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1. (WO2017033379) ROBOT SYSTEM

Pub. No.:    WO/2017/033379    International Application No.:    PCT/JP2016/003064
Publication Date: Fri Mar 03 00:59:59 CET 2017 International Filing Date: Sat Jun 25 01:59:59 CEST 2016
IPC: B25J 3/00
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
Title: ROBOT SYSTEM
Abstract:
A robot system is provided with: a robot body equipped with a robot arm and an end effector installed on the robot arm; an operation device, which has an operation unit and, when the operation unit is operated, outputs operation information corresponding to said operation; an action control unit for controlling the action of the robot body according to the operation information output from the operation device; a velocity-detecting means for detecting the velocity of the tip of the end effector; an imaginary reaction force information generator for outputting force information comprising a first force component with a positive correlation to the velocity of the end effector tip as imaginary reaction force information; and a force-imparting device for imparting force to the operation unit to cause the operator to feel a force corresponding to the imaginary reaction force information output from the imaginary reaction force information generator.