JP2017104914A5 - - Google Patents
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- JP2017104914A5 JP2017104914A5 JP2015238540A JP2015238540A JP2017104914A5 JP 2017104914 A5 JP2017104914 A5 JP 2017104914A5 JP 2015238540 A JP2015238540 A JP 2015238540A JP 2015238540 A JP2015238540 A JP 2015238540A JP 2017104914 A5 JP2017104914 A5 JP 2017104914A5
- Authority
- JP
- Japan
- Prior art keywords
- external force
- robot arm
- control system
- target value
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Claims (10)
前記ロボットアームの位置を位置目標値を用いて指示する入力部と、
前記入力部から入力された位置目標値に応じて、前記ロボットアームを移動させるアクチュエータと、
前記ロボットアームの位置を検出する位置検出手段と、
前記位置検出手段で検出されたロボットアームの位置を示す位置応答値と、前記位置目標値との差分に応じて、前記アクチュエータを駆動する制御部と、を備え、
前記制御部は、前記位置目標値と前記位置応答値との差分から位置修正量を計算し、前記位置目標値を該位置修正量に応じて修正することを特徴とする、外力追従制御システム。 A robot arm,
An input unit for instructing the position of the robot arm using a position target value;
An actuator for moving the robot arm according to a position target value input from the input unit;
Position detecting means for detecting the position of the robot arm;
A controller that drives the actuator in accordance with a difference between a position response value indicating the position of the robot arm detected by the position detecting means and the position target value;
The external force follow-up control system, wherein the control unit calculates a position correction amount from a difference between the position target value and the position response value, and corrects the position target value according to the position correction amount .
外力追従制御システム。 The external force tracking control system according to claim 1, wherein the control unit corrects the position target value according to an external force applied to the robot arm.
External force tracking control system.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015238540A JP2017104914A (en) | 2015-12-07 | 2015-12-07 | External force follow-up control system |
PCT/JP2016/085752 WO2017098989A1 (en) | 2015-12-07 | 2016-12-01 | External force tracking control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015238540A JP2017104914A (en) | 2015-12-07 | 2015-12-07 | External force follow-up control system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017104914A JP2017104914A (en) | 2017-06-15 |
JP2017104914A5 true JP2017104914A5 (en) | 2018-03-08 |
Family
ID=59014113
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015238540A Pending JP2017104914A (en) | 2015-12-07 | 2015-12-07 | External force follow-up control system |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP2017104914A (en) |
WO (1) | WO2017098989A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6650153B1 (en) * | 2018-09-06 | 2020-02-19 | リバーフィールド株式会社 | Arm device, control method and program |
JP2021003201A (en) * | 2019-06-25 | 2021-01-14 | ソニー株式会社 | Surgical microscope system, control device and control method |
JP6875690B1 (en) * | 2020-02-12 | 2021-05-26 | リバーフィールド株式会社 | Surgical robot and control unit for surgical robot |
GB2596543A (en) * | 2020-06-30 | 2022-01-05 | Cmr Surgical Ltd | Controlling a surgical instrument |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0639760A (en) * | 1992-07-23 | 1994-02-15 | Hitachi Ltd | Control device for robot |
JP2000279463A (en) * | 1999-03-31 | 2000-10-10 | Sanyo Electric Co Ltd | Training device for superior limb function recovery |
JP2006230691A (en) * | 2005-02-24 | 2006-09-07 | Shin Meiwa Ind Co Ltd | Medical device support arm |
EP1986826B1 (en) * | 2006-02-24 | 2009-10-21 | Ferrobotics Compliant Robot Technology GmbH | Robot arm |
JP2009018380A (en) * | 2007-07-12 | 2009-01-29 | Toyota Motor Corp | Robot, control method of the robot, and control system of the robot |
JP2010247309A (en) * | 2009-04-20 | 2010-11-04 | Toyota Motor Corp | Robot arm and method for controlling the same |
JP5306313B2 (en) * | 2010-12-20 | 2013-10-02 | 株式会社東芝 | Robot controller |
JP5754820B2 (en) * | 2013-11-28 | 2015-07-29 | 国立大学法人東京工業大学 | Surgical robot |
WO2015137140A1 (en) * | 2014-03-12 | 2015-09-17 | ソニー株式会社 | Robot arm control device, robot arm control method and program |
-
2015
- 2015-12-07 JP JP2015238540A patent/JP2017104914A/en active Pending
-
2016
- 2016-12-01 WO PCT/JP2016/085752 patent/WO2017098989A1/en active Application Filing
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