Driving mechanism controller and driving mechanism control method
First Claim
1. A driving mechanism controller for controlling a driving mechanism for driving a movable body for movement, said driving mechanism controller comprising a command producing means capable of giving the driving mechanism a movement restricting command requesting restricting movement of the movable body driven by the driving mechanism for movement in a moving direction in which the driving mechanism has been moving the movable body before the movable body collides with an obstacle, and a position maintaining command requesting maintaining the movable body at a position with respect to a direction perpendicular to the moving direction to which the movable body has been displaced by collision in response to a collision detection signal given thereto by a collision detecting means upon detection of the collision of the movable body driven by the driving mechanism with the obstacle.
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Accused Products
Abstract
A driving mechanism controller and a driving mechanism control method reduce damage to members caused by a collision. A command producing unit produces, upon the perception of the collision of a hand with an obstacle, a reversing signal for reversing a moving direction in which the hand is being moved by a motor and a position maintaining command requesting maintaining the hand at a position with respect to a direction perpendicular to the moving direction to which the hand has been displaced by the collision. After the detection of the collision of the hand with the obstacle, the hand is retracted maintaining the hand at the position to which the hand has been dislocated by the collision to separate the hand from the obstacle. Thus a pushing force exerted by the hand on the obstacle in the direction perpendicular to the moving direction is suppressed while the hand is separated from the obstacle.
45 Citations
9 Claims
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1. A driving mechanism controller for controlling a driving mechanism for driving a movable body for movement, said driving mechanism controller comprising a command producing means capable of giving the driving mechanism
a movement restricting command requesting restricting movement of the movable body driven by the driving mechanism for movement in a moving direction in which the driving mechanism has been moving the movable body before the movable body collides with an obstacle, and a position maintaining command requesting maintaining the movable body at a position with respect to a direction perpendicular to the moving direction to which the movable body has been displaced by collision in response to a collision detection signal given thereto by a collision detecting means upon detection of the collision of the movable body driven by the driving mechanism with the obstacle.
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8. A driving mechanism control method of controlling a driving mechanism for driving a movable body for movement, said driving mechanism control method comprising the steps of:
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detecting a collision of the movable body driven by the driving mechanism with an obstacle;
restricting movement of the movable body in a moving direction in which the movable body is moved before the movable body collides with the obstacle upon the detection of the collision of the movable body with the obstacle;
maintaining the movable body at a position to which the movable body has been displaced in a direction perpendicular to the moving direction by the collision upon the detection of the collision of the movable body with the obstacle. - View Dependent Claims (9)
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Specification