EP0159131A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Drive system for a movable apparatus
Assignee: Fujitsu Ltd
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Filing: 1985-03-08
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Granted: —
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Expires: 2005-03-08
Abstract
Abstract The robot (1) comprises a hand (4), a force sensor (5), an X-axis base (6), a Z-axis base (7) and a Y-axis base (8). A control circuit for the robot includes a memory unit (11) for storing teaching and other data, and a microprocessor (12) which reads out the teaching data from the memory, generates a motion route command for the hand, sends motion route data to a position control unit (13), and sends open and close commands to the hand via a hand open close unit (17). The microprocessor also generates teaching data in response to hand positions detected by a hand position detection unit (14) and stores the teaching data in the memory. A position control unit (13) feeds out a plurality of pulses (V x , V y , and V,) which are converted from displacement values for each axis, in response to the motion route command sent from the microprocessor, to control the position or speed of the hand. A hand position detection unit (14) receives signals (P x , P y , and P z ) generated from the drive sources for the three axes for detecting the current position of the hand. A force control unit generates a control command based on the outputs (M. to M f ) from the force sensor, and generates follow-up displacement values (PF x , PFy, and PF z ). An arm drive unit (16) operates each drive source on the basis of displacement values from the position control unit and the follow-up displacement values from the force control unit.
Inventors
- 👤 Nobuhiko Onda
- 👤 Kazuo Asakawa
- 👤 Tadashi Akita
- 👤 Hitoshi Komoriya
- 👤 Toru Kamada
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-05 23:46
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/423; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36429; G05B2219/40; G05B2219/40087; G05B2219/42; G05B2219/42092
Claims Analysis
Total Claims: 34
Claim 1
Independent Claim
117 words
A drive system for a movable apparatus, such as an arm (8) of a robot (1), characterised by driving means (64,66) for driving the movable apparatus; first output means (5,30) for detecting environmental information data around the movable: apparatus and for outputting a corresponding signal in response to the environmental information data; second output means (20) for outputting a command signal to drive the driving means so as to move the movable apparatus to a target position, based on target position data of the movable apparatus and present position data of the movable apparatus; and supply means (60) for supplying a composite signal constituted by the environmental information data and the command signal to the driving means.
Claim 2
Dependent Claim
117 words
A drive system for a movable apparatus, such as an arm (8) of a robot (1), characterised by driving means (64,66) for driving the movable apparatus; first output means (5,30) for detecting environmental information data around the movable: apparatus and for outputting a corresponding signal in response to the environmental information data; second output means (20) for outputting a command signal to drive the driving means so as to move the movable apparatus to a target position, based on target position data of the movable apparatus and present position data of the movable apparatus; and supply means (60) for supplying a composite signal constituted by the environmental information data and the command signal to the driving means.
Claim 3
Dependent Claim
19 words
A system as claimed in claim 1, characterised in that the driving means comprises a direct current motor (64,66).
Claim 4
Dependent Claim
83 words
A system as claimed in claim 1 or claim 2, characterised in that the first output means includes a force sensor (5) for detecting an external force, a displacement sensor for detecting the distance relative to an obstacle between the current position of the movable apparatus and the target position on a motion route, force control means (15) for outputting a follow-up displacement command, and hand position detecting means (14) for outputting the position of the movable apparatus detected by the driving means.
Claim 5
Independent Claim
101 words
A system as claimed in any preceding claim, characterised in that the second output means (20) includes a microprocessor (12) for reading out teaching data from an internal memory (11) and generating a moving route of the movable apparatus in a playback mode and for generating the teaching data and storing it in the memory based on a predetermined program, position control means (13) for outputting a displacement value based on a command signal from the microprocessor, and drive means (16) for driving the movable apparatus based on outputs from the force control means (15) and the position control means (13).
Claim 6
Dependent Claim
102 words
A robot control system, characterised by control means (60) for controlling the motion of the robot (1) in response to a command signal; a spring mechanism (5) provided at a working point of the robot for detecting a deflection (displacement) caused by an external force applied to the robot; and feedback means (31) for feeding back a deflection feedback value obtained by multiplying the detected output of the spring mechanism by a predetermined gain, wherein the control means controls the motion of the robot in response to addition of a position command generated from the control means and the deflection feedback value.
Claim 7
Dependent Claim
102 words
A robot control system, characterised by control means (60) for controlling the motion of the robot (1) in response to a command signal; a spring mechanism (5) provided at a working point of the robot for detecting a deflection (displacement) caused by an external force applied to the robot; and feedback means (31) for feeding back a deflection feedback value obtained by multiplying the detected output of the spring mechanism by a predetermined gain, wherein the control means controls the motion of the robot in response to addition of a position command generated from the control means and the deflection feedback value.
Claim 8
Dependent Claim
20 words
A system as claimed in claim 5, characterised in that the spring mechanism (5) is used as a force sensor.
Claim 9
Dependent Claim
41 words
A system as claimed in claim 6,_characterised in that the force sensor (5) comprises plate spring means (51-53) in the form of a box, and strain gauges (55a-55d) attached to predetermined positions of the plate spring means for detecting the deflection.
Claim 10
Independent Claim
44 words
A system as claimed in any one of claims 5-7, characterised in that an output of the spring mechanism (5) has an area insensitive to a detected deflection value caused by the external force, the force control being performed based on the insensitive area.
Claim 11
Independent Claim
29 words
A system as claimed in any one of claims 5-8, characterised in that the spring mechanism comprises a three dimensional force sensor (5) and a twist force sensor (41).
Claim 12
Independent Claim
20 words
A system as claimed in any one of claims 5-9, characterised in that the control means comprises a microprocessor (20).
Claim 13
Dependent Claim
37 words
A system as claimed in claim 10, characterised in that the predetermined gain is set by the micro-processor (20) and an analog circuit (Fig. 33) comprising a chip selection circuit, a data register, and a latch circuit.
Claim 14
Independent Claim
18 words
A system as claimed in any one of claims 5-11, characterised in that the predetermined gain is variable.
Claim 15
Dependent Claim
23 words
A system as claimed in claim 8, wherein a constraint force (contact force) is obtained from the deflection value in the insensitive area.
Claim 16
Dependent Claim
109 words
A drive system for a movable apparatus, such as an arm of a robot, characterised by driving means (Fig. 32) for driving the movable apparatus; first output means for detecting environmental information data around the movable apparatus and for outputting a corresponding signal in response to the environmental information data; second output means for outputting a speed signal to drive the driving means so as to attain a target speed, based on target speed data of the movable apparatus and present speed data of the movable apparatus; and supply means for supplying a composite signal constituted by the environmental information data and the speed signal to the driving means.
Claim 17
Dependent Claim
109 words
A drive system for a movable apparatus, such as an arm of a robot, characterised by driving means (Fig. 32) for driving the movable apparatus; first output means for detecting environmental information data around the movable apparatus and for outputting a corresponding signal in response to the environmental information data; second output means for outputting a speed signal to drive the driving means so as to attain a target speed, based on target speed data of the movable apparatus and present speed data of the movable apparatus; and supply means for supplying a composite signal constituted by the environmental information data and the speed signal to the driving means.
Claim 18
Dependent Claim
110 words
A robot control system characterised by control means (60) for controlling a movement of the robot (1) in response to a command signal; a plurality of sensors (55a-55d) provided at a working point of the robot for detecting a deflection (displacement) caused by an external force applied to the robot and for detecting a distance to an object; and feedback means (31) for feeding back a deflection feedback value obtained by multiplying the detected output of the sensors by a predetermined gain, wherein the control means controls the motion of the robot in response to addition of a position command generated from the control means and the deflection feedback value.
Claim 19
Dependent Claim
110 words
A robot control system characterised by control means (60) for controlling a movement of the robot (1) in response to a command signal; a plurality of sensors (55a-55d) provided at a working point of the robot for detecting a deflection (displacement) caused by an external force applied to the robot and for detecting a distance to an object; and feedback means (31) for feeding back a deflection feedback value obtained by multiplying the detected output of the sensors by a predetermined gain, wherein the control means controls the motion of the robot in response to addition of a position command generated from the control means and the deflection feedback value.
Claim 20
Dependent Claim
35 words
A system as claimed in claim 15, characterised in that the control means (60) controls the motion of the robot (1) when a strong stiffness and a high response speed in a position control mode.
Claim 21
Dependent Claim
34 words
A system as claimed in claim 15 or claim 16, characterised in that the plurality of sensors (41, 55a-55d) comprises a force sensor, a displacement sensor, a limit sensor and a twist force sensor.
Claim 22
Independent Claim
27 words
A system as claimed in any one of claims 15-17, characterised in that the plurality of sensors (41,55a-55d) can be used with linear and non-linear type sensors.
Claim 23
Independent Claim
27 words
A system as claimed in any one of claims 15-18, characterised in that an output of each of the plurality of sensors (41,55a-55d) has an insensitive area.
Claim 24
Dependent Claim
35 words
A system as claimed in claim 19, characterised in that the insensitive area is obtained by an insensitive area setting circuit (32) comprising an analog circuit, a comparator (COM) and an analog switch circuit (15a).
Claim 25
Independent Claim
39 words
A system as claimed in any one of claims 15-20, characterised in that the predetermined gain is set by a micro-processor and an analog circuit (Fig. 33) comprising a chip selection circuit, a data register and a latch circuit.
Claim 26
Dependent Claim
26 words
A system as claimed in claim 19 or claim 20, characterised in that the insensitve area is controlled by the control means with a predetermined program.
Claim 27
Independent Claim
54 words
A system as claimed in any one of claims 15-22, characterised in that a route of the movement of an extremity of the robot (1) is set to the inside portion (CM) of an object (BJI) based on the displacement command when the robot follows the profile of the outer line of the object.
Claim 28
Independent Claim
121 words
A method of teaching a treatment procedure to goods treatment apparatus (1) which includes a goods treatment unit (4) for treating the goods (21) and moving means (8) for moving the goods treatment unit, characterised in that the goods treatment unit is mounted to the moving means through a coupling unit (5) which comprises force detecting means (55a-55d) for detecting a force applied to the goods treatment unit; the moving means follows-up the goods treatment unit by driving the moving means based on a signal generated from the force detecting means when the goods treatment unit is manually operated; and the motion of the goods treatment unit is taught by storing the motion of the moving means based on the following-up.
Claim 29
Independent Claim
121 words
A method of teaching a treatment procedure to goods treatment apparatus (1) which includes a goods treatment unit (4) for treating the goods (21) and moving means (8) for moving the goods treatment unit, characterised in that the goods treatment unit is mounted to the moving means through a coupling unit (5) which comprises force detecting means (55a-55d) for detecting a force applied to the goods treatment unit; the moving means follows-up the goods treatment unit by driving the moving means based on a signal generated from the force detecting means when the goods treatment unit is manually operated; and the motion of the goods treatment unit is taught by storing the motion of the moving means based on the following-up.
Claim 30
Dependent Claim
45 words
A method as claimed in claim 24, characterised in that the goods treatment apparatus is a robot (1), the goods treatment unit is a hand (4), and the moving means includes an arm (8) supporting the hand, and a driving unit (16) of the arm.
Claim 31
Dependent Claim
37 words
A method as claimed in claim 24 or claim 25, characterised in that the follow-up motion of the moving means (8) is operated only by a particular component selected from detected outputs of the force detecting means.
Claim 32
Dependent Claim
107 words
Apparatus for controlling carriage of goods, characterised by a goods treatment unit (4) for carrying goods; moving means (8) for moving the goods treatment unit; a force sensor (5) for detecting an external force applied to the goods treatment unit; and control means (60) for controlling the moving means based on an output of the force sensor, wherein the control means comprises latch means for latching the output of the force sensor when the goods treatment unit takes the goods (21) to be carried, and controls the moving means based on the difference between the output of the force sensor and data latched in the latch means.
Claim 33
Dependent Claim
107 words
Apparatus for controlling carriage of goods, characterised by a goods treatment unit (4) for carrying goods; moving means (8) for moving the goods treatment unit; a force sensor (5) for detecting an external force applied to the goods treatment unit; and control means (60) for controlling the moving means based on an output of the force sensor, wherein the control means comprises latch means for latching the output of the force sensor when the goods treatment unit takes the goods (21) to be carried, and controls the moving means based on the difference between the output of the force sensor and data latched in the latch means.
Claim 34
Dependent Claim
55 words
Apparatus as claimed in claim 27, characterised in that the control means (60) comprises movement control means (16) for controlling the moving means (8) based on a movement command value generated by the moving means, and controls the moving means based on addition of the moving command value and the output of the force sensor.
References Cited (Backward Citations)
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