ROBOT AND CONTROL METHOD FOR ROBOT

• Main Authors: HARADA TADAKATSU, HIRASAWA TOMOYASU, UCHIDA TAKUYA
• Format: Patent
• Language: English
• Published: 28.10.2003
• Edition: 7
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMBINED OPERATIONS; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MACHINE TOOLS; MANIPULATORS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; OTHER WORKING OF METAL; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING; UNIVERSAL MACHINE TOOLS

PROBLEM TO BE SOLVED: To positively perform high accuracy assembly and disassembly while preventing clogging of a work by reducing a slip between a hand and the work in performing assembly and disassembly work while receiving reaction from the work. SOLUTION: Translation force in orthogonal triaxial directions and moment around each axis, applied to the hand 102 during assembling or disassembling work are detected by a six-axial-force sensor 105. A hand control means 106 corrects a predetermined control command of the hand 102 on the basis of the detection value of the six-axial-force sensor 105 to control the operation of the hand 102. The grip force and holding way of a first work 103 is thereby changed in conformity to the grade and direction of reaction to adjust the frictional force of the hand 102 and first work 103, to correct the positioning error of the first and second works 103, 104 to reduce the slip between the hand 102 and the first work 103, and the like, thus performing highly accurate assembly and disassembly. COPYRIGHT: (C)2004,JPO