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SYSTÈME DE ROBOT COMMANDÉ À DISTANCE
专利权人:
Kawasaki Jukogyo Kabushiki Kaisha
发明人:
申请号:
EP16838719.9
公开号:
EP3342564A4
申请日:
2016.05.27
申请国别(地区):
EP
年份:
2019
代理人:
摘要:
A robot system includes a robot main body including a robot arm, an end effector attached to the robot arm, and a force sensing device configured to detect a force applied to a tip end of the end effector, an actual reaction-force information generator configured to generate force-sensing information according to the force detected by the force sensing device, and output the force-sensing information as actual reaction-force information, a virtual reaction-force information generator configured to output a component of the force detected by the force sensing device, that has a magnitude proportional to a time differentiation value, as virtual reaction-force information, an adder configured to output information obtained by adding the actual reaction-force information outputted from the actual reaction-force information generator to the virtual reaction-force information outputted from the virtual reaction-force information generator, as synthetic reaction-force information, an operating device configured to output, when an operator is made to sense a force according to the synthetic reaction-force information outputted from the adder and the operator operates, operating information according to the operation, and a motion controller configured to control operation of the robot main body according to the operating information outputted from the operating device.
来源网站:
中国工程科技知识中心
来源网址:
http://www.ckcest.cn/home/

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