US 12,134,197 B2
Method for controlling robot arm based on degree of risk and apparatus using the same
Sung Jae Hwang, Seoul (KR)
Assigned to XYZ Inc., Seoul (KR)
Filed by XYZ Inc., Seoul (KR)
Filed on Nov. 8, 2023, as Appl. No. 18/504,330.
Application 18/504,330 is a continuation of application No. 17/370,030, filed on Jul. 8, 2021, granted, now 12,030,189.
Application 17/370,030 is a continuation of application No. PCT/KR2020/005490, filed on Apr. 27, 2020.
Claims priority of application No. 10-2019-0064283 (KR), filed on May 31, 2019; and application No. 10-2019-0116722 (KR), filed on Sep. 23, 2019.
Prior Publication US 2024/0075621 A1, Mar. 7, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01); B25J 19/06 (2006.01); G05D 1/00 (2024.01); G05D 1/617 (2024.01); B25J 11/00 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1651 (2013.01); B25J 9/1653 (2013.01); B25J 9/1697 (2013.01); B25J 13/085 (2013.01); B25J 13/087 (2013.01); B25J 15/00 (2013.01); B25J 19/023 (2013.01); B25J 19/06 (2013.01); G05D 1/0214 (2013.01); G05D 1/617 (2024.01); B25J 11/008 (2013.01); G05B 2219/40475 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method of controlling a movement of a robot arm based on determination of a risk level, the method comprising:
a risk level determining operation of determining the risk level related to the robot arm operation; and
a robot arm control operation of controlling the movement of the robot arm based on the risk level, wherein the robot arm grips an object,
wherein the risk level determining operation comprises measuring a weight and a temperature of the object gripped by the robot arm, and determining the risk level based on at least one of the measured weight and temperature of the object, and
wherein the risk level determining operation further comprises determining whether a cover of the object is present, and
the risk level determining operation comprises determining that the risk level is higher than a case in which the weight is small when the weight of the object is large, determining that the risk level is higher than a case in which the temperature is lower when the temperature is high, and determining that the risk level is higher than a case in which the cover of the object is present when the cover of the object is not present.