Source: https://patents.justia.com/patent/20140114479
Timestamp: 2019-11-13 07:25:18
Document Index: 348391028

Matched Legal Cases: ['art 10', 'art 10', 'art 10', 'art 124', 'art 124', 'art 10', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 10', 'arts 40', 'arts 40', 'arts 40']

US Patent Application for ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM Patent Application (Application #20140114479 issued April 24, 2014) - Justia Patents Search
Justia Patents Programmed Data (e.g., Path) Modified By Sensed DataUS Patent Application for ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM Patent Application (Application #20140114479)
Jan 2, 2014 - Panasonic
Joint angle information output from respective encoders 42 as one example of joint angle sensors or a position information acquiring unit (position information acquiring section) of respective joints (first to fifth joints) 11, 12 (12a, 12b, 12c, 12d), 13, 14, and 15 of the robot arm 5 are taken into the control device 2 via the counter board 22. The control device 2 calculates control command values for the rotary operations performed in the joints 11, 12, 13, 14, and 15 about the joint axes, based on the acquired joint angle information. The calculated control command values are provided to a motor driver 18 through the D/A board 20, and motors 41 of respective joints 11, 12, 13, 14, and 15 of the robot arm 5 are driven according to the control command values sent from the motor driver 18. The position information acquiring unit has a function for acquiring time series information about the position of the robot arm 5.
The robot arm 5 is a multi-link manipulator with five degrees of freedom, and includes a hand (which serves as an example of the arm end point of the multi-joint robot arm 5) 6 for gripping an object, a front arm link 8, an elbow block 16, a pair of upper arm links 9a and 9b, a first joint pillar 24, and a pedestal part 10.
The paired upper arm links 9a and 9b are constituted in a parallel link structure, in which their one ends are connected to the other end of the elbow block 16 so as to be rotatable about the joint axes of the two joints 12c and 12d of the second joint 12.
The first joint pillar 24 is supported by the pedestal part 10 and a support member 124 so as to be positioned along the top-bottom direction and to be rotatable about the joint axis of the first joint 11. The other ends of the upper arm links 9a and 9b are connected to the part near the upper end of the first joint pillar 24 so as to be rotatable about the joint axes of the two joints 12a and 12b of the second joint 12. Specifically, the lower end of the first joint pillar 24 is supported at the pedestal part 10 so as to be rotatable about the joint axis of the first joint 11. The upper end of the first joint pillar 24 is supported at an upper end support part 124c of the support member 124 projecting from the upper end of the support part 124b of the support member 124 provided upright at the pedestal part 10, so as to be rotatable about the joint axis of the first joint 11.
The elbow block 16 rotates about the second joint 12a and the second joint 12b such that the joint axis of the third joint 13 constantly maintains to be in parallel with the joint axis of the first joint 11 by the rotation about the joint axes of the second joints 12 (12a, 12b, 12b, and 12d).
The wrist part 7 is composed of a combination of a square bracket-shaped (1) first bracket part 7a and a second bracket part 7b, which is structured by an inverted T-shaped upper part and a pair of L-shaped lower parts, thereby composing the hand 6. That is, the upper end central part of the first bracket part 7a is coupled to the tip of the front arm link 8 so as to be rotatable about the joint axis of the fourth joint 14. On the inner sides of the opposing ends of the first bracket part 7a, the opposing ends of the inverted T-shaped upper part of the second bracket part 7b are coupled so as to be capable of rotating about the joint axis of the fifth joint 15. As will be described later, an operational handle 40 is attached to the central part of the inverted T-shaped upper part of the second bracket part 7b. In the second bracket part 7b, fingers 37a, 37b, 37c, 37d, and 37e that can be engaged with an object such as a panel of a flat type television set are provided to a total of 5 places including the upper end of the inverted T-shaped upper part and the parts near the opposing ends, and the lower ends of the paired L-shaped lower parts. Further, a hand button 43 is disposed near the operational handle 40 of the second bracket part 7b. The pressing of the hand button 43 allows a signal Shb indicating whether the hand button 43 is pressed to be output to a hand control unit (hand control section) 34. The driving of a motor, not shown, enables reciprocation to one direction so that a gap between the finger 37a and the finger 37b, and a gap between the finger 37c and the finger 37d (the finger 37e) can be changed. The hand button 43, thus, functions as an opening/closing operation of the hand 6. As a result, for example, the finger 37c at the upper end of the inverted T-shaped upper part of the second bracket part 7b, and the fingers 37a and 37b near the opposing ends support an upper edge and opposing side edges of a rectangular plate-shaped object such as a panel of a flat type television set. The fingers 37d and 37e at the lower ends of the paired L-shaped lower parts of the second bracket part 7b can support the lower edge of the rectangular plate-shaped object such as the panel of the flat type television set. As a result, the hand 6 can grip or release the rectangular plate-shaped object such as the panel of the flat type television set stably. Hence, the hand 6 has two rotary axes of the fourth joint 14 and the fifth joint 15 that are perpendicular to each other. The fourth joint 14 is arranged along the top-bottom direction, and the fifth joint 15 is arranged along the lateral direction being perpendicular to the top-bottom direction. Accordingly, the hand 6 can change its relative orientation (direction) with respect to the pedestal part 10 so as to be capable of change the relative orientation (direction) of the object gripped by the hand 6.
The joints 11, 12a, 13, 14, and 15 composing the rotary parts of respective shafts are each provided with a rotary driving device (a motor 41 in the first embodiment) provided at one member of each of the joints 11, 12a, 13, 14, and 15, and the encoder 42 for detecting a rotary phase angle (i.e., a joint angle) of the rotary shaft of the motor 41. Then, when the rotary shaft of the motor 41 is coupled with the other member of each of the joints and is allowed to rotate positively and rotate negatively, the other member can be rotated about each of the joint shaft with respect to the one member. The rotary driving device is controlled by the motor driver 18, which will be described later. In the first embodiment, the motor 41 and the encoder 42 exemplifying the rotary driving device are arranged in each of the joints 11, 12a, 13, 14, and 15 of the robot arm 5.
The operational handle 40 is connected to the hand 6 via the force sensor 3 functioning as an example of an external force acquiring unit (an external force acquiring section or an external force acquiring device). The operational handle 40 is composed of a pair of bar-like grip parts 40a that is fixed to an H-shaped support body 40b, at the central part of which is fixed to the force sensor 3 and extends along the top-bottom direction. Thus, the person 39 can directly grip the pair of grip parts 40a of the operational handle 40 and apply a force thereto so as to be capable of manipulating the robot arm 5. The force sensor 3 is disposed between the operational handle 40 and the robot arm 5. A force Fs generated when the person 39 manipulates is detected by the force sensor 3 so as to be capable of being output to a force transformation unit (force transformation section) 30, described later.
Next, detailed description about the impedance control unit 4 will be given with reference to FIG. 2. In FIG. 2, the reference numeral 5 denotes the robot arm shown in FIG. 1. A current value (joint angle vector) q=[q1, q2, q3, q4, q5]T of the joint angle measured by the encoder 42 of the joint shaft of each joint is output from the robot arm 5, and is taken into the impedance control unit 4 by the counter board 22. Here, (q1, q2, q3, q4, and q5 are the joint angles of the first joint 11, the second joint 12a, the third joint 13, the fourth joint 14, and the fifth joint 15.
Δrd=(s2MI+sDI+KI)−1F (1)
τd=M(q)Jr−1(q)[−{dot over (J)}r(q){dot over (q)}+ure]+h(q,{dot over (q)})+g(q) (5)
{dot over (r)}=Jr(q)({dot over (q)}) (6).
Mr(q),hr(q,{dot over (q)}),gr(q),
Mro(q),hro(q,{dot over (q)}),gro(q)
v=Kτ(τd−KMi) (7).
The utilization of the above impedance control enables the cooperation task such as the cooperative conveyance of the object 38 between the person 39 and the robot arm 5 of the robot 1 as shown in FIG. 3. When the person 39 applies a force with both hands to the pair of bar-like grip parts 40a of the operational handle 40 in an attempt to shift the object 38, the force is transferred to the robot arm 5 of the robot 1 through the operational handle 40. The force transferred to the robot arm 5 is detected as an external force Fs by the force sensor 3 of the robot arm 5. As to the external force Fs to be an input into the impedance control unit 4, the gravity of the operational handle 40 is taken into consideration, and a difference between an origin Oe of the arm end point coordinate system 36 and a position of a measurement surface 45 of the force sensor 3 is taken into consideration. For this reason, the force transformation unit 30 makes a calculation based on the external force Fs detected by the force sensor 3 according to the formula (8), and an external force F calculated in this calculation is used.
Thereafter, the flat type television set 46 gripped by the hand 6 is lowered, and a pair of projections 33a of the stand 33 at the second workbench 32 is inserted into a pair of insertion holes 47 provided at the bottom face of the flat type television set 46 (see arrow C in FIG. 4 and FIG. 5 (e)).
Mro(q),hro(q,{dot over (q)}),gro(q),
Mr(q),hr(q,{dot over (q)}),gr(q)
In the state of FIG. 5 (b), at the time when the closing operation is completed between the finger 37a and the finger 37b, and between the finger 37c and the finger 37d (the finger 37e), namely, the gripping by the hand 6 is completed, the dynamics parameter switching unit 50 first switches only the gravity term from gr(q) into gro(q).
Mr(q),hr(q,{dot over (q)})
Mro(q),hro(q,{dot over (q)}).
Mr(q),hr(q,{dot over (q)})gr(q)
hr(q,{dot over (q)})
hro(q,{dot over (q)})
At step S82, the hand control signal Shc=1 is output from the hand control unit 34 to the robot arm 5, and the motor driving closes between the finger 37a and the finger 37b, and between the finger 37c and the finger 37d (the finger 37e), so that the flat type television set 46 is gripped.
At step S87, the hand control unit 34 outputs the hand control signal Shc=0 to the robot arm 5, and the motor driving opens between the finger 37a and the finger 37b and between the finger 37c and the finger 37d (the finger 37e), so that the flat type television set 46 is released from the hand 6.
Further, when the stand 33 in FIG. 4(d) is positioned and the insertion holes 47 are close to right above the stand 33, the inertia matrix and the centrifugal force and Coriolis force term are first switched, respectively, and only the gravity term can be switched after the insertion of the stand 33.
grm(q)=αgro(q)+(1−α)gr(q) (9).
Publication number: 20140114479
Patent Grant number: 9346163
Application Number: 14/146,215