Processing

Please wait...

Settings

Settings

Goto Application

1. WO2018212239 - REMOTE OPERATION ROBOT SYSTEM

Publication Number WO/2018/212239
Publication Date 22.11.2018
International Application No. PCT/JP2018/018957
International Filing Date 16.05.2018
IPC
B25J 3/00 2006.1
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 13/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
02Hand grip control means
B25J 13/082
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
081Touching devices, e.g. pressure-sensitive
082Grasping-force detectors
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 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 9/12
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
B25J 9/161
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1602characterised by the control system, structure, architecture
161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Applicants
  • 川崎重工業株式会社 KAWASAKI JUKOGYO KABUSHIKI KAISHA [JP]/[JP]
Inventors
  • 下村 信恭 SHIMOMURA, Nobuyasu
  • 掃部 雅幸 KAMON, Masayuki
  • 藤森 潤 FUJIMORI, Jun
  • 木下 博貴 KINOSHITA, Hiroki
  • 志鷹 拓哉 SHITAKA, Takuya
  • ▲高▼橋 大樹 TAKAHASHI, Hiroki
Agents
  • 特許業務法人 有古特許事務所 PATENT CORPORATE BODY ARCO PATENT OFFICE
Priority Data
2017-10037419.05.2017JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) REMOTE OPERATION ROBOT SYSTEM
(FR) SYSTÈME DE ROBOT TÉLÉCOMMANDÉ
(JA) 遠隔操作ロボットシステム
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, a command 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, and a motor control unit that applies, to the motor, a drive current corresponding to the command sent from the command generation unit.
(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.
(JA) 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。
Related patent documents
Latest bibliographic data on file with the International Bureau