ROBOT SYSTEM AND ROBOT CONTROL METHOD

PROBLEM TO BE SOLVED: To enhance position precision during a motion of a robot.SOLUTION: A robot system according to an embodiment comprises: a robot arm; and an auxiliary arm. The robot arm includes a plurality of joint parts. A plurality of links of the auxiliary arm are connected via joints and t...

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Bibliographic Details
Main Authors KINOSHITA YUSUKE, HANIYA KAZUHIRO, SUEYOSHI SATOSHI, TSUTSUMI SHINGO
Format Patent
LanguageEnglish
Japanese
Published 12.01.2017
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:PROBLEM TO BE SOLVED: To enhance position precision during a motion of a robot.SOLUTION: A robot system according to an embodiment comprises: a robot arm; and an auxiliary arm. The robot arm includes a plurality of joint parts. A plurality of links of the auxiliary arm are connected via joints and the auxiliary arm includes a sensor detecting a rotational angle of each joint. Furthermore, one end of the auxiliary arm is attached to positions including the plurality of joint parts from a proximal end side to a distal end side of the robot arm, and the auxiliary arm follows up the robot arm.SELECTED DRAWING: Figure 1 【課題】ロボットの動作中における位置精度を高めること。【解決手段】実施形態に係るロボットシステムは、ロボットアームと、補助アームとを備える。ロボットアームは、複数の関節部を有する。補助アームは、複数のリンクが関節を介して接続され、関節の回転角を検出するセンサを有する。また、補助アームは、ロボットアームにおける基端側から先端側にかけて複数の関節部を含む位置に一端が取り付けられ、ロボットアームに従動する。【選択図】図１
Bibliography:Application Number: JP20160007386