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Robot control device controlling robot based on external force applied to robot and robot system
US2016207197A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016207197-A1 |
| Application number | US-201615000714-A |
| Country | US |
| Kind code | A1 |
| Filing date | Jan 19, 2016 |
| Priority date | Jan 21, 2015 |
| Publication date | Jul 21, 2016 |
| Grant date | — |
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- Title
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Abstract
Official abstract text for this publication.
In the past, sometimes a robot was made to unnecessarily retract. Therefore, this robot control device comprises a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges if the robot continues to contact the object after making the robot stop, and a retraction command part which makes the robot retract in a direction away from the object when it is judged that the robot continues to contact the object.
First claim
Opening claim text (preview).
1 . A robot control device which controls an operation of a robot based on an output from a sensor which detects an external force applied to the robot, comprising: a contact judging part which judges whether the robot has contacted an object based on the external force detected by the sensor; a stop command part which stops the robot when the contact judging part judges that the robot has contacted the object; a continuous contact judging part which judges whether the robot continues to contact the object after stopping the robot; and a retraction command part which makes the robot retract in a direction away from the object when the continuous contact judging part judges that the robot continues to contact the object. 2 . The robot control device according to claim 1 , wherein the contact judging part judges that the robot has contacted the object when the external force equal to or larger than a predetermined threshold value is detected. 3 . The robot control device according to claim 1 , wherein the continuous contact judging part judges that the robot continues to contact the object when the external force over a predetermined threshold value is detected until a predetermined time has elapsed from a time point when the stop command part stops the robot. 4 . The robot control device according to claim 1 , further comprises an integrated value calculating part which calculates an integrated value of the external forces from a time point when the stop command part stops the robot, wherein the continuous contact judging part judges that the robot continues to contact the object when the integrated value exceeds a predetermined threshold value until a predetermined time has elapsed from the time point. 5 . A robot system comprising: a robot; and the robot control device according to claim 1 which controls the robot.
Assignees
Inventors
Classifications
- B25J9/1676Primary
Avoiding collision or forbidden zones · CPC title
Closed loop, sensor feedback controls arm movement · CPC title
characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title
characterised by motion, path, trajectory planning · CPC title
- B25J9/1674Primary
characterised by safety, monitoring, diagnostic · CPC title
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Frequently asked questions
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- What does patent US2016207197A1 cover?
- In the past, sometimes a robot was made to unnecessarily retract. Therefore, this robot control device comprises a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges i…
- Who is the assignee on this patent?
- Fanuc Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1676. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Thu Jul 21 2016 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).