Robot, robot control apparatus, robot control method, and robot control program
US-2015081099-A1 · Mar 19, 2015 · US
Robot control apparatus having function of detecting contact with object or person
US2016279796A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016279796-A1 |
| Application number | US-201615063511-A |
| Country | US |
| Kind code | A1 |
| Filing date | Mar 8, 2016 |
| Priority date | Mar 23, 2015 |
| Publication date | Sep 29, 2016 |
| Grant date | — |
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- Title
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Abstract
Official abstract text for this publication.
A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range.
First claim
Opening claim text (preview).
1 . A robot control apparatus comprising: a contact detection unit which judges whether or not a robot is in contact with an object other than the robot; and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object, and monitors operation of the robot; wherein a permissible range for the operation direction of the robot after the robot comes in contact with the object is previously determined and after the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within the permissible range and inhibits operation of the robot falling outside the permissible range. 2 . The robot control apparatus according to claim 1 further comprising: a selector switch which can switch between a teaching mode in which a worker manually operates the robot so as to teach an operation of the robot and a playback mode in which the robot automatically reproduces the taught operation; and a retreat command unit which automatically operates the robot in a direction away from the object when the robot comes in contact with the object; wherein when the playback mode is selected by the selector switch, the robot is operated by the retreat command unit when the robot comes in contact with the object; and when the teaching mode is selected by the selector switch, the operation of the robot is monitored by the operation direction monitor unit when the robot comes in contact with the object. 3 . The robot control apparatus according to claim 1 , wherein the operation direction monitor unit stops the robot when the operation direction of the robot falls outside the permissible range.
Assignees
Inventors
Classifications
Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title
- B25J9/1676Primary
Avoiding collision or forbidden zones · CPC title
Detect contact, collision with human · CPC title
Human robot coexistence · CPC title
Safety devices · CPC title
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Frequently asked questions
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- What does patent US2016279796A1 cover?
- A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction…
- 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 Sep 29 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 1 related publication on this page (citations in our corpus or others sharing the same primary CPC).