JPWO2021166831A1 - - Google Patents

Info

Publication number
JPWO2021166831A1
JPWO2021166831A1 JP2022501865A JP2022501865A JPWO2021166831A1 JP WO2021166831 A1 JPWO2021166831 A1 JP WO2021166831A1 JP 2022501865 A JP2022501865 A JP 2022501865A JP 2022501865 A JP2022501865 A JP 2022501865A JP WO2021166831 A1 JPWO2021166831 A1 JP WO2021166831A1
Authority
JP
Japan
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.)
Granted
Application number
JP2022501865A
Other versions
JP7364776B2 (ja
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of JPWO2021166831A1 publication Critical patent/JPWO2021166831A1/ja
Application granted granted Critical
Publication of JP7364776B2 publication Critical patent/JP7364776B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2022501865A 2020-02-19 2021-02-15 ロボットアーム機構 Active JP7364776B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020026056 2020-02-19
JP2020026056 2020-02-19
PCT/JP2021/005450 WO2021166831A1 (ja) 2020-02-19 2021-02-15 ロボットアーム機構

Publications (2)

Publication Number Publication Date
JPWO2021166831A1 true JPWO2021166831A1 (ja) 2021-08-26
JP7364776B2 JP7364776B2 (ja) 2023-10-18

Family

ID=77391180

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022501865A Active JP7364776B2 (ja) 2020-02-19 2021-02-15 ロボットアーム機構

Country Status (5)

Country Link
US (1) US20230079034A1 (ja)
JP (1) JP7364776B2 (ja)
CN (1) CN115087524A (ja)
DE (1) DE112021001067T5 (ja)
WO (1) WO2021166831A1 (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116039807A (zh) * 2023-01-31 2023-05-02 三一机器人科技有限公司 俯仰组件和多自由度悬臂轴agv

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140371762A1 (en) * 2013-03-14 2014-12-18 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices Relating to Force Control Surgical Systems
JP2017177293A (ja) * 2016-03-30 2017-10-05 ファナック株式会社 人協働型のロボットシステム
US20180215054A1 (en) * 2015-07-27 2018-08-02 Kuka Roboter Gmbh Robot With A Force Measuring Device
JP2018134059A (ja) * 2017-02-23 2018-08-30 パナソニック株式会社 収穫装置及び収穫方法
US10189159B1 (en) * 2015-04-06 2019-01-29 X Development Llc Methods and systems for detecting states of operation of a robotic device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019012812A1 (ja) * 2017-07-12 2019-01-17 ソニー株式会社 制御装置及び制御方法、並びにマスタ－スレーブ・システム
US10829242B2 (en) * 2018-04-30 2020-11-10 Textron Innovations Inc. Drive link mounted flapping sensor systems
US11780491B2 (en) * 2019-11-25 2023-10-10 Steering Solutions Ip Holding Corporation Electric recirculating ball power steering system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140371762A1 (en) * 2013-03-14 2014-12-18 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices Relating to Force Control Surgical Systems
US10189159B1 (en) * 2015-04-06 2019-01-29 X Development Llc Methods and systems for detecting states of operation of a robotic device
US20180215054A1 (en) * 2015-07-27 2018-08-02 Kuka Roboter Gmbh Robot With A Force Measuring Device
JP2017177293A (ja) * 2016-03-30 2017-10-05 ファナック株式会社 人協働型のロボットシステム
JP2018134059A (ja) * 2017-02-23 2018-08-30 パナソニック株式会社 収穫装置及び収穫方法

Also Published As

Publication number Publication date
US20230079034A1 (en) 2023-03-16
CN115087524A (zh) 2022-09-20
DE112021001067T5 (de) 2023-01-26
JP7364776B2 (ja) 2023-10-18
WO2021166831A1 (ja) 2021-08-26

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