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1. EP3626402 - REMOTE OPERATION ROBOT SYSTEM

Office
European Patent Office
Application Number 18801776
Application Date 16.05.2018
Publication Number 3626402
Publication Date 25.03.2020
Publication Kind A4
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 HEAVY IND LTD
Inventors SHIMOMURA NOBUYASU
KAMON MASAYUKI
FUJIMORI JUN
KINOSHITA HIROKI
SHITAKA TAKUYA
TAKAHASHI HIROKI
Designated States
Priority Data 2017100374 19.05.2017 JP
Title
(DE) ROBOTERSYSTEM MIT FERNBEDIENUNG
(EN) REMOTE OPERATION ROBOT SYSTEM
(FR) SYSTÈME DE ROBOT TÉLÉCOMMANDÉ
Abstract
(EN) A remote control robot system includes a slave arm configured to perform a given work, a master arm having a motor configured to drive a joint, and configured to receive from an operator an operation to manipulate the slave arm, an instruction generating module configured to generate an instruction to apply to the master arm an imaginary external force in a given direction that is independent from a force received by the slave arm from the exterior, and a motor controller configured to supply, to the motor, drive current corresponding to the instruction sent from the instruction generating module.
(FR) La présente invention concerne un système de robot télécommandé qui comprend un bras esclave qui effectue un travail prédéfini, un bras maître qui comprend un moteur pour entraîner une charnière et reçoit des opérations servant à déplacer le bras esclave d'un opérateur, une unité de génération de commande qui génère une commande pour imprimer, dans une direction prédéfinie par rapport au bras maître, une force externe virtuelle indépendante de la force reçue extérieurement par le bras esclave, et une unité de commande de moteur qui applique, au moteur, un courant d'attaque correspondant à la commande envoyée par l'unité de génération de commande.