Contact force limiting with haptic feedback for a tele-operated robot
US-2016229050-A1 · Aug 11, 2016 · US
Human cooperation robot system in which robot is caused to perform retreat operation
US2016243700A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016243700-A1 |
| Application number | US-201615047631-A |
| Country | US |
| Kind code | A1 |
| Filing date | Feb 19, 2016 |
| Priority date | Feb 20, 2015 |
| Publication date | Aug 25, 2016 |
| Grant date | — |
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- Title
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Abstract
Official abstract text for this publication.
A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; a position acquiring unit that a current position of the robot; and a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area.
First claim
Opening claim text (preview).
What is claimed is: 1 . A human cooperation robot system in which a robot and a human perform a cooperative operation while sharing a workspace with each other, comprising: an external force detecting unit (S, 21 ) that detects an external force acting on the robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; a position acquiring unit that acquires a current position of the robot; and a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area. 2 . The human cooperation robot system according to claim 1 , further comprising a retreat area setting unit that sets up, as the retreat area, a predetermined area including the current position of the robot when the external force is smaller than or equal to a second threshold value smaller than the first threshold value. 3 . The human cooperation robot system according to claim 1 , wherein the external force detecting unit is a force sensor mounted on a distal end of the robot.
Assignees
Inventors
Classifications
Human robot coexistence · CPC title
Detect contact, collision with human · CPC title
- B25J9/1674Primary
characterised by safety, monitoring, diagnostic · CPC title
- G05B13/042Primary
in which a parameter or coefficient is automatically adjusted to optimise the performance · CPC title
- B25J9/1633Primary
compliant, force, torque control, e.g. combined with position control · CPC title
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- What does patent US2016243700A1 cover?
- A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; …
- Who is the assignee on this patent?
- Fanuc Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1674. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Thu Aug 25 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 4 related publications on this page (citations in our corpus or others sharing the same primary CPC).