Patent ID: 8504203
Filing Date: 2013-08-06
Classification: B25J,G05B,Y10T

Abstract:
1. A method of controlling a manipulator provided with a first movable member, a second movable member, a holding section, a first joint section pivotally interconnecting the first movable member and the second movable member, a second joint section pivotally interconnecting the second movable member and the holding section, a first joint driving section capable of driving the first joint section, and a second joint driving section capable of driving the second joint section, the method comprising: a member specifying step of specifying one of the first movable member and the second movable member which has a possibility of collision with an obstacle, the possibility of collision being detection using a photographing section; and a controlling step of controlling, by a processor, the first joint driving section and the second joint driving section in such a manner as to pivotally move the one movable member specified in the member specifying step in a direction away from the obstacle, and pivotally move the other movable member in a direction toward the obstacle.