发明名称 |
Method and system for controlling cooperative object-transporting robot |
摘要 |
A control of a cooperative object-transporting robot which transports an object in cooperation with a man. The robot shares substantially a half of the weight of the object with the man, while the object is kept in a horizontal posture. A force applied to the robot by the object is detected by a force sensor, and based on the signal from the force sensor, a motion instruction is output for the motion components by the rotational force component tau1 around the horizontal axis and the translational force component Fx1 in the horizontal back-and-forth direction, upon setting a gain to reduce the resistance forces of the robot to small values. The translational force component Fy in the direction of the object short axis is constrained so that no translational motion in the direction of the object short axis occurs.
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申请公布号 |
US6522952(B1) |
申请公布日期 |
2003.02.18 |
申请号 |
US20010774173 |
申请日期 |
2001.04.19 |
申请人 |
JAPAN AS REPRESENTED BY SECRETARY OF AGENCY OF INDUSTRIAL SCIENCE AND TECHNOLOGY |
发明人 |
ARAI HIROHIKO;TANIE KAZUO;HAYASHIBARA YASUO;SONODA YUKINOBU;TAKUBO TOMOHITO |
分类号 |
B25J9/16;B25J13/08;(IPC1-7):G05B15/00 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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