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1. CN110650824 - REMOTE OPERATION ROBOT SYSTEM

Office
China
Application Number 201880033149.6
Application Date 16.05.2018
Publication Number 110650824
Publication Date 03.01.2020
Publication Kind A
IPC
B25J 3/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
CPC
B25J 3/04
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
04involving servo mechanisms
B25J 9/1638
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1638compensation for arm bending/inertia, pay load weight/inertia
B25J 13/085
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
085Force or torque sensors
B25J 9/1689
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1689Teleoperation
G05B 2219/39194
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39194Compensation gravity
B25J 9/12
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
12electric
Applicants KAWASAKI JUKOGYO KABUSHIKI KAISHA
川崎重工业株式会社
Inventors SHIMOMURA NOBUYASU
下村信恭
KAMON MASAYUKI
扫部雅幸
FUJIMORI JUN
藤森润
KINOSHITA HIROKI
木下博贵
SHITAKA TAKUYA
志鹰拓哉
TAKAHASHI HIROKI
高桥大树
Agents 北京集佳知识产权代理有限公司 11227
北京集佳知识产权代理有限公司 11227
Priority Data 2017100374 19.05.2017 JP
Title
(EN) REMOTE OPERATION ROBOT SYSTEM
(ZH) 远程操作机器人系统
Abstract
(EN) A remote operation robot system comprises a slave arm that performs prescribed work, a master arm that has a motor to drive a joint and receives operations for moving the slave arm from an operator, acommand generation unit that generates a command to impart, in a prescribed direction to the master arm, a virtual external force independent from the force received by the slave arm externally, anda motor control unit that applies, to the motor, a drive current corresponding to the command sent from the command generation unit.
(ZH) 远程操作机器人系统具备:从动臂,其进行规定的作业;主控臂,其具有驱动关节的马达,从操作人员受理用于使从动臂进行动作的操作;指令生成部,其生成沿规定方向对主控臂施加与从动臂从外部受到的力独立的假想的外力的指令;以及马达控制部,其对马达赋予与从指令生成部发送来的指令对应的驱动电流。