Title:
DIRECT TEACHING DEVICE AND DIRECT TEACHING METHOD
Document Type and Number:
WIPO Patent Application WO/2020/250789
Kind Code:
A1
Abstract:
The present invention comprises: a velocity sensing unit (11) that senses the velocity or the angular velocity of an arm (2) of a robot; an external force sensing unit (12) that senses an external force which is applied to the arm (2); a tracking control computation unit (13) that calculates movements of the arm (2) according to the external force sensed by the external force sensing unit (12); a non-operating state determination unit (14) that determines whether the arm (2) is in a non-operating state; a deceleration control computation unit (16) that, when the non-operating state determination unit (14) determines that the arm (2) is in a non-operating state, performs deceleration control on the basis of the velocity or the angular velocity sensed by the velocity sensing unit (11); and a drive control unit (17) that drives the arm (2) on the basis of the calculation result by the tracking control computation unit (13) and the result of control by the deceleration control computation unit (16).
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Inventors:
SHIMIZU KOJI (JP)
SUGIMOTO KODAI (JP)
SUGIMOTO KODAI (JP)
Application Number:
PCT/JP2020/022028
Publication Date:
December 17, 2020
Filing Date:
June 03, 2020
Export Citation:
Assignee:
AZBIL CORP (JP)
International Classes:
B25J9/22; G05B19/42
Foreign References:
| JP2008110406A | 2008-05-15 | |||
| JP2014128843A | 2014-07-10 | |||
| JP2017164833A | 2017-09-21 | |||
| JPH11254361A | 1999-09-21 | |||
| JPS6466715A | 1989-03-13 |
Attorney, Agent or Firm:
SANNO PATENT ATTORNEYS OFFICE (JP)
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