JP2005334999A5 - - Google Patents
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- JP2005334999A5 JP2005334999A5 JP2004155184A JP2004155184A JP2005334999A5 JP 2005334999 A5 JP2005334999 A5 JP 2005334999A5 JP 2004155184 A JP2004155184 A JP 2004155184A JP 2004155184 A JP2004155184 A JP 2004155184A JP 2005334999 A5 JP2005334999 A5 JP 2005334999A5
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- JP
- Japan
- Prior art keywords
- arm
- operation arm
- robot arm
- assist device
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Claims (5)
前記ロボットアームの先端に第１の力検出手段を介して取り付けられたハンドと、
前記ロボットアームを搭載する移動ベースと、
前記ロボットアームおよび前記移動ベースを力制御するロボット制御部とを備え、操作者の力を増幅して前記ハンドで作業対象物の把持や運搬を行なうアシスト装置であって、
前記ロボットアーム上に第２の力検出手段を介して設置された２軸以上の自由度を有する操作アームと、
前記ロボットアームの姿勢の変化に応じて前記操作アームの各軸を制御して前記操作アームの姿勢を変化させる操作アーム制御部とを備えることを特徴とするアシスト装置。 A robot arm,
A hand attached to the tip of the robot arm via first force detection means;
A moving base on which the robot arm is mounted;
An assist device that includes a robot control unit for controlling the force of the robot arm and the moving base, and amplifies an operator's force to grip and carry a work object with the hand,
An operation arm having two or more degrees of freedom installed on the robot arm via second force detection means;
An assist device comprising: an operation arm control unit that controls each axis of the operation arm according to a change in the posture of the robot arm and changes the posture of the operation arm.
前記記憶手段の記憶した角度と前記ロボットアームの各関節の角度とから前記操作アームへの指令を算出する第１の操作アーム演算手段とを備えることを特徴とする請求項１記載のアシスト装置。 The operation arm control unit, storage means for storing the angle of each joint of the operation arm and the robot arm at the start of operation;
The assist device according to claim 1, further comprising: a first operation arm calculation unit that calculates a command to the operation arm from an angle stored in the storage unit and an angle of each joint of the robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004155184A JP4517726B2 (en) | 2004-05-25 | 2004-05-25 | Assist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004155184A JP4517726B2 (en) | 2004-05-25 | 2004-05-25 | Assist device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2005334999A JP2005334999A (en) | 2005-12-08 |
| JP2005334999A5 true JP2005334999A5 (en) | 2007-06-28 |
| JP4517726B2 JP4517726B2 (en) | 2010-08-04 |
Family
ID=35489098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2004155184A Expired - Fee Related JP4517726B2 (en) | 2004-05-25 | 2004-05-25 | Assist device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4517726B2 (en) |
Families Citing this family (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101657377A (en) * | 2007-02-14 | 2010-02-24 | 株式会社五合 | Movement control method, movement operating device, and method for operating movement of moving body |
| JP5347705B2 (en) * | 2009-05-14 | 2013-11-20 | 株式会社Ｉｈｉ | Robot controller |
| US9314921B2 (en) | 2011-03-17 | 2016-04-19 | Sarcos Lc | Robotic lift device with human interface operation |
| US8942846B2 (en) | 2011-04-29 | 2015-01-27 | Raytheon Company | System and method for controlling a teleoperated robotic agile lift system |
| WO2012149402A2 (en) * | 2011-04-29 | 2012-11-01 | Raytheon Company | Robotic agile lift system with extremity control |
| US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
| US8977398B2 (en) | 2011-04-29 | 2015-03-10 | Sarcos Lc | Multi-degree of freedom torso support for a robotic agile lift system |
| US8977388B2 (en) | 2011-04-29 | 2015-03-10 | Sarcos Lc | Platform perturbation compensation |
| US9085308B2 (en) | 2011-11-04 | 2015-07-21 | GM Global Technology Operations LLC | Passively actuated braking system |
| JP5966372B2 (en) | 2012-01-17 | 2016-08-10 | セイコーエプソン株式会社 | Robot control apparatus, robot system, robot control method, and robot |
| JP5962020B2 (en) | 2012-01-17 | 2016-08-03 | セイコーエプソン株式会社 | Robot control apparatus, robot system, robot, and robot control method |
| US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
| DE102013019869B4 (en) * | 2013-11-28 | 2022-01-13 | Abb Schweiz Ag | Robot arm with input module |
| US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
| FR3022482B1 (en) | 2014-06-23 | 2016-06-24 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | CO-HANDLING ROBOT HAVING ROBOT CONTROL MEANS |
| JP6864454B2 (en) * | 2016-10-06 | 2021-04-28 | 川崎重工業株式会社 | Work transfer device |
| US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
| US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
| US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
| US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
| US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
| US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
| US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
| US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
| US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
| CN111300408B (en) * | 2020-02-06 | 2023-05-12 | 北京凡川智能机器人科技有限公司 | Motion planning control method for humanoid double-arm robot combining shape similarity and look similarity |
| US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
| US11794345B2 (en) | 2020-12-31 | 2023-10-24 | Sarcos Corp. | Unified robotic vehicle systems and methods of control |
| US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
| US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
| US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
| US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH042478A (en) * | 1990-04-20 | 1992-01-07 | Takenaka Komuten Co Ltd | Labor reducing manipulator usable together with manual work |
| JPH0413580A (en) * | 1990-04-28 | 1992-01-17 | Sumitomo Heavy Ind Ltd | Manipulator for building work |
| JPH054177A (en) * | 1991-06-28 | 1993-01-14 | Takenaka Komuten Co Ltd | Control system for manipulator |
| JP2000246680A (en) * | 1999-03-03 | 2000-09-12 | Suzuki Motor Corp | Manipulator for three-dimensional input |
| JP3188953B2 (en) * | 1999-10-13 | 2001-07-16 | 経済産業省産業技術総合研究所長 | Power assist device and control method thereof |
-
2004
- 2004-05-25 JP JP2004155184A patent/JP4517726B2/en not_active Expired - Fee Related
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