Patent ID: 11865719
Assignee: KABUSHIKI KAISHA TOSHIBA
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 11:
12. A work support method executed by a work support device including an arm including a grasping part that grasps an object, a plurality of joint parts, and a plurality of link parts actuatably coupled through each joint part, and a brake provided to at least one of the joint parts that restricts actuation of the arm, the method comprising:
determining the state of the arm; and
controlling the brake to restrict the actuation of the arm in accordance with the state of the arm,
wherein
the arm is supported by a linear movement slider that is provided to a scaffold capable of accommodating a worker,
the grasping part and one of the link parts are coupled with each other through one of the joint parts, and the link parts are coupled with each other through one of the joint parts,
the brake restricts actuation of the arm by restricting actuation of the at least one of the joint parts, and

the method further comprises:
deriving a target angle that is a joint angle of each joint part when the grasping part is positioned at a target position,
determining, as the state, whether at least one of the joint parts has reached the target angle, and
controlling the brake to restrict the actuation of the arm by restricting the actuation of the joint part determined to have reached the target angle.