Robot control system

• US 20070005189A1
• Filed: 05/23/2006
• Published: 01/04/2007
• Est. Priority Date: 06/30/2005
• Status: Active Grant

• Current Assignee: Shibuya Kogyo Company Limited
• Original Assignee: Shibuya Kogyo Company Limited
• Inventors: Furubo, Takayuki
• Granted Patent: US 7,813,837 B2
• Time in Patent Office: Days
• US Class Current: 700/251
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/36162 Pendant control box
• CPC Class Codes: G05B 2219/40175 Inclination, tilt of operator seat, chair serves as control command, like handle

Abstract

A robot control system 2 for controlling a position and an attitude of a robot head 1a is provided with an operating head 3 held by an operator and a sensor 4 for detecting a position and an attitude of the operating head.

An attitude recognition portion 24 of the control means recognizes an initial attitude of the operating head when a control switch 12 provided at the operating head is turned on, and acquires a displacement vector from the initial attitude by a change in the attitude of the operating head.

An attitude conversion portion 25 converts the displacement vector from the initial attitude to a displacement vector from the reference attitude corresponding to a predetermined reference attitude, and the control means makes the attitude of the robot head follow the displacement vector from the reference attitude. In whatever attitude the operator holds the operating head, the position and the attitude of the robot head can follow the change in the position and the attitude of the operating head.

Claims

1. A robot control system comprising control means for controlling operation of a robot provided with a robot head, an operating head held by an operator and provided with a control switch manipulated by the operator, and a sensor for detecting a position and an attitude of the operating head in a coordinate system to be a reference,

wherein the control means recognizes a position and an attitude of the operating head through the sensor while the control switch is turned on so that a position and an attitude of the robot head follow a change in the position and the attitude of the operating head,

the control means sets a predetermined attitude of the operating head as a reference attitude of the operating head, recognizes an initial attitude of the operating head when the control switch is turned on through the sensor and acquires a displacement vector representing a change in the attitude from the initial attitude, and

the displacement vector from the initial attitude is converted to a displacement vector representing the change in the attitude from the reference attitude so that the attitude of the robot head follows the displacement vector from the reference attitude.

2. The robot control system according to claim 1, wherein the control means acquires a displacement vector from the initial attitude from a difference between an attitude vector of the initial attitude of the operating head and the attitude vector of the attitude after the change and acquires the displacement vector from the reference attitude by subtracting the attitude vector of the initial attitude from a sum of the displacement vector and the attitude vector of the initial attitude.

3. The robot control system according to claim 1, in which the sensor is a magnetic sensor.