Collaborative robot system and method

• Main Authors: Linn Douglas M, Ihrke Chris A, CHEN JONATHAN Y, DAVIS DONALD R
• Format: Patent
• Language: Chinese; English
• Published: 03.08.2016
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING

A system for robot and human collaboration is provided. The system includes a robot having a programmed path for motion of the robot and a controller in communication with the robot. The controller has a processor and tangible, non-transitory memory on which is recorded instructions for an action to take when an unexpected contact between the robot and an object is detected. The controller is programmed to execute the instructions from the memory via the processor when the unexpected contact is detected, causing the robot to stop motion on a programmed path and to enter a push away mode. In the push away mode, the human can apply a push force having a push force direction to command the robot to move in the push force direction. 提供了种用于机器人和人类协作的系统。所述系统包括：机器人，具有用于机器人的运动的程序化路径；和控制器，其与机器人通信。控制器具有处理器和有形的非暂时性存储器，用于在检测到机器人和物体之间的意外接触时要采取的动作的指令被记录在该存储器上。控制器被编程以在检测到意外接触时经由处理器从存储器执行指令，使得机器人停止在程序化路径上的运动，并进入到推离模式。在推离模式下，人能够施加具有推力方向的推力，以命令机器人在推力方向上移动。