JPH09141580A - Operating range limiting device for direct teaching robot - Google Patents
Operating range limiting device for direct teaching robotInfo
- Publication number
- JPH09141580A JPH09141580A JP32834095A JP32834095A JPH09141580A JP H09141580 A JPH09141580 A JP H09141580A JP 32834095 A JP32834095 A JP 32834095A JP 32834095 A JP32834095 A JP 32834095A JP H09141580 A JPH09141580 A JP H09141580A
- Authority
- JP
- Japan
- Prior art keywords
- force
- limiting device
- range limiting
- hand
- direct teaching
- 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.)
- Pending
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、産業用あるいは医
療福祉用あるいはトレーニング用に用いられるロボット
アームを力制御によって制御する場合の直接教示ロボッ
トの動作範囲制限装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion range limiting device for a direct teaching robot for controlling a robot arm used for industrial use, medical welfare or training by force control.
【０００２】[0002]
【従来の技術】一般的なロボットアーム力制御の概念ブ
ロック図を図４に示す。図４において、４０１はロボッ
トアーム、４０２は対象物、４０３はアーム４０１の手
先、４０４はアーム４０１の先端に取り付けられ、教示
者の力を検出する力センサ、４０５はアーム４０１を駆
動するモータ、４０６はモータ４０５の回転角を検出す
る回転角検出計、４０７は力センサ４０４の力情報をデ
ジタル値に変換するＡ／Ｄ回路、４０８は力制御の慣性
・粘性・弾性の各パラメータを設定するインピーダンス
設定部、４０９は力情報を手先４０３の変位に変換する
変位算出部、４１０は手先４０３のつりあい位置を設定
する釣合い位置設定部、４１１は手先４０３の位置から
モータ４０５の目標角度を算出する逆運動学計算部、４
１２は回転角検出計４０６の出力をデジタル値に変換す
る回転角変換回路、４１３はゲイン積算器、４１４はゲ
イン積算器４１３の出力をアナログ値に変換するＤ／Ａ
回路、４１５はＤ／Ａ回路４１４の出力に従ってモータ
４０５を駆動するドライバである。2. Description of the Related Art A conceptual block diagram of general robot arm force control is shown in FIG. In FIG. 4, 401 is a robot arm, 402 is an object, 403 is a hand of the arm 401, 404 is a force sensor attached to the tip of the arm 401 to detect the force of the teacher, 405 is a motor for driving the arm 401, Reference numeral 406 is a rotation angle detector for detecting the rotation angle of the motor 405, 407 is an A / D circuit for converting the force information of the force sensor 404 into a digital value, and 408 is for setting each parameter of inertia, viscosity, and elasticity for force control. An impedance setting unit, 409 is a displacement calculation unit that converts force information into displacement of the hand 403, 410 is a balance position setting unit that sets the balance position of the hand 403, and 411 calculates a target angle of the motor 405 from the position of the hand 403. Inverse kinematics calculator, 4
12 is a rotation angle conversion circuit for converting the output of the rotation angle detector 406 into a digital value, 413 is a gain integrator, and 414 is a D / A for converting the output of the gain integrator 413 into an analog value.
Circuits 415 are drivers that drive the motor 405 according to the output of the D / A circuit 414.
【０００３】教示者が力センサ４０４に与える力情報
は、Ａ／Ｄ変換回路４０７によってデジタル値に変換さ
れたのち、変位算出部４０９に入力される。変位算出部
４０９ではインピーダンス設定部４０８で設定された慣
性・粘性・弾性パラメータをもとに手先４０３の釣合い
位置からの変位が算出される。この変位は釣合い位置設
定部４１０の出力に加算され、手先４０３の位置指令と
なり、さらに逆運動学計算部４１１により各関節の角度
指令に変換される。この角度指令は、回転角検出計４０
６により検出された回転角を回転角変換回路４１２によ
り変換したデジタル値と比較され、この差分にゲイン積
算器４１３によりゲインをかけた出力値が求められる。
この出力値はＤ／Ａ回路４１４によってアナログ化さ
れ、ドライバ４１５によってモータ４０１に出力される
ことによってアーム４０１を駆動する。このようにして
力センサ４０４に教示力を加えることでロボットアーム
４０１が駆動され、複雑な制御を気にすることなく容易
に手先４０２を所要の位置まで移動させることができ
る。The force information given by the teacher to the force sensor 404 is converted into a digital value by the A / D conversion circuit 407, and then input to the displacement calculation section 409. The displacement calculation unit 409 calculates the displacement of the hand 403 from the balanced position based on the inertial, viscous, and elastic parameters set by the impedance setting unit 408. This displacement is added to the output of the equilibrium position setting unit 410 to become a position command for the hand 403, and further converted into an angle command for each joint by the inverse kinematics calculation unit 411. This angle command is issued by the rotation angle detector 40.
The rotation angle detected by 6 is compared with the digital value converted by the rotation angle conversion circuit 412, and the difference is multiplied by the gain integrator 413 to obtain an output value.
This output value is analogized by the D / A circuit 414 and is output to the motor 401 by the driver 415 to drive the arm 401. In this way, the robot arm 401 is driven by applying the teaching force to the force sensor 404, and the hand 402 can be easily moved to a desired position without worrying about complicated control.
【０００４】このロボットアーム４０１の動作環境内に
障害物があり先端部を干渉させたくない場合の動作範囲
制限は従来専ら教示者の教示力のノウハウに頼ることが
多かった。すなわち、障害物に接近した時教示者自らが
教示力を弱めることで干渉を防ぐことが必要であった。
したがって教示者次第では当然障害物との干渉も起こり
得、アームおよび障害物を破損する危険性がある。また
先端部を対象物の回りをならってスムーズに動かしたい
場合にも、教示者の教示力の精度に頼っていることか
ら、一定の距離を保ち続けるのは困難である。このなら
い動作の精度をあげる装置については、アーム先端の運
動をある特定の線上や面上に拘束する拘束モードを有す
る制御装置が提案されている（特開平5-303425）。しか
しこの方法では拘束モードと通常の力制御モードとの切
替え信号の入力装置が必要であり、またその両モードの
滑らかな接続も困難である。When there is an obstacle in the operating environment of the robot arm 401 and it is desired not to interfere the tip portion, conventionally, the operating range limitation has often depended exclusively on the know-how of the teaching force of the instructor. That is, it is necessary to prevent interference by weakening the teaching power by the teacher himself when approaching an obstacle.
Therefore, depending on the teacher, of course, interference with an obstacle may occur, and there is a risk of damaging the arm and the obstacle. Further, even when the user wants to move the tip end smoothly around the object, it is difficult to keep a certain distance because it depends on the accuracy of the teaching force of the teacher. As a device for increasing the accuracy of this tracing operation, a control device having a restraining mode for restraining the movement of the arm tip on a specific line or surface has been proposed (Japanese Patent Laid-Open No. 5-303425). However, this method requires an input device for a switching signal between the restraint mode and the normal force control mode, and it is difficult to smoothly connect both modes.
【０００５】[0005]
【発明が解決しようとする課題】上述したように、従来
の直接教示ロボットにおいては、 手先が動作環境内の障害物に干渉する恐れがある。 ならい動作の精度が保たれない。 ある特定の線上や面上に拘束する拘束モードを有する
制御装置の場合、通常の力制御モードとの切替えを滑ら
かに行なうことができない。 という欠点があった。As described above, in the conventional direct teaching robot, the hand may interfere with an obstacle in the operating environment. The accuracy of the tracing operation cannot be maintained. In the case of the control device having the restraint mode for restraining on a certain specific line or surface, it is not possible to smoothly switch to the normal force control mode. There was a disadvantage.
【０００６】そこで、本発明は、手先と障害物との干渉
を防止し、またならい動作においても、対象物への接近
動作と、対象物に対しある一定の距離を保ち続けるなら
い動作とを、特別のモード変更を行なうことなく滑らか
に実現できる動作範囲制限装置を提供することを目的と
するものである。Therefore, the present invention prevents interference between the hand and an obstacle, and even in the following motion, the approaching motion to the target object and the following motion to keep a certain distance to the target object. It is an object of the present invention to provide an operation range limiting device that can be smoothly realized without performing a special mode change.
【０００７】[0007]
【課題を解決するための手段】上記問題を解決するた
め、本発明は、ロボットアームの先端に取りつけた力セ
ンサの情報をもとにロボットの各関節を制御する力制御
のもとで、教示者が力センサに教示力を加えることによ
り意図する動作をロボットアームに直接教示する直接教
示装置において、力センサからの情報Ｔinを対象物に接
近する方向とそれに垂直な方向とに分解し、接近する方
向の力Ｔinが正の時のみ、装置内部に記憶している対象
物位置と各関節角から算出した手先位置との間の距離に
応じて１から０まで単調連続に変化するリミット係数α
e 算出し、これをＴinに積算し、他の分力とともに再合
成することで出力Ｔout を得る力情報リミット部を備え
ることを特徴とするものである。In order to solve the above problems, the present invention teaches under the force control for controlling each joint of the robot based on the information of the force sensor attached to the tip of the robot arm. In a direct teaching device in which a person applies a teaching force to a force sensor to directly teach an intended operation to a robot arm, information Tin from the force sensor is decomposed into a direction approaching an object and a direction perpendicular to the direction Tin to approach the object. The limit coefficient α that monotonously changes from 1 to 0 according to the distance between the object position stored in the device and the hand position calculated from each joint angle only when the force Tin in the direction
It is characterized by including a force information limit unit that obtains an output Tout by calculating e, integrating it with Tin, and recombining it with other component forces.
【０００８】[0008]
【発明の実施の形態】以下、本発明の実施の形態を図に
基づいて説明する。本発明における力制御の概念ブロッ
ク図を図１に示す。図１において、１０１はロボットア
ーム、１０２は対象物、１０３はアーム１０１の手先、
１０４はアーム１０１の先端に取り付けられ、教示者の
力を検出する力センサ、１０５はアーム１０１を駆動す
るモータ、１０６はモータ１０５の回転角を検出する回
転角検出計、１０７は力センサ１０４の力情報をデジタ
ル値に変換するＡ／Ｄ回路、１０８は対象物の位置を設
定する対象物位置設定部、１０９は対象物との距離をも
とに力情報を加工する動作範囲制限装置、１１０は回転
角検出計１０６の出力をデジタル値に変換する回転角変
換回路、１１１は回転角変換回路１１０の出力から手先
１０３の位置を算出する順運動学計算部、１１２は力制
御の慣性・粘性・弾性の各パラメータを設定するインピ
ーダンス設定部、１１３は力情報を手先１０３の変位に
変換する変位算出部、１１４は手先１０３のつりあい位
置を設定する釣合い位置設定部、１１５は手先１０３の
位置からモータ１０５の目標角度を算出する逆運動学計
算部、１１６はゲイン積算器、１１７はゲイン積算器１
１６の出力ををアナログ値に変換するＤ／Ａ回路、１１
８はＤ／Ａ回路１１７の出力にしたがってモータ１０５
を駆動するドライバである。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. A conceptual block diagram of force control in the present invention is shown in FIG. In FIG. 1, 101 is a robot arm, 102 is an object, 103 is the hand of the arm 101,
104 is a force sensor attached to the tip of the arm 101 to detect the force of the teacher, 105 is a motor for driving the arm 101, 106 is a rotation angle detector for detecting the rotation angle of the motor 105, and 107 is a force sensor 104. An A / D circuit for converting force information into a digital value, 108 an object position setting unit for setting the position of the object, 109 an operation range limiting device for processing the force information based on the distance to the object, 110 Is a rotation angle conversion circuit that converts the output of the rotation angle detector 106 into a digital value, 111 is a forward kinematics calculation unit that calculates the position of the hand 103 from the output of the rotation angle conversion circuit 110, and 112 is inertia / viscosity of force control. An impedance setting unit that sets each parameter of elasticity, 113 is a displacement calculation unit that converts force information into displacement of the hand 103, and 114 is a balance that sets the balance position of the hand 103. Position setting unit, 115 the inverse kinematics calculation unit for calculating a target angle of the motor 105 from the position of the hand 103, 116 gain multiplier, 117 is a gain multiplier 1
D / A circuit for converting 16 output to analog value, 11
8 is a motor 105 according to the output of the D / A circuit 117.
This is a driver for driving.
【０００９】教示者が力センサ１０４に与える力情報
は、Ａ／Ｄ変換回路１０７によってデジタル値に変換さ
れたのち、動作範囲制限装置１０９に入力される。また
回転角検出計１０６により検出された回転角は、回転角
変換回路１１２によりデジタル化されたのち、順運動学
計算部１１１によって先端部の位置情報に変換され、動
作範囲制限装置１０９に入力される。また対象物位置設
定部１０８で設定された対象物位置も動作範囲制限装置
１０９に入力される。動作範囲制限装置１０９は、これ
らの値をもとに力情報を加工し、変位算出部１１３に出
力する。変位算出部１１３ではインピーダンス設定部１
１２で設定された慣性・粘性・弾性パラメータをもとに
手先１０３の釣合い位置からの変位が算出される。この
変位は釣合い位置設定部１１４の出力に加算され、手先
１０３の位置指令となり、さらに逆運動学計算部１１５
により各関節の角度指令に変換される。この角度指令
は、回転角検出計１０６により検出された回転角を回転
角変換回路１１０により変換したデジタル値と比較さ
れ、この差分にゲイン積算器１１６によりゲインをかけ
た出力値が求められる。この出力値はＤ／Ａ回路１１７
によってアナログ化され、ドライバ１１８によってモー
タ１０５に出力されることによってアーム１０１を駆動
する。The force information given by the teacher to the force sensor 104 is converted into a digital value by the A / D conversion circuit 107 and then input to the operation range limiting device 109. The rotation angle detected by the rotation angle detector 106 is digitized by the rotation angle conversion circuit 112, converted into position information of the tip end by the forward kinematics calculation unit 111, and input to the operation range limiting device 109. It Further, the object position set by the object position setting unit 108 is also input to the operation range limiting device 109. The operation range limiting device 109 processes force information based on these values and outputs the force information to the displacement calculator 113. In the displacement calculation unit 113, the impedance setting unit 1
The displacement of the hand 103 from the balanced position is calculated based on the inertial, viscous, and elastic parameters set in 12. This displacement is added to the output of the equilibrium position setting unit 114, and becomes a position command for the hand 103, and further the inverse kinematics calculation unit 115.
Is converted into an angle command for each joint. This angle command is compared with a digital value obtained by converting the rotation angle detected by the rotation angle detector 106 by the rotation angle conversion circuit 110, and an output value obtained by multiplying this difference by a gain integrator 116 is obtained. This output value is the D / A circuit 117
Is converted into an analog form and is output to the motor 105 by the driver 118 to drive the arm 101.
【００１０】上記手段により、手先が対象物から離れて
いる場合には通常の力制御が行なわれるが、手先が対象
物に接近した状態でさらに対象物に向けた方向に力を加
えていくと力センサに加えられた力が対象物との距離が
縮まるにつれて徐々に無視されていき、やがて手先はあ
る定められた距離において緩やかに停止する。このとき
対象物に対し横向きの力は無視されないので、対象物に
押しつけるようにしてかつ横向きに力を加えれば、一定
距離でならうような運動も実現できる。また対象物から
離れる方向の力も無視されないので、ならい動作から離
れるのも特別な切替を要することなく容易に行なうこと
ができる。By the above means, the normal force control is performed when the hand is far from the object, but when the hand is closer to the object, a force is further applied toward the object. The force applied to the force sensor is gradually disregarded as the distance from the object is reduced, and eventually the hand stops gently at a predetermined distance. At this time, the lateral force on the object is not neglected, so that if the object is pressed against the object and lateral force is applied, it is possible to realize a motion that follows a constant distance. Further, since the force in the direction of moving away from the object is not ignored, it is possible to easily move away from the tracing motion without requiring special switching.
【００１１】動作範囲制限装置１０９の動作を図２、３
を用いて説明する。図２は力情報の変換に関する説明図
である。力センサ２０４に加えられた力を、まず手先２
０３での力Ｆinに変換する。このＦinは手先に固定され
た座標系Ｏに基づき記述される。これに対し、対象物位
置設定部にて設定された対象物２０２に向けて手先から
引いたベクトルをＸ’軸正方向とする座標系Ｏ’を新た
に設ける。座標系Ｏ上の力Ｆinを座標系Ｏ’上に変換
し、力Ｆ'in を得る。Ｆ'in をＸ' 軸方向とそれに垂直
なＹ' 方向に分解し、それぞれＦ'inx、Ｆ'inyを得る。
このＦ'inxに力リミット係数αe を積算することによっ
て動作範囲を制限する。The operation of the operation range limiting device 109 is shown in FIGS.
This will be described with reference to FIG. FIG. 2 is an explanatory diagram regarding conversion of force information. First, apply the force applied to the force sensor 204 to the fingers 2
Convert to force Fin at 03. This Fin is described based on the coordinate system O fixed to the hand. On the other hand, a coordinate system O ′ is newly provided in which the vector drawn from the hand toward the object 202 set by the object position setting unit is the X′-axis positive direction. The force Fin on the coordinate system O is converted to the coordinate system O ′ to obtain the force F′in. F'in is decomposed into the X'axis direction and the Y'direction perpendicular thereto, and F'inx and F'iny are obtained, respectively.
The operating range is limited by integrating the force limit coefficient αe with this F'inx.
【００１２】図３は力リミット係数αe の算出に関する
説明図である。対象物２０２と手先２０３との距離Ｌを
計算し、その距離に応じて１から０までの範囲で単調連
続的に変化する力リミット係数αe を求める。 Ｆ'inx＞０の場合 αe ＝ １ （Ｌs ＜Ｌ のとき） αe ＝（Ｌ−Ｌe ）／（Ｌs −Ｌe ） （Ｌe ≦Ｌ≦Ｌs のとき） αe ＝ ０ （Ｌ＜Ｌe のとき） Ｆ'inx＜０の場合 αe ＝ １ ここでＬs は力リミットを開始する距離、Ｌe は力リミ
ットが終了する、すなわち停止すべき距離である。こう
して求めたリミット係数αe をＦ'inxに積算し、新たに
Ｆ'outx とする。 Ｆ'outx ＝Ｆ'inx × αe 一方Ｙ' 成分であるＦ'outy には、Ｆ'inyをそのまま用
いる。Ｆ'outx とＦ'outy とからリミット後の力Ｆ'out
を再合成し、これを手先に固定された座標系Ｏに基づく
力Ｆout に変換する。このＦout を変位算出部１１３に
出力し、あとは通常の力制御と同様に制御をおこなう。FIG. 3 is an explanatory diagram relating to the calculation of the force limit coefficient αe. The distance L between the object 202 and the hand 203 is calculated, and the force limit coefficient αe that monotonically and continuously changes in the range of 1 to 0 is calculated according to the distance. In case of F'inx> 0 αe = 1 (when Ls <L) αe = (L−Le) / (Ls−Le) (when Le ≦ L ≦ Ls) αe = 0 (when L <Le) F In the case of'inx <0 αe = 1 Here, Ls is the distance at which the force limit is started, and Le is the distance at which the force limit ends, that is, the distance at which the force limit should be stopped. The limit coefficient αe thus obtained is integrated with F'inx to newly obtain F'outx. F′outx = F′inx × αe On the other hand, F′iny is used as it is for F′outy which is the Y ′ component. Force after limit F'out from F'outx and F'outy
Is recombined and converted into a force Fout based on the coordinate system O fixed to the hand. This Fout is output to the displacement calculation unit 113, and thereafter the control is performed in the same manner as the normal force control.
【００１３】本発明に従えば、例えば手先が対象物から
離れている（Ｌs ＜Ｌ）場合には、αe ＝１なので、力
センサから取り込んだ力はそのまま変位算出部へ通され
る。従って通常の力制御が行なわれる。手先が対象物に
近付いた場合（Ｌe ≦Ｌ≦Ｌs ）、対象物から離れる方
向や横に動く方向には通常の力制御が行なわれるが、対
象物に近付く方向の力は、対象物との距離が短くなるに
つれ徐々に無視されていき、Ｌ≦Ｌe でαe ＝０とな
る。つまりこの状態ではＦ'outx ＝０であり、力センサ
に力を加えてもそれ以上は対象物に近付かない。この時
も対象物から離れる方向や横に動く方向にはリミットを
行なわないため、対象物から離れるのは容易であるし、
また対象物に押しつけながら横方向にも力を加えれば、
対象物のまわりを一定距離Ｌe をおいてならうような動
きが実現できる。対象物に接近した時どのくらい緩やか
に停止させるかはＬs の値によって決定される。Ｌs と
Ｌeの間が長ければ緩やかな停止動作が行なわれるが、
その反面自由に動ける領域は狭くなる。また本実施例で
はαe は単純な直線関数によって求めているが、これを
例えばシグモイド関数のようなものにすれば、さらに滑
らかな停止動作が期待できる。According to the present invention, for example, when the hand is far from the object (Ls <L), since αe = 1, the force taken from the force sensor is directly passed to the displacement calculating section. Therefore, normal force control is performed. When the hand approaches the object (Le ≤ L ≤ Ls), normal force control is performed in the direction away from the object or in the lateral movement, but the force in the direction approaching the object is It is gradually ignored as the distance becomes shorter, and αe = 0 when L≤Le. That is, in this state, F'outx = 0, and even if a force is applied to the force sensor, the force sensor cannot approach the object any further. Also at this time, since there is no limit in the direction away from the object or the direction moving sideways, it is easy to leave the object,
Also, if you apply a force in the lateral direction while pressing it against the target object,
It is possible to realize a movement that follows a certain distance Le around the object. The value of Ls determines how slowly the object is stopped when approaching it. If the distance between Ls and Le is long, a gradual stop operation is performed,
On the other hand, the area where you can move freely becomes smaller. Further, in the present embodiment, αe is obtained by a simple linear function, but if this is made to be a sigmoid function, for example, a smoother stopping operation can be expected.
【００１４】以上の説明では簡単のため運動をＸＹ平面
内に限定したが、この制限装置は３次元空間内の力制御
アームにもそのまま適用できる。対象物が点の場合、ア
ームは半径Ｌe の球の周辺をならうような運動に制限さ
れる。また対象物が線の場合にはＬは手先から線への距
離として求められ、アームは半径Ｌe の円筒の周辺をな
らうような運動に制限される。対象物が平面など空間図
形の場合にはＬは手先から図形表面への距離として求め
られ、アームは表面に対しある一定の距離Ｌeを保ちつ
つ運動するように制限される。In the above description, the motion is limited to the XY plane for simplification, but this limiting device can be applied to the force control arm in the three-dimensional space as it is. If the object is a point, the arm is constrained to follow a sphere of radius Le. When the object is a line, L is calculated as the distance from the hand to the line, and the arm is restricted to a motion that follows the circumference of a cylinder having a radius Le. When the object is a space figure such as a plane, L is calculated as the distance from the hand to the figure surface, and the arm is restricted to move while maintaining a certain distance Le with respect to the surface.
【００１５】請求項２で示した装置では、対象物の取り
得る範囲すべてを新たな対象物として対象物位置設定部
に入力する。これにより、対象物も動く可能性があり、
またその動作が予測できない場合においても対象物に干
渉するおそれなく手先を動かすことができる。In the apparatus according to the second aspect, all the possible range of the object is input to the object position setting section as a new object. This may cause the object to move,
Further, even when the motion cannot be predicted, the hand can be moved without fear of interfering with the object.
【００１６】請求項３で示した装置では、アーム手先の
到達不可な範囲すべてを新たな対象物として対象物位置
設定部に入力する。これにより、対象物の有無によらず
アームの動作範囲を制限することができ、直接教示時の
安全装置として有効である。In the apparatus according to the third aspect, the entire range in which the arm hand cannot reach is input to the object position setting section as a new object. This makes it possible to limit the movement range of the arm regardless of the presence or absence of the object, which is effective as a safety device for direct teaching.
【００１７】請求項４で示した装置では、対象物位置設
定部のかわりに、対象物との距離Ｌを直接近接センサに
よって測定する。また反応した近接センサの位置によっ
て対象物の方向を認識する。これにより、対象物の位置
があらかじめわかっていない場合にも、対象物から一定
の距離Ｌe の地点で緩やかに停止する動作制限装置が実
現できる。In the apparatus according to the fourth aspect, instead of the object position setting unit, the distance L to the object is directly measured by the proximity sensor. Also, the direction of the object is recognized based on the position of the proximity sensor that has reacted. As a result, even when the position of the target object is not known in advance, it is possible to realize a motion limiting device that gently stops at a point of a certain distance Le from the target object.
【００１８】請求項５で示した装置では、アーム先端の
力センサによってアームの運動を教示するのではなく、
手先の運動量をジョイスティックなどの運動量指令デバ
イスによって与えることでアームを運動させる。この場
合も、運動量指令をそのままＴinとして動作範囲制限装
置に入力すれば、対象物付近において干渉する方向の運
動量指令を無視していくような動作制限を行なうことが
できる。In the apparatus according to the fifth aspect, the force sensor at the tip of the arm does not teach the movement of the arm, but
The arm is moved by giving the momentum of the hand by a momentum command device such as a joystick. Also in this case, if the momentum command is input as Tin to the motion range limiting device as it is, the motion limit can be limited so as to ignore the momentum command in the interference direction near the object.
【００１９】請求項６で示した装置では、ロボットアー
ムの動作制限ではなく移動ロボットの障害物回避に適用
される。すなわちジョイスティックなどの運動量指令デ
バイスによって移動ロボットを操縦する場合、障害物に
接近する方向に操作したとしてもある一定距離Ｌe 以内
には接近せず、障害物の周囲をならうような動きでこれ
を回避することができる。In the apparatus according to the sixth aspect, the present invention is applied to avoiding obstacles of a mobile robot, not to limit movement of a robot arm. In other words, when operating a mobile robot with a momentum command device such as a joystick, even if the mobile robot is operated in the direction of approaching an obstacle, it does not approach within a certain distance Le, It can be avoided.
【００２０】[0020]
【発明の効果】以上述べたように、本発明によれば、下
記の効果がある。 手先が動作環境内の障害物に干渉するのを防止でき
る。 対象物に押しつける力を加えるだけで簡単にならい動
作ができる。 通常の力制御から特別の切替を要することなく、滑ら
かにならい動作に移行できる。また復帰も容易である。As described above, the present invention has the following effects. It is possible to prevent the hand from interfering with an obstacle in the operating environment. You can easily follow the movement by adding a force to press the object. It is possible to shift from normal force control to smooth follow-up operation without requiring special switching. It is also easy to return.
【図１】本発明の実施例を示す力制御の概念ブロック図FIG. 1 is a conceptual block diagram of force control showing an embodiment of the present invention.
【図２】本発明における力情報の変換を示す図FIG. 2 is a diagram showing conversion of force information in the present invention.
【図３】本発明の動作を示す図FIG. 3 is a diagram showing the operation of the present invention.
【図４】従来技術における力制御の概念ブロック図FIG. 4 is a conceptual block diagram of force control in the related art.
１０１ ロボットアーム １０２ 対象物 １０３ 手先 １０４ 力センサ １０５ モータ １０６ 回転角検出計 １０７ Ａ／Ｄ回路 １０８ 対象物位置設定部 １０９ 動作範囲制限装置 １１０ 回転角変換回路 １１１ 順運動学計算部 １１２ インピーダンス設定部 １１３ 変位算出部 １１４ 釣合い位置設定部 １１５ 逆運動学計算部 １１６ ゲイン積算器 １１７ Ｄ／Ａ回路 １１８ ドライバ 101 Robot Arm 102 Object 103 Hand 104 Force Sensor 105 Motor 106 Rotation Angle Detector 107 A / D Circuit 108 Object Position Setting Unit 109 Operating Range Limiting Device 110 Rotation Angle Conversion Circuit 111 Forward Kinematics Calculation Unit 112 Impedance Setting Unit 113 Displacement calculation unit 114 Balance position setting unit 115 Inverse kinematics calculation unit 116 Gain accumulator 117 D / A circuit 118 Driver
Claims (6)
ンサの情報をもとにロボットの各関節を制御する力制御
のもとで、教示者が力センサに教示力を加えることによ
り意図する動作をロボットアームに直接教示する直接教
示ロボットの動作範囲制限装置において、 力センサからの情報Ｔinを、対象物に接近する方向とそ
れに垂直な方向とに分解し、接近する方向の力Ｔxin が
正の時のみ、装置内部に記憶している対象物位置と各関
節角から算出した手先位置との間の距離に応じて１から
０まで単調連続に変化するリミット係数αe を算出し、
これをＴxin に積算し、他の分力とともに再合成するこ
とで出力Ｔout を得る力情報リミット部を備えたことを
特徴とする直接教示ロボットの動作範囲制限装置。1. An instructor applies an instruction force to a force sensor under a force control for controlling each joint of a robot based on information of a force sensor attached to a tip of a robot arm, thereby performing an intended operation. In a motion range limiting device for a direct teaching robot that directly teaches to a robot arm, the information Tin from a force sensor is decomposed into a direction approaching an object and a direction perpendicular thereto, and when the force Txin in the approaching direction is positive. Only, the limit coefficient αe that monotonously changes from 1 to 0 according to the distance between the object position stored in the device and the hand position calculated from each joint angle is calculated,
A motion range limiting device for a direct teaching robot, comprising a force information limit unit for accumulating this in Txin and recombining it with other component forces to obtain an output Tout.
な仮想の対象物として設定することを特徴とした請求項
１記載の直接教示ロボットの動作範囲制限装置。2. The operation range limiting device for a direct teaching robot according to claim 1, wherein the entire operation range of the object is set as a new virtual object.
範囲すべてを仮想の対象物として設定することを特徴と
した請求項１記載の直接教示ロボットの動作範囲制限装
置。3. An operation range limiting device for a direct teaching robot according to claim 1, wherein all the unreachable ranges of the hand position of the robot arm are set as virtual objects.
って測定し、対象物の方向を近接センサの取り付け位置
によって決定することを特徴とした請求項１記載の直接
教示ロボットの動作範囲制限装置。4. A motion range limiting device for a direct teaching robot according to claim 1, wherein distance information from the object is measured by a proximity sensor, and the direction of the object is determined by a mounting position of the proximity sensor.
を手先の運動方向としてジョイスティック等の運動量指
令デバイスによって与えることを特徴とした請求項１記
載の直接教示ロボットの動作範囲制限装置。5. Tin without actually using a force sensor
2. The motion range limiting device for a direct teaching robot according to claim 1, wherein the movement direction of the hand is given by a momentum command device such as a joystick.
避を行なわせることを特徴とする請求項４または５記載
の直接教示ロボットの動作範囲制限装置。6. The operation range limiting device for a direct teaching robot according to claim 4, wherein the mobile robot is used as a hand to avoid obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32834095A JPH09141580A (en) | 1995-11-22 | 1995-11-22 | Operating range limiting device for direct teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32834095A JPH09141580A (en) | 1995-11-22 | 1995-11-22 | Operating range limiting device for direct teaching robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2004292078A Division JP2005034991A (en) | 2004-10-05 | 2004-10-05 | Working range limiting apparatus for robot and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09141580A true JPH09141580A (en) | 1997-06-03 |
Family
ID=18209148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP32834095A Pending JPH09141580A (en) | 1995-11-22 | 1995-11-22 | Operating range limiting device for direct teaching robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09141580A (en) |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007038314A (en) * | 2005-08-01 | 2007-02-15 | Nagoya Institute Of Technology | Work assisting device |
| JP2007038059A (en) * | 2005-08-01 | 2007-02-15 | Nagoya Institute Of Technology | Work assist apparatus |
| CN100336637C (en) * | 2004-03-31 | 2007-09-12 | 发那科株式会社 | Robot teaching apparatus |
| WO2008123200A1 (en) * | 2007-03-27 | 2008-10-16 | Gifu University | Motion assisting device and its control method |
| WO2009034732A1 (en) * | 2007-09-10 | 2009-03-19 | Gifu University | Operation supporting device and its control method |
| JP2015506850A (en) * | 2011-11-09 | 2015-03-05 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Application of force feedback at the input device that prompts the operator of the input device to command the joint device to take a suitable posture |
| US9622826B2 (en) | 2010-02-12 | 2017-04-18 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
| US9629520B2 (en) | 2007-06-13 | 2017-04-25 | Intuitive Surgical Operations, Inc. | Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide |
| JP2017094430A (en) * | 2015-11-20 | 2017-06-01 | ファナック株式会社 | Manual feed apparatus for robot for calculating operation possible range of robot |
| US9717563B2 (en) | 2008-06-27 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
| US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
| US9788909B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc | Synthetic representation of a surgical instrument |
| US9956044B2 (en) | 2009-08-15 | 2018-05-01 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
| KR20180059888A (en) | 2015-10-14 | 2018-06-05 | 카와사키 주코교 카부시키 카이샤 | Robot teaching method and robot arm control device |
| KR20180069031A (en) | 2015-11-24 | 2018-06-22 | 카와사키 주코교 카부시키 카이샤 | Direct teaching method of robot |
| US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
| CN108663973A (en) * | 2018-06-09 | 2018-10-16 | 成都凯天电子股份有限公司 | Multichannel target position distance control device |
| US10188472B2 (en) | 2007-06-13 | 2019-01-29 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
| US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
| US10271909B2 (en) | 1999-04-07 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device |
| US10271912B2 (en) | 2007-06-13 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
| JP2019202383A (en) * | 2018-05-23 | 2019-11-28 | アズビル株式会社 | Direct teaching device and direct teaching method of robot |
| US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
| WO2020050032A1 (en) * | 2018-09-07 | 2020-03-12 | アズビル株式会社 | Robot direct teaching device and direct teaching method |
| JPWO2021064809A1 (en) * | 2019-09-30 | 2021-04-08 |
-
1995
- 1995-11-22 JP JP32834095A patent/JPH09141580A/en active Pending
Cited By (68)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10433919B2 (en) | 1999-04-07 | 2019-10-08 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
| US10271909B2 (en) | 1999-04-07 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device |
| CN100336637C (en) * | 2004-03-31 | 2007-09-12 | 发那科株式会社 | Robot teaching apparatus |
| JP2007038314A (en) * | 2005-08-01 | 2007-02-15 | Nagoya Institute Of Technology | Work assisting device |
| JP2007038059A (en) * | 2005-08-01 | 2007-02-15 | Nagoya Institute Of Technology | Work assist apparatus |
| US11638999B2 (en) | 2006-06-29 | 2023-05-02 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
| US9801690B2 (en) | 2006-06-29 | 2017-10-31 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical instrument |
| US10137575B2 (en) | 2006-06-29 | 2018-11-27 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
| US10773388B2 (en) | 2006-06-29 | 2020-09-15 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| US10737394B2 (en) | 2006-06-29 | 2020-08-11 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
| US10730187B2 (en) | 2006-06-29 | 2020-08-04 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
| US9788909B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc | Synthetic representation of a surgical instrument |
| US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
| US11865729B2 (en) | 2006-06-29 | 2024-01-09 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| WO2008123200A1 (en) * | 2007-03-27 | 2008-10-16 | Gifu University | Motion assisting device and its control method |
| US10695136B2 (en) | 2007-06-13 | 2020-06-30 | Intuitive Surgical Operations, Inc. | Preventing instrument/tissue collisions |
| US11399908B2 (en) | 2007-06-13 | 2022-08-02 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
| US9901408B2 (en) | 2007-06-13 | 2018-02-27 | Intuitive Surgical Operations, Inc. | Preventing instrument/tissue collisions |
| US10271912B2 (en) | 2007-06-13 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
| US11432888B2 (en) | 2007-06-13 | 2022-09-06 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
| US11751955B2 (en) | 2007-06-13 | 2023-09-12 | Intuitive Surgical Operations, Inc. | Method and system for retracting an instrument into an entry guide |
| US9629520B2 (en) | 2007-06-13 | 2017-04-25 | Intuitive Surgical Operations, Inc. | Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide |
| US10188472B2 (en) | 2007-06-13 | 2019-01-29 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
| WO2009034732A1 (en) * | 2007-09-10 | 2009-03-19 | Gifu University | Operation supporting device and its control method |
| US11638622B2 (en) | 2008-06-27 | 2023-05-02 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
| US11382702B2 (en) | 2008-06-27 | 2022-07-12 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
| US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
| US9717563B2 (en) | 2008-06-27 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
| US10368952B2 (en) | 2008-06-27 | 2019-08-06 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
| US10984567B2 (en) | 2009-03-31 | 2021-04-20 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
| US10282881B2 (en) | 2009-03-31 | 2019-05-07 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
| US11941734B2 (en) | 2009-03-31 | 2024-03-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
| US10959798B2 (en) | 2009-08-15 | 2021-03-30 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
| US11596490B2 (en) | 2009-08-15 | 2023-03-07 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
| US9956044B2 (en) | 2009-08-15 | 2018-05-01 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
| US10271915B2 (en) | 2009-08-15 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
| US10772689B2 (en) | 2009-08-15 | 2020-09-15 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
| US10828774B2 (en) | 2010-02-12 | 2020-11-10 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
| US10537994B2 (en) | 2010-02-12 | 2020-01-21 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
| US9622826B2 (en) | 2010-02-12 | 2017-04-18 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
| JP2015506850A (en) * | 2011-11-09 | 2015-03-05 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Application of force feedback at the input device that prompts the operator of the input device to command the joint device to take a suitable posture |
| JP2017080887A (en) * | 2011-11-09 | 2017-05-18 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Application of force feedback in input device that urges input device operator to give instruction so that joint instrument takes appropriate posture |
| US11806102B2 (en) | 2013-02-15 | 2023-11-07 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
| US11389255B2 (en) | 2013-02-15 | 2022-07-19 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
| US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
| KR20180059888A (en) | 2015-10-14 | 2018-06-05 | 카와사키 주코교 카부시키 카이샤 | Robot teaching method and robot arm control device |
| DE112016004725B4 (en) | 2015-10-14 | 2021-09-16 | Kawasaki Jukogyo Kabushiki Kaisha | Method for teaching a robot and robot arm control device |
| US10751874B2 (en) | 2015-10-14 | 2020-08-25 | Kawasaki Jukogyo Kabushiki Kaisha | Method of teaching robot and robotic arm control device |
| DE112016004725T5 (en) | 2015-10-14 | 2018-07-19 | Kawasaki Jukogyo Kabushiki Kaisha | Method for teach-in of a robot and robot arm control device |
| JP2017094430A (en) * | 2015-11-20 | 2017-06-01 | ファナック株式会社 | Manual feed apparatus for robot for calculating operation possible range of robot |
| US10118295B2 (en) | 2015-11-20 | 2018-11-06 | Fanuc Corporation | Manual feed apparatus of robot for calculating operable range of robot |
| DE112016005365B4 (en) | 2015-11-24 | 2022-06-23 | Kawasaki Jukogyo Kabushiki Kaisha | Direct teaching method of a robot |
| US10864632B2 (en) | 2015-11-24 | 2020-12-15 | Kawasaki Jukogyo Kabushiki Kaisha | Direct teaching method of robot |
| KR20180069031A (en) | 2015-11-24 | 2018-06-22 | 카와사키 주코교 카부시키 카이샤 | Direct teaching method of robot |
| KR20200139217A (en) * | 2018-05-23 | 2020-12-11 | 아즈빌주식회사 | Robot's direct teaching device and direct teaching method |
| CN112118940A (en) * | 2018-05-23 | 2020-12-22 | 阿自倍尔株式会社 | Direct teaching device and direct teaching method for robot |
| CN112118940B (en) * | 2018-05-23 | 2023-05-30 | 阿自倍尔株式会社 | Direct teaching device and direct teaching method for manipulator |
| WO2019225358A1 (en) * | 2018-05-23 | 2019-11-28 | アズビル株式会社 | Device and method for direct teaching of robot |
| JP2019202383A (en) * | 2018-05-23 | 2019-11-28 | アズビル株式会社 | Direct teaching device and direct teaching method of robot |
| CN108663973A (en) * | 2018-06-09 | 2018-10-16 | 成都凯天电子股份有限公司 | Multichannel target position distance control device |
| CN108663973B (en) * | 2018-06-09 | 2023-11-10 | 成都凯天电子股份有限公司 | Multi-path target position distance control device |
| WO2020050032A1 (en) * | 2018-09-07 | 2020-03-12 | アズビル株式会社 | Robot direct teaching device and direct teaching method |
| JP2020040136A (en) * | 2018-09-07 | 2020-03-19 | アズビル株式会社 | Direct teaching device of robot, and direct teaching method |
| KR20210041034A (en) * | 2018-09-07 | 2021-04-14 | 아즈빌주식회사 | Robot's Direct Teaching Device and Direct Teaching Method |
| WO2021064809A1 (en) * | 2019-09-30 | 2021-04-08 | 株式会社Ｆｕｊｉ | Robot control device and direct teaching method for robot |
| JPWO2021064809A1 (en) * | 2019-09-30 | 2021-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH09141580A (en) | Operating range limiting device for direct teaching robot | |
| JP2019018340A (en) | Work robot, control method therefor | |
| US20140188280A1 (en) | Method and system for controlling gait of robot | |
| JP6032811B2 (en) | Force control device and position control device using admittance control | |
| JP2019020826A (en) | Force control device, force control method and force control program | |
| JPH10329071A (en) | Impedance control device for robot arm | |
| JP2604929B2 (en) | Robot control device | |
| JPH03123907A (en) | Direct teaching device and method of robot | |
| JPH1158278A (en) | Control device for robot | |
| JP2005034991A (en) | Working range limiting apparatus for robot and mobile robot | |
| JP2003300183A (en) | Control device of vertical articulated manipulator | |
| Arita et al. | Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control | |
| JPH09154900A (en) | Control device for limb drive device | |
| JP2739764B2 (en) | Robot scanning speed control method | |
| JP2737325B2 (en) | Robot trajectory generation method | |
| JP4032263B2 (en) | Robot direct teach device | |
| JP2709001B2 (en) | Work Object Position Detector for Force Control Robot | |
| JPH10202558A (en) | Master slave device | |
| JPH09185416A (en) | Power controller for manipulator | |
| JP3063863B2 (en) | Manipulator operating device | |
| JP2006218573A (en) | Operation device, operation adjustment method of operation element, and its program | |
| JP2830205B2 (en) | Robot control device | |
| JP3412324B2 (en) | Arm drive | |
| JP4376712B2 (en) | Operating device | |
| JP2005088114A (en) | Direct teaching device of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20040326 |
|
| A521 | Written amendment |
Effective date: 20040428 Free format text: JAPANESE INTERMEDIATE CODE: A523 |
|
| A131 | Notification of reasons for refusal |
Effective date: 20040819 Free format text: JAPANESE INTERMEDIATE CODE: A131 |
|
| A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20041005 |
|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20050411 |