Kawasaki Jukogyo Kabushiki Kaisha

Kai Shimizu

Masayuki Kamon

Jun Fujimori

Hiroki Takahashi

Hiroki Kinoshita

Hideyuki Ryu

Takuya Shitaka

Masahiko Akamatsu

Takanori Kozuki

Yuki Takayama

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.

Growing community of inventors

Kobe, Japan

Kai Shimizu