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

Robot control device for controlling robot moved according to applied force

A control device and robot technology, applied in the direction of program control manipulator, program control, general control system, etc., can solve problems such as unproposed control switching

Active Publication Date: 2015-10-14
FANUC LTD
View PDF6 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, in Japanese Patent Application Laid-Open No. 6-250728, it is not proposed to limit the axis to be driven, such as switching the control of each axis during direct teaching, or making only a certain desired axis move.

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
  • Robot control device for controlling robot moved according to applied force
  • Robot control device for controlling robot moved according to applied force
  • Robot control device for controlling robot moved according to applied force

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The same symbols are used for the same parts in the following drawings. For ease of understanding, the scale of these drawings is appropriately changed.

[0036] Hereinafter, unless otherwise specified, the force includes the component of the parallel direction of the force and the moment component of the force. In addition, the position and / or posture means the position or posture, or the position and posture.

[0037] In addition, in the following, the axis is a joint part that connects the link and the link constituting the robot, and is a part that changes the positional relationship and the angular relationship between the link and the link. By changing the position of the shaft (the position in the case of a rotating shaft is an angle), the positional relationship between the link and the link can be changed, and as a result, the position and / or posture of the tip port...

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 robot control device includes an operation axis setting unit that sets a axis rotationally moved according to an applied force as an operation axis and sets a rotational moving direction of the operation axis; a first operation force acquisition unit that obtains a first virtual force that is virtually applied to the operation axis to assume that the first virtual force is a first operation force; and an operation command unit that outputs an operation command for moving the operation axis set by the operation axis setting unit on the basis of an operation force determined from the first operation force. The operation command unit obtains a target moving direction and a target moving velocity of the operation axis on the basis of the first operation force and the rotational moving direction set by the operation axis setting unit, so as to move the operation axis.

Description

Technical field [0001] The present invention relates to a robot control device that controls a robot that moves in response to a force acting on the robot. In addition, the present invention particularly relates to a robot control device of a robot system that moves the robot based on a force applied to a robot composed of a plurality of axes including at least one rotation axis. Background technique [0002] As a method of operating a robot that moves the robot by applying force to the robot, and a method of teaching a position by moving the robot, direct teaching is known. In such a case, by applying a force in the direction in which the robot is to be moved to directly guide the robot, it is possible to move the robot to a desired position and / or posture on the orthogonal coordinate system. [0003] Japanese Patent Application Laid-Open No. 56-85106 discloses a method of operating a manual operation part of a force detector mounted on the tip of a robot arm, and then using the ...

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
IPC IPC(8): B25J9/22
CPCB25J9/1694B25J9/1651G05B2219/37357
Inventor 岩竹隆裕
Owner FANUC LTD