Unlock instant, AI-driven research and patent intelligence for your innovation.

Manipulator and method of controlling the same

一种控制方法、机械手的技术，应用在机械手、程序控制机械手、机械设备等方向，能够解决时间长、反转动作响应性不足等问题

Inactive Publication Date: 2011-04-13
PANASONIC CORP
View PDF1 Cites 26 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

That is, in the conventional manipulator, since the time until the reverse rotation of the movable member is long, there is a problem of insufficient responsiveness of the reverse operation during collision avoidance or collision.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Manipulator and method of controlling the same
  • Manipulator and method of controlling the same
  • Manipulator and method of controlling the same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0023] First, refer to figure 1 , the configuration of the manipulator 1 according to Embodiment 1 of the present invention will be described. figure 1 It is a schematic configuration diagram of the manipulator 1 according to Embodiment 1 of the present invention.

[0024] The manipulator 1 includes a movable portion 91 and a holding portion 8 holding the movable portion 91 . The movable part 91 has the hand 2 as a movable member, the arm 4 as a movable member, and the arm 6 as a movable member. In addition, the movable part 91 only needs to have at least two movable members (the first movable member and the second movable member). A structure having only the arms 4 and 6, or a structure in which other movable members are also connected.

[0025] The hand 2 has the function of holding an object, and is connected to the front end of the arm 4 through the joint 3 . The base end portion of the arm 4 is connected to the front end portion of the arm 6 through the joint portion ...

Embodiment approach 2

[0085] Next, use Figure 8 to Figure 10 , the manipulator 10 according to Embodiment 2 of the present invention will be described. Figure 8 is a schematic front view of the manipulator 10 according to Embodiment 2 of the present invention, Figure 9 is a block diagram showing the structure of the manipulator 10, Figure 10 It is a schematic front view explaining the retracting operation of the robot arm 10 . Hereinafter, the same components as those in Embodiment 1 will be described with the same reference numerals.

[0086] In the manipulator 1 according to Embodiment 1, a collision monitoring unit 23 is provided, and a movable member (for example, the arm 4 ) that may collide is specified based on monitoring information of the collision monitoring unit 23 . To avoid determining The collision of the movable member (such as the arm 4) with the obstacle 9.

[0087] On the other hand, the manipulator 10 according to the second embodiment includes a collision detection unit...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A manipulator is provided with an arm (4), an arm (6), a holding section (8), a first joint (5) for pivotably connecting the arm (4) and the arm (6) to each other, a second joint (7) for pivotably connecting the arm (6) and the holding section (8) to each other, a first joint driving section capable of driving the first joint (5), a second joint driving section capable of driving the second joint (7), a member specifying section for specifying either of the arms (4, 6) which has a possibility of colliding with an obstacle or specifying either of the arms (4, 6) which has collided with the obstacle, and a controlling device (22) for controlling the first and second joint driving sections so that the either of the arms which is specified by the member specifying section is pivoted in a direction in which the either of the arms separates from the obstacle and so that the other arm is pivoted in a direction in which the other arm approach the obstacle.

Description

technical field [0001] The invention relates to a manipulator and a control method thereof. Background technique [0002] Various proposals have been made regarding techniques for avoiding collisions with obstacles. [0003] For example, in the manipulator disclosed in Japanese Patent Laid-Open Publication No. Hei 9-207089, a camera is provided at the front end of the multi-joint structure, and an image near the front end of the manipulator is taken with the camera, and when an obstacle is detected, Control the pose of the manipulator to avoid obstacles. [0004] In conventional manipulators, when an obstacle is detected during posture control, the direction of the current flowing to the motor driving the movable member is reversed to apply reverse torque to the arm. A collision is then avoided by this opposing torque. Generally, in the manipulator, in order to obtain the driving torque, a reduction mechanism is assembled in the output part of the motor, and the rotationa...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06B25J13/08
CPCG05B2219/39082B25J9/1676Y10T74/20329
Inventor 奥田晃庸藤冈总一郎水野修松川善彦东条刚史高桥里枝中村彻
Owner PANASONIC CORP