Kawasaki Jukogyo Kabushiki Kaisha

Other

Kawaskai Jukogyo Kabushiki Kaisha

Jun Fujimori

Hiroki Takahashi

Hiroki Kinoshita

Masayuki Kamon

Takuya Shitaka

Nobuyasu Shimomura

Kai Shimizu

Hitoshi Hasunuma

Hideyuki Ryu

Kazunori Hara

Yuhei Horiuchi

Yasuhiko Hashimoto

Masayuki Enomoto

Takeshi Yamamoto

Tetsuya Kubota

Kenji Noguchi

Masahiko Akamatsu

Hajime Kashiki

Hiroaki Kagaya

Kazumi Fukuhara

Naoyuki Matsumoto

Takanori Kozuki

Kazuki Kurashima

Tomohiro Kinoshita

Hitoshi Nariai

Satoshi Suzuki

Masao Takatori

Yuki Takayama

Junichi Tamura

Tetsuhiko Nishimura

Hiroyuki Moriishi

Shohei Mase

Koichi Masaoka

Tomoya Sakuma

Toshiyuki Itoko

Keizo Miyahara

Yuji Hashiba

Shota Asazu

Daisuke Kawakami

A master-slave system includes a master unit, a slave unit, and a control device. The control device includes first circuitry that determines a first relationship that is a relationship between a slave coordinate system and an object coordinate system, second circuitry that determines a second relationship that is a relationship between a master coordinate system and the object coordinate system, and third circuitry that outputs an operational command for causing the slave unit to operate according to operational information of the master unit, the first relationship, and the second relationship. When the object coordinate system is moved, the first circuitry newly determines the first relationship after the movement based on the moved object coordinate system and the slave coordinate system, and the second-circuitry determines the second relationship after the movement, as a relationship similar to the second relationship before the movement.

Master-slave system and controlling method

A robot system () includes a slave unit () including a slave arm () having a working end (), a slave arm actuator () configured to drive the slave arm, and a slave-side controller () configured to control the slave arm actuator based on a slave operating command for defining a target position of the working end, a master unit () including a master arm () having a manipulation end () into which the content of manipulation is inputted by an operator, and a system controller () configured to generate the slave operating command based on the content of manipulation inputted into the manipulation end. When a command corresponding to the content of manipulation is a command corresponding to a limit equivalent range corresponding to a limit of operation of at least one of the slave arm and the master arm, the system controller performs processing to give perception to the operator.

Robot system and method of controlling the robot system

A robot system includes a slave unit including a slave arm having a working end, a slave arm actuator configured to drive the slave arm, and a slave-side controller configured to control the slave arm actuator based on a slave operating command for defining a target position of the working end, a master unit including a master arm having a manipulation end into which the content of manipulation is inputted by an operator, and a system controller configured to generate the slave operating command based on the content of manipulation inputted into the manipulation end. When a command corresponding to the content of manipulation is a command corresponding to a limit equivalent range corresponding to a limit of operation of at least one of the slave arm and the master arm, the system controller performs processing to give perception to the operator.

A method of planning works for robots includes creating a work plan for a plurality of robots, each having a work tool, sharing at at least one station a work to a plurality of work parts of the workpiece. The method includes the steps of calculating a distribution of the work parts to the robots, calculating, as a robot operation, a work order of the work parts and a moving path of the work tool for each of the robots based on the calculated work distribution, and calculating a disposed location of each of the robots with respect to the workpiece and a station where the robot is disposed so that an inter-robot interference does not occur during execution of the calculated robot operation.

Method of planning works for robots and work planning device

A robot system () includes the robot (), a motion sensor (), a surrounding environment sensor (), an operation apparatus (), a learning control section (), and a relay apparatus (). The robot () performs work based on an operation command. The operation apparatus () detects and outputs an operator-operating force applied by the operator. The learning control section () outputs a calculation operating force. The relay apparatus () outputs the operation command based on the operator-operating force and the calculation operating force. The learning control section () estimates and outputs the calculation operating force by using a model constructed by performing the machine learning of the operator-operating force, the surrounding environment data, the operation data, and the operation command based on the operation data and the surrounding environment data outputted by the sensors (to), and the operation command outputted by the relay apparatus ().

Robot system and robot control method

The automatic operation system includes a plurality of learned imitation models and a model selecting unit. The learned imitation models are constructed by machine learning of operation history data, the operation history data being classified into several groups by an automatic classification system algorithm, the operation history data of each group being learned by the imitation model corresponding to the group. The operation history data include data indicating a surrounding environment and data indicating an operation of an operator in the surrounding environment. The model selecting unit selects one imitation model from several imitation models based on a result of classifying data indicating a given surrounding environment by the automatic classification algorithm of the classification system. The automatic operation system inputs data indicating the surrounding environment to the imitation model selected by the model selecting unit to predict an operation of the operator with respect to the surrounding environment.

Operation prediction system and operation prediction method

A robot system includes a manipulating force detector configured to detect a manipulating force given to an operation end by an operator, a reaction-force detector configured to detect a reaction force given to a work end or a workpiece held by the work end, a system controller configured to generate an operating command of a master arm and generate an operating command of a slave arm based on the manipulating force and the reaction force, a master-side control part configured to control the master arm, and a slave-side control part configured to control the slave arm. The system controller has an exaggerated expresser configured to exaggeratedly present an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time.

Robot system and method of controlling robot system

A robot system including a robot, a marker unit, a sensor, storage device, and a control device. The robot performs an operation with regard to a workpiece. The marker unit is attached to a measurement object and includes a base section and a plurality of markers attached to the base section. The sensor detects identification information and three-dimensional positions of the plurality of markers. The storage device stores teaching data including operation data and attachment position data indicating a correspondence relationship between the identification information of each of the markers and an attachment position of the corresponding marker. The control device calculates a three-dimensional position of the measurement object based on the three-dimensional positions of the plurality of markers and the attachment position data and controls the robot based on the three-dimensional position of the measurement object and the operation data so as to make the robot perform the operation.

Operation system

A robot system includes a slave unit including a slave-side force detector configured to detect a direction and a magnitude of a reaction force acting on a workpiece held by a work end of a slave arm, a master unit including a master-side force detector configured to detect a direction and a magnitude of an operating force applied by an operator to an operation end of a master arm, and a system controller configured to generate a slave operational command and a master operational command based on the operating force and the reaction force. The system controller includes a regulator configured to correct a moving direction of the work end so that the movement of the work end in a pressing direction of an object is regulated when the reaction force exceeds an acceptable value set beforehand.

A remote control robot system includes a slave arm configured to perform a given work, a master arm having a motor configured to drive a joint, and configured to receive from an operator an operation to manipulate the slave arm, an instruction generating module configured to generate an instruction to apply to the master arm an imaginary external force in a given direction that is independent from a force received by the slave arm from the exterior, and a motor controller configured to supply, to the motor, drive current corresponding to the instruction sent from the instruction generating module.

Remote control robot system

A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor, in accordance with the predetermined relational expression at any time; correcting a position command value of an arm tip of the positioning control apparatus based on the calculated sideslip amount; and machining the workpiece while moving the arm tip of the positioning control apparatus in accordance with the corrected position command value.

Method of controlling positioning control apparatus and positioning control apparatus

A device for positioning a processing tool: a processing tool for processing the to-be-processed workpiece's surface while pressing the surface to be processed; a movement mechanism able to displace processing tool's distal end in a first direction orthogonal to the surface to be processed and/or a second direction parallel with the surface to be processed; a force sensor able to detect a force in the first and second direction applied to the processing tool's distal end pressed onto the surface to be processed; and a control device for executing a correction step for controlling the movement mechanism so the surface to be processed is pressed while the distal end's position of the processing tool is aligned with a processing reference position on the surface to be processed, and correcting the processing tool's position so that the force in the second direction is within a specific value or less.

Positioning device and positioning method of processing tool

An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.

Robot controller and robot control method

A control unit ( ) makes an end effector ( ) compliant with respect to an x-axis and a y-axis which are perpendicular to a z-axis parallel to a direction in which a shaft ( ) is moved for insertion and makes the end effector ( ) produce a pressing force acting in a direction parallel to the z-axis to press the shaft ( ) against an internally toothed disk ( ). The control unit ( ) moves the compliance center of the shaft ( ) along a predetermined groping route in a state where the pressing force acting in the direction parallel to the z-axis is produced by the end effector ( ). The shaft ( ) gripped by the end effector ( ) repeats radially outward movement from a position near the center of the center opening ( ) of the internally toothed disk ( ) in different phases in an xy plane defined by the x-axis and the y-axis to find a position where the splines ( ) of the shaft ( ) are able to engage the internal teeth ( ) of the outermost internally toothed disk ( ). If the shaft ( ) stays at the same z position for a predetermined time, the control unit ( ) instruct the end effector ( ) to reduce the pressing force for a predetermined time to separate the shaft ( ) temporarily from the internally toothed disk ( ) and to resume moving the shaft ( ) along the groping route.

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Himeji, Japan

Jun Fujimori