Cooperatively-controlled surgical robotic system with redundant force sensing
US-2016361125-A1 · Dec 15, 2016 · US
Human cooperation robot system in which robot is caused to perform retreat operation depending on external force
US9827681B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9827681-B2 |
| Application number | US-201615047633-A |
| Country | US |
| Kind code | B2 |
| Filing date | Feb 19, 2016 |
| Priority date | Feb 20, 2015 |
| Publication date | Nov 28, 2017 |
| Grant date | Nov 28, 2017 |
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Abstract
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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 greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value.
First claim
Opening claim text (preview).
What is claimed is: 1. A human cooperation robot system, comprising a robot configured to perform a cooperative operation with a human while sharing a workspace with each other, the system further comprising: an external force detecting unit 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 greater than a first threshold value, if the human pushes the robot, which is in a stopped situation; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value. 2. 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
- B25J13/085Primary
Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title
Force sensors associated with material gripping devices · CPC title
Human robot coexistence · CPC title
Safety devices · CPC title
- B25J9/1674Primary
characterised by safety, monitoring, diagnostic · CPC title
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- What does patent US9827681B2 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 greater 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 B25J13/085. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Nov 28 2017 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 2 related publications on this page (citations in our corpus or others sharing the same primary CPC).