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1. (WO2017033378) ROBOT SYSTEM

Pub. No.:    WO/2017/033378    International Application No.:    PCT/JP2016/003063
Publication Date: Fri Mar 03 00:59:59 CET 2017 International Filing Date: Sat Jun 25 01:59:59 CEST 2016
IPC: B25J 19/06
B25J 15/08
Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA
川崎重工業株式会社
MEDICAROID CORPORATION
株式会社メディカロイド
Inventors: TOJO, Tsuyoshi
東條 剛史
SHIMOMURA, Nobuyasu
下村 信恭
Title: ROBOT SYSTEM
Abstract:
A robot system is provided with: a robot body equipped with a robot arm, an end effector installed on the robot arm, and a force-detecting device for detecting forces exerted on the tip of the end effector; a real reaction force information generator for generating force-sensing information according to the force detected by the force-detecting device and outputting said force-sensing information as real reaction force information; an imaginary reaction force information generator for outputting a component, which has a magnitude proportional to the time derivative of the force detected by the force-detecting device, as imaginary reaction force information; an adder for outputting the sum of the real reaction force information output from the real reaction force information generator and the imaginary reaction force information output from the imaginary reaction force information generator as combined reaction force information; an operation device for causing an operator to feel a force corresponding to the combined reaction force information output from the adder and, when the operator performs an operation, for outputting operation information corresponding to said operation; and an action control unit for controlling the action of the robot body according to the operation information output from the operation device.