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1. JP2018192596 - REMOTE OPERATION ROBOT SYSTEM

Office
Japan
Application Number 2017100374
Application Date 19.05.2017
Publication Number 2018192596
Publication Date 06.12.2018
Grant Number 6959762
Grant Date 12.10.2021
Publication Kind B2
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
川崎重工業株式会社
Inventors SHIMOMURA NOBUTAKA
下村 信恭
KAMON MASAYUKI
掃部 雅幸
FUJIMORI JUN
藤森 潤
KINOSHITA HIROTAKA
木下 博貴
SHITAKA TAKUYA
志鷹 拓哉
TAKAHASHI DAIKI
▲高▼橋 大樹
Agents 特許業務法人 有古特許事務所
Title
(EN) REMOTE OPERATION ROBOT SYSTEM
(JA) 遠隔操作ロボットシステム
Abstract
(EN)

PROBLEM TO BE SOLVED: To provide a remote operation robot system improved in operational feeling of an operator received via a master arm.

SOLUTION: A remote operation robot system includes: a slave arm for performing a prescribed work; and a master arm which has a motor for driving joints and receives an operation for operating the slave arm from an operator. The master arm has a command generation section which generates a command for applying virtual external force independent from force received by the slave arm from the outside in a prescribed direction, and a motor control section which gives driving current corresponding to the command sent from the command generation section to the motor.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2019,JPO&INPIT


(JA)

【課題】マスタアームを介して受けるオペレータの操作感を改善した遠隔操作ロボットシステムを提供する。
【解決手段】遠隔操作ロボットシステムは、所定の作業を行うスレーブアームと、関節を駆動するモータを有し、スレーブアームを動作させるための操作をオペレータから受け付けるマスタアームと、マスタアームに、スレーブアームが外部から受けた力とは独立した仮想の外力を所定方向に加える指令を生成する指令生成部と、指令生成部から送られた指令に対応した駆動電流をモータに与えるモータ制御部と、を備える。
【選択図】図2