Robot system and method of operating the same

Patent metadata

Field	Value
Publication number	US-11065070-B2
Application number	US-201615755111-A
Country	US
Kind code	B2
Filing date	Jul 15, 2016
Priority date	Aug 25, 2015
Publication date	Jul 20, 2021
Grant date	Jul 20, 2021

Abstract

A robot system which includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm having a plurality of joints, and a control device configured to control operation of the slave arm. The control device is configured, while the slave arm is operating at a speed equal to or higher than a first given the threshold, even when an operational instruction value for correcting the operation of the slave arm is inputted from the manipulator during an automatic operation of the slave arm, to prevent the correction of the operation of the slave arm.

First claim

The invention claimed is:

1. A robot system comprising:
a manipulator configured to receive a manipulating instruction from an operator;
a slave arm having a plurality of joints; and
a storage device storing a task program; and
a control device configured to control operation of the slave arm, wherein:
when the slave arm is operating at a speed equal to or higher than a first predetermined threshold and when a correction instruction value to correct the operation of the slave arm is inputted from the manipulator during an automatic operation of the slave arm, the control device is configured to prevent the correction of the operation of the slave arm and continue the automatic operation of the slave arm,
when the slave arm is operating at a speed lower than the first predetermined threshold and when the correction instruction value to correct the operation of the slave arm is inputted from the manipulator during the automatic operation of the slave arm, the control device is configured to allow the correction of the operation of the slave arm, and
the control device is configured to add the correction instruction value to an operational instruction value, which is based on automatic operation information acquired from the task program, and perform the correction of the operation of the slave arm as a function of a sum of the correction instruction value and the operational instruction value.

2. The robot system of claim 1 , further comprising an output device,
wherein when the correction instruction value to correct the operation of the slave arm is inputted from the manipulator and when the slave arm is operating at a speed equal to or higher than the first predetermined threshold during the automatic operation of the slave arm, the control device is configured to cause the output device to output correction preventing information indicating that the correction of the operation of the slave arm is prevented.

3. The robot system of claim 1 , wherein when the correction instruction value to correct the operation of the slave arm is inputted from the manipulator during the automatic operation of the slave arm and the slave arm is operating at a speed equal to or higher than the first predetermined threshold, the control device is configured to control the slave arm to decrease the operating speed of the slave arm to be lower than the first predetermined threshold.

4. A method of operating a robot system including a manipulator configured to receive a manipulating instruction from an operator, a slave arm having a plurality of joints, and a storage device storing a task program, the method comprising:
causing the manipulator to output a correction instruction value to correct operation of the slave arm when the slave arm is under an automatic operation;
preventing the correction of the operation of the slave arm and continuing the automatic operation of the slave arm when the slave arm is operating at a speed equal to or higher than a first predetermined threshold;
allowing correction of the operation of the slave arm when the slave arm is operating at a speed lower than the first predetermined threshold;
adding the correction instruction value to an operational instruction value, which is based on automatic operation information acquired from the task program; and
performing the correction of the operation of the slave arm as a function of a sum of the correction instruction value and the operational instruction value.

5. The method of operating the robot system of claim 4 , wherein:
the robot system further includes an output device, and
the method further comprises causing the output device to output correction preventing information indicating that the correction of the operation of the slave arm is prevented.

6. The method of operating the robot system of claim 4 , further comprising causing the slave arm to operate at a speed lower than the first predetermined threshold when the slave arm is operating at a speed equal to or higher than the first predetermined threshold.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Noguchi Kenji
• Kamon Masayuki
• Tanaka Shigetsugu

Classifications

• H04N23/611

  where the recognised objects include parts of the human body · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/37 Primary

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/35

  for telesurgery · CPC title

• B25J9/1689

  Teleoperation · CPC title