Kabushiki Kaisha Toshiba

Tokyo Shibaura Denki Kabushiki Kaisha

Kuniji Asano

Masao Obama

Yoshiaki Arimura

Yutaka Hitomi

Mitsunori Kondoh

Yasushi Wakahara

Toshio Tsuchihashi

A multi-joint arm robot apparatus comprises a multi-joint arm having a plurality of unit arms coupled in tandem with each other through joints, and a movable support for supporting the proximal portion of the multi-joint arm. The multi-joint arm robot apparatus has motors for controlling joint angles of the joints and a motor for moving the movable support. These motors are driven by a control system. The control system controls the motors to obtain proper joint angles, in such a way that the joints of the multi-joint arm are put into a given path when the movable support is moved a given unit distance.

Control system of multi-joint arm robot apparatus

An instruction system of a remote-control robot having a work manipulator. The system comprises an instruction manipulator for providing work instructions to the work manipulator; a solid geometrical model forming device for forming solid geometrical models of the work manipulator and work circumstances; a simulating device for operating the positions and attitude of the geometrical models according the information of motions of the instruction manipulator and information from various sensors of the work manipulator to simulate geometrical models, as well as driving the work manipulator according to the information from the instruction manipulator, etc.; and a graphic display for displaying motions of the geometrical models. The solid geometrical model forming device forms geometrical models of the work manipulator and work circumstances, the simulating device simulating actual working positions of the geometrical models, and the graphic display displaying the simulated geometrical models. After that, the work manipulator is driven according to the instruction information. Thus, an operator can give work instructions to the work manipulator through the instruction manipulator while monitoring, at a real time, motions of the geometrical models displayed on the graphic display.

Instruction system of remote-control robot

Growing community of inventors

Tokyo, Japan

Kuniji Asano