公开(公告)号：US20190126476A1

公开(公告)日：2019-05-02

申请号：US16160977

申请日：2018-10-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio NAKAMURA ,  Tetsuro IZUMI ,  Takashi NISHIMURA ,  Shohei OHNO

IPC: B25J9/16

Abstract: A robot system includes a robot, a sensor, and a processor. The sensor is configured to detect an external force acting on the robot. The processor is configured to move the robot in a forward direction such that a representative point of the robot moves along a motion track in the forward direction; move the robot in a reverse direction such that the representative point moves along the motion track in the reverse direction opposite to the forward direction when the external force satisfies a first condition which includes a condition that the external force is larger than a first threshold force; and move the robot to reduce the external force when the external force satisfies a second condition which includes a condition that the external force is larger than a second threshold force even after the robot has been moved in the reverse direction.

公开(公告)号：US20170266809A1

公开(公告)日：2017-09-21

申请号：US15458994

申请日：2017-03-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Taku SHIKINA ,  Takashi NISHIMURA ,  Tamio NAKAMURA

IPC: B25J9/16

CPC classification number: B25J9/1651 ,  B25J9/1607 ,  B25J9/161 ,  B25J9/1694 ,  G05B2219/40333

Abstract: A robot controller (2) configured to control a robot (1) including a plurality of joints (J1-J6) each rotatable around a rotation axis, the robot controller (2) including: an acquisition unit (21) configured to acquire a rotation angle of each of the plurality of joints (J1-J6); a determination unit (22) configured to determine whether or not the robot (1) has been in proximity to a singular configuration, based on the rotation angle of each of the plurality of joints (J1-J6); and a control unit (23) configured to control the plurality of joints (J1-J6) to be rotated not to rotate simultaneously, when the determination unit (22) determines that the robot (1) has been in proximity to the singular configuration.

公开(公告)号：US20140277726A1

公开(公告)日：2014-09-18

申请号：US14207660

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio NAKAMURA ,  Dai KOUNO ,  Takashi SUYAMA ,  Takashi NISHIMURA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1612 ,  B25J9/1674 ,  B25J19/06 ,  F16P3/147 ,  G05B2219/40202

Abstract: A robot system is provided, which includes a robot having an operable operation arm, an attachment detector for detecting one or more attachments, each attached to a wearing article equipped by a movable body, and a motion-control changer for changing a motion control of the robot based on a detection result detected by the attachment detector.

Abstract translation: 提供了一种机器人系统，其包括具有可操作操作臂的机器人，用于检测一个或多个附件的附件检测器，每个附件附接到由可移动体装备的穿着物品，以及运动控制变换器，用于改变运动控制 基于由附件检测器检测到的检测结果的机器人。

公开(公告)号：US20140188323A1

公开(公告)日：2014-07-03

申请号：US14201933

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tetsuro IZUMI ,  Tamio NAKAMURA ,  Takashi NISHIMURA

IPC: B25J5/00

CPC classification number: B25J5/007 ,  B25J9/162 ,  B25J9/1633 ,  B25J13/083 ,  B25J13/085 ,  G05D1/0242 ,  G05D2201/0216 ,  Y10S901/01

Abstract: A mobile robot includes a truck capable of traveling by servo control, a robot arm mounted on the truck, and a control portion servo-controlling the traveling of the truck. The control portion is configured to set a servo gain of the servo control for the truck to a robot arm operation gain during the operation of the robot arm.

Abstract translation: 移动机器人包括能够通过伺服控制行进的卡车，安装在卡车上的机器人手臂，以及伺服控制卡车行驶的控制部。 所述控制部构成为，在所述机器人手臂的动作期间，将所述卡车的伺服控制的伺服增益设定为机器人手臂的运行增益。