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WO2009034962A1 - パワーアシスト装置およびその制御方法 - Google Patents

パワーアシスト装置およびその制御方法 Download PDF

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Publication number
WO2009034962A1
WO2009034962A1 PCT/JP2008/066212 JP2008066212W WO2009034962A1 WO 2009034962 A1 WO2009034962 A1 WO 2009034962A1 JP 2008066212 W JP2008066212 W JP 2008066212W WO 2009034962 A1 WO2009034962 A1 WO 2009034962A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
power assist
assist device
force
control device
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.)
Ceased
Application number
PCT/JP2008/066212
Other languages
English (en)
French (fr)
Inventor
Naoyuki Takesue
Hideo Fujimoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nagoya Institute of Technology NUC
Toyota Motor Corp
Original Assignee
Nagoya Institute of Technology NUC
Toyota Motor Corp
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 by Nagoya Institute of Technology NUC, Toyota Motor Corp filed Critical Nagoya Institute of Technology NUC
Priority to CA2697208A priority Critical patent/CA2697208C/en
Priority to EP08830123.9A priority patent/EP2189255B1/en
Priority to US12/677,652 priority patent/US8280552B2/en
Priority to CN2008801068517A priority patent/CN101801616B/zh
Publication of WO2009034962A1 publication Critical patent/WO2009034962A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36429—Power assisted positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39339—Admittance control, admittance is tip speed-force

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

ロボットが環境に接触しても発振現象を生じることがなく、安定した接触状態を維持できるパワーアシスト装置およびその制御方法を提供することを課題とする。本発明に係るパワーアシスト装置（１）は、操作者による操作力を検出する力覚センサ（３）と、力覚センサ（３）を備えた操作ハンドル（４）と、操作ハンドル（４）を支持するロボットアーム（２）と、ロボットアーム（２）を駆動するアクチュエータ（５）と、ロボットアーム（２）が環境と接触した時に受ける力を計測もしくは推定するアクチュエータ（５）および制御装置（６）と、操作ハンドル（４）の移動速度を検出もしくは推定するアクチュエータ（５および制御装置（６）と、を備える。制御装置（６）は、力覚センサ（３）により検出した操作力（ｆｈ）と、外力導出手段たるアクチュエータ（５）および制御装置（６）により検出した外力（ｆｅ）と、に基づいて修正外力（ｆｅｓ）を求めて、修正外力（ｆｅｓ）が操作ハンドル（４）に作用するようにアクチュエータ（５）を制御する。
PCT/JP2008/066212 2007-09-12 2008-09-09 パワーアシスト装置およびその制御方法 Ceased WO2009034962A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CA2697208A CA2697208C (en) 2007-09-12 2008-09-09 Power assist device and its control method
EP08830123.9A EP2189255B1 (en) 2007-09-12 2008-09-09 Power assist device and its control method
US12/677,652 US8280552B2 (en) 2007-09-12 2008-09-09 Power assist device and its control method
CN2008801068517A CN101801616B (zh) 2007-09-12 2008-09-09 动力辅助装置及其控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-237034 2007-09-12
JP2007237034A JP4319232B2 (ja) 2007-09-12 2007-09-12 パワーアシスト装置およびその制御方法

Publications (1)

Publication Number Publication Date
WO2009034962A1 true WO2009034962A1 (ja) 2009-03-19

Family

ID=40451969

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/066212 Ceased WO2009034962A1 (ja) 2007-09-12 2008-09-09 パワーアシスト装置およびその制御方法

Country Status (6)

Country Link
US (1) US8280552B2 (ja)
EP (1) EP2189255B1 (ja)
JP (1) JP4319232B2 (ja)
CN (1) CN101801616B (ja)
CA (1) CA2697208C (ja)
WO (1) WO2009034962A1 (ja)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012018821A3 (en) * 2010-08-02 2012-05-10 The Johns Hopkins University Method for presenting force sensor information using cooperative robot control and audio feedback
CN103344364A (zh) * 2013-07-29 2013-10-09 张广山 一种张力测试辅助装置
US9102054B2 (en) 2012-05-23 2015-08-11 Panasonic Intellectual Property Management Co., Ltd. Robot, robot control apparatus, robot control method, and robot control program
WO2025177419A1 (ja) * 2024-02-20 2025-08-28 株式会社Fuji ロボット装置

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4443615B2 (ja) 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法
JP4962551B2 (ja) * 2009-10-20 2012-06-27 株式会社安川電機 ロボットシステムおよびロボットシステムの制御方法
FR2962063B1 (fr) * 2010-07-02 2012-07-20 Commissariat Energie Atomique Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable
US8499379B2 (en) 2010-07-30 2013-08-06 Toyota Motor Engineering & Manufacturing North America, Inc. Robotic posture transfer assist devices and methods
JP5936914B2 (ja) * 2011-08-04 2016-06-22 オリンパス株式会社 操作入力装置およびこれを備えるマニピュレータシステム
DE102012103515A1 (de) * 2012-04-20 2013-10-24 Demag Cranes & Components Gmbh Steuerverfahren für ein Balancier-Hebezeug und Balancier-Hebezeug hiermit
FR2994401B1 (fr) * 2012-08-10 2014-08-08 Commissariat Energie Atomique Procede et systeme d'assistance au pilotage d'un robot a fonction de detection d'intention d'un operateur
WO2014129110A1 (ja) * 2013-02-25 2014-08-28 パナソニック株式会社 ロボット、ロボットの制御装置及び制御方法、並びに、ロボット用制御プログラム
JP2014184027A (ja) 2013-03-25 2014-10-02 Seiko Epson Corp 指アシスト装置
US9452532B2 (en) 2014-01-27 2016-09-27 Panasonic Intellectual Property Management Co., Ltd. Robot, device and method for controlling robot, and computer-readable non-transitory recording medium
JP5927284B1 (ja) * 2014-12-22 2016-06-01 ファナック株式会社 人との接触力を検出してロボットを停止させるロボット制御装置
DE102015008144B4 (de) * 2015-06-24 2024-01-18 Kuka Roboter Gmbh Umschalten einer Steuerung eines Roboters in einen Handführ-Betriebsmodus
JP6489991B2 (ja) * 2015-10-02 2019-03-27 ファナック株式会社 ロボットを操作するハンドルを備えたロボット用操作装置
FR3044115B1 (fr) * 2015-11-25 2017-11-24 Commissariat Energie Atomique Procede de programmation d’un effort a exercer par un robot
JP6423815B2 (ja) 2016-03-30 2018-11-14 ファナック株式会社 人協働型のロボットシステム
CN106725856B (zh) * 2016-11-23 2020-05-05 深圳市罗伯医疗科技有限公司 一种手术机器人的控制方法及控制装置
JP6392910B2 (ja) 2017-01-13 2018-09-19 ファナック株式会社 ロボットの安全確保動作機能を備えた人間協働ロボットシステム
JP6934173B2 (ja) * 2017-07-12 2021-09-15 国立大学法人九州大学 力制御装置、力制御方法及び力制御プログラム
DE102018206947A1 (de) * 2018-05-04 2019-11-07 Kuka Deutschland Gmbh Verfahren und system zum programmieren eines roboterprozesses
CN110834336B (zh) * 2018-08-17 2025-11-11 擎鼎具身智能科技(浙江)有限公司 机器人的控制方法、装置及机器人
TWI701533B (zh) * 2019-11-14 2020-08-11 緯創資通股份有限公司 控制方法以及電動助行器
DE112021000986B4 (de) * 2020-02-12 2025-07-10 Fanuc Corporation Robotersystem
IT202100024899A1 (it) * 2021-09-29 2023-03-29 Gaiotto Automation S P A Metodo per il controllo in autoapprendimento di un sistema robotizzato chiuso e relativo impianto di lavorazione

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08241107A (ja) * 1995-03-02 1996-09-17 Fanuc Ltd ロボットのソフトウェア安全継ぎ手
JP2005014132A (ja) * 2003-06-25 2005-01-20 Honda Motor Co Ltd アシスト搬送方法及びその装置
JP2005193339A (ja) * 2004-01-08 2005-07-21 Honda Motor Co Ltd アシスト搬送方法及びその装置
JP2005306546A (ja) * 2004-04-21 2005-11-04 Toyoda Mach Works Ltd パワーアシスト装置
JP2006312207A (ja) * 2005-05-06 2006-11-16 Okayama Univ 力覚コントローラ装置及びその制御方法
US20070112458A1 (en) 2003-06-25 2007-05-17 Honda Motor Co., Ltd. Assist transportation method and its device

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KR100222940B1 (ko) * 1997-08-30 1999-10-01 윤종용 센서를 이용한 캘리브레이션 방법 및 장치
US6522952B1 (en) * 1999-06-01 2003-02-18 Japan As Represented By Secretary Of Agency Of Industrial Science And Technology Method and system for controlling cooperative object-transporting robot
JP3188953B2 (ja) * 1999-10-13 2001-07-16 経済産業省産業技術総合研究所長 パワーアシスト装置およびその制御方法
JP2005524593A (ja) * 2002-05-08 2005-08-18 ザ スタンレー ワークス 知的補助器具で重いペイロードを操作する方法および装置
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JP4443614B2 (ja) * 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
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JPH08241107A (ja) * 1995-03-02 1996-09-17 Fanuc Ltd ロボットのソフトウェア安全継ぎ手
JP2005014132A (ja) * 2003-06-25 2005-01-20 Honda Motor Co Ltd アシスト搬送方法及びその装置
US20070112458A1 (en) 2003-06-25 2007-05-17 Honda Motor Co., Ltd. Assist transportation method and its device
JP2005193339A (ja) * 2004-01-08 2005-07-21 Honda Motor Co Ltd アシスト搬送方法及びその装置
JP2005306546A (ja) * 2004-04-21 2005-11-04 Toyoda Mach Works Ltd パワーアシスト装置
JP2006312207A (ja) * 2005-05-06 2006-11-16 Okayama Univ 力覚コントローラ装置及びその制御方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
MASAHITO ISO; HIROKAZU SEKI; YOICHI HORI: "Sensorless power assist method using impedance control considering load characteristics", TECHNICAL MEETING ON INDUSTRIAL INSTRUMENTATION AND CONTROL, vol. IIC-02-4, 2002
See also references of EP2189255A4 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012018821A3 (en) * 2010-08-02 2012-05-10 The Johns Hopkins University Method for presenting force sensor information using cooperative robot control and audio feedback
CN103068348A (zh) * 2010-08-02 2013-04-24 约翰霍普金斯大学 使用协作机器人控制和音频反馈呈现力传感器信息的方法
CN103068348B (zh) * 2010-08-02 2015-07-15 约翰霍普金斯大学 使用协作机器人控制和音频反馈呈现力传感器信息的方法
US9102054B2 (en) 2012-05-23 2015-08-11 Panasonic Intellectual Property Management Co., Ltd. Robot, robot control apparatus, robot control method, and robot control program
CN103344364A (zh) * 2013-07-29 2013-10-09 张广山 一种张力测试辅助装置
WO2025177419A1 (ja) * 2024-02-20 2025-08-28 株式会社Fuji ロボット装置

Also Published As

Publication number Publication date
JP4319232B2 (ja) 2009-08-26
EP2189255A1 (en) 2010-05-26
US8280552B2 (en) 2012-10-02
CA2697208A1 (en) 2009-03-19
CN101801616A (zh) 2010-08-11
JP2009066696A (ja) 2009-04-02
CA2697208C (en) 2012-04-10
EP2189255A4 (en) 2012-05-02
CN101801616B (zh) 2012-07-18
EP2189255B1 (en) 2014-05-07
US20100262291A1 (en) 2010-10-14

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