US 12,011,834 B2
Robot system and method of controlling the robot system
Masayuki Kamon, Kobe (JP); Hideyuki Ryu, Kobe (JP); Jun Fujimori, Kobe (JP); Hiroki Kinoshita, Kobe (JP); Hiroki Takahashi, Kobe (JP); Takuya Shitaka, Kobe (JP); and Kai Shimizu, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/414,979
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Dec. 19, 2019, PCT No. PCT/JP2019/049916
§ 371(c)(1), (2) Date Jun. 17, 2021,
PCT Pub. No. WO2020/130091, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 2018-240132 (JP), filed on Dec. 21, 2018; and application No. 2018-240133 (JP), filed on Dec. 21, 2018.
Prior Publication US 2022/0063095 A1, Mar. 3, 2022
Int. Cl. B25J 13/02 (2006.01); B25J 3/00 (2006.01); B25J 3/04 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 3/00 (2013.01); B25J 9/1633 (2013.01); B25J 9/1651 (2013.01); B25J 13/085 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot system, comprising:
a slave unit including a slave arm having a working end, a slave arm actuator configured to drive the slave arm, and a slave-side controller configured to control the slave arm actuator based on a slave operating command for defining a target position of the working end;
a master unit including a master arm having a manipulation end into which the content of manipulation is inputted by an operator the content of manipulation comprising a direction and an operating force input to the manipulation end; and
a system controller including a slave operating command generating module configured to generate the slave operating command based on the content of manipulation inputted into the manipulation end,
wherein, when a command corresponding to the content of manipulation is a command corresponding to a limit equivalent range corresponding to a limit of operation of at least one of the slave arm and the master arm and the operating force exceeds a first threshold as the limit equivalent range, the system controller performs processing to enter an informing operating mode configured to give a change in perception to the operator through the manipulation end by applying a force to the manipulator end, the applied force being applied to move the manipulator end in the same direction in which the operating force is applied.