in the third embodiment of the present invention is the same as that in the first and second embodiments, so the description of the common parts will be omitted, and the different parts will be mainly described in detail below.

[0269] Figure 4 is a diagram showing the relative positional relationship between the robot hand 5 and the human 4.

[0270] Figure 7 Middle 68 is an image recognition unit, which performs image recognition based on the image data of an image capture device 28 such as a camera, extracts the position of the seat 34 of the robot hand 5, the position of the person 4, and the finger position of the robot hand 5, and outputs them to the transport state database 21. . The risk degree calculation unit 22 calculates the relative position 17 between the position information of the person 4 in the transport state database 21 and the seat 34 of the robot hand 5 and the relative position 16 betwe...

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Abstract

Provided is a robot arm control apparatus. In the apparatus, an impedance setting section (23) sets a mechanical impedance setting value of an arm, based on information obtained from a transfer statusdatabase (21) wherein information relating to transfer status of a person operating the arm is recorded, and an impedance control section (24) controls the mechanical impedance value of the arm to the set mechanical impedance setting value.

Description

technical field [0001] The present invention relates to a control device and a control method of a robot arm when humans and robots cooperate to perform operations (such as object handling operations), a robot with a robot arm control device, a robot arm control program, and an integrated electronic circuit. Background technique [0002] In recent years, home robots such as care robots and household assistance robots have been developed. Home robots are different from industrial robots in that they work near people. Therefore, physical contact with people is inevitable. From the perspective of safety, robots must be flexible (soft) in mechanism and soft in action. [0003] As an example of a robot device, a technology is proposed to ensure the accuracy of the movement of the control device. It detects the contact force applied to the robot hand with a human being, and when a large force is applied to the arm, the restoring force is reduced to improve safety. When the arm is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06B25J13/08B25J3/00B25J13/00
CPCB25J9/1676G05B2219/39478G05B2219/36429B25J9/0003
Inventor 津坂优子冈崎安直
Owner PANASONIC CORP
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