The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 25, 2022
Filed:
May. 17, 2018
Kawasaki Jukogyo Kabushiki Kaisha, Kobe, JP;
Nobuyasu Shimomura, Kobe, JP;
Masayuki Kamon, Akashi, JP;
Jun Fujimori, Himeji, JP;
Hiroki Kinoshita, Akashi, JP;
Takuya Shitaka, Kakogawa, JP;
Hiroki Takahashi, Akashi, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
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.