Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
EXTERNAL FORCE FOLLOW-UP CONTROL SYSTEM
Document Type and Number:
Japanese Patent JP2017104914
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an external force follow-up control system capable of holding a position of an arm, even if a load is removed from a state of moving by external force, by accurately operating as a command in no-load time.SOLUTION: In a position command value generation part 72, a difference or an external force signal of an expansion arm part caused by external force is acquired. When force of exceeding a value preset in a control object is added as a load, a position target value by a controller 80 is corrected in the force-escaping (load-removing) direction. A target position is superscribed-updated by turning aside the external force, so that when the external force is lost, a measured value can be converged in the target value.SELECTED DRAWING: Figure 3

More Like This:
JP4786516Service target person identification method in a robot-based service system and a robot-based service system using the method
JP7464629Polishing amount estimation device
JP2006239856METHOD AND DEVICE FOR CONTROLLING ADVANCING MOVEMENT OF CONNECTION TOOL
Inventors:
HARAGUCHI DAISUKE
MIKAMI KEI
HIRATA YOICHI
Application Number:
JP2015238540A
Publication Date:
June 15, 2017
Filing Date:
December 07, 2015
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
RIVERFIELD INC
International Classes:
B25J13/08; A61B90/00
Domestic Patent References:
JP2009018380A2009-01-29
JP2000279463A2000-10-10
JP2012130977A2012-07-12
JP2010247309A2010-11-04
JP2009527366A2009-07-30
JP2015100677A2015-06-04
JPH0639760A1994-02-15
JP2006230691A2006-09-07
Foreign References:
WO2015137140A12015-09-17
Attorney, Agent or Firm:
Isono International Patent and Trademark Office



 
Previous Patent: Multiaxial attachment

Next Patent: An image forming device provided with a corner cut device and this