Invention Grant
US09102054B2 Robot, robot control apparatus, robot control method, and robot control program
有权
机器人，机器人控制装置，机器人控制方法和机器人控制程序
- Patent Title: Robot, robot control apparatus, robot control method, and robot control program
- Patent Title (中): 机器人，机器人控制装置，机器人控制方法和机器人控制程序
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Application No.: US14134470Application Date: 2013-12-19
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Publication No.: US09102054B2Publication Date: 2015-08-11
- Inventor: Yasunao Okazaki
- Applicant: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Applicant Address: JP Osaka
- Assignee: Panasonic Intellectual Property Management Co., Ltd.
- Current Assignee: Panasonic Intellectual Property Management Co., Ltd.
- Current Assignee Address: JP Osaka
- Agency: Wenderoth, Lind & Ponack, L.L.P.
- Priority: JP2012-117370 20120523
- Main IPC: G05B15/00
- IPC: G05B15/00 ; B25J9/16 ; B25J13/08 ; B66C23/00
Abstract:
Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.
Public/Granted literature
- US20140107843A1 ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM Public/Granted day:2014-04-17
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