Manipulator and method of controlling the same
First Claim
1. A method of controlling a manipulator provided with a first movable member, a second movable member, a holding section, a first joint section pivotally interconnecting the first movable member and the second movable member, a second joint section pivotally interconnecting the second movable member and the holding section, a first joint driving section capable of driving the first joint section, and a second joint driving section capable of driving the second joint section, the method comprising:
- a member specifying step of specifying one of the first movable member and the second movable member which has a possibility of collision with an obstacle, the possibility of collision being detection using a photographing section; and
a controlling step of controlling, by a processor, the first joint driving section and the second joint driving section in such a manner as to pivotally move the one movable member specified in the member specifying step in a direction away from the obstacle, and pivotally move the other movable member in a direction toward the obstacle.
1 Assignment
0 Petitions
Accused Products
Abstract
A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.
5 Citations
13 Claims
-
1. A method of controlling a manipulator provided with a first movable member, a second movable member, a holding section, a first joint section pivotally interconnecting the first movable member and the second movable member, a second joint section pivotally interconnecting the second movable member and the holding section, a first joint driving section capable of driving the first joint section, and a second joint driving section capable of driving the second joint section, the method comprising:
-
a member specifying step of specifying one of the first movable member and the second movable member which has a possibility of collision with an obstacle, the possibility of collision being detection using a photographing section; and a controlling step of controlling, by a processor, the first joint driving section and the second joint driving section in such a manner as to pivotally move the one movable member specified in the member specifying step in a direction away from the obstacle, and pivotally move the other movable member in a direction toward the obstacle. - View Dependent Claims (2)
-
-
3. A method of controlling a manipulator provided with a first movable member, a second movable member, a moving section including a driving section, a first joint section pivotally interconnecting the first movable member and the second movable member, a second joint section pivotally interconnecting the second movable member and the moving section, a first joint driving section capable of driving the first joint section, and a second joint driving section capable of driving the joint section, the method comprising:
-
a member specifying step of specifying one of the first movable member and the second movable member which has a possibility of collision with an obstacle, the possibility of collision being detected using a photographing section; and a controlling step of controlling, by a processor, the first joint driving section, the second joint driving section, and the driving section in such a manner as to pivotally move the one movable member specified in the member specifying step in a direction away from the obstacle, move the moving section in the direction away from the obstacle, in the case where the one movable member is the first movable member, and move the moving section in a direction toward the obstacle, in the case where the one movable member is the second movable member.
-
-
4. A manipulator comprising:
-
a first movable member; a second movable member; a holding section; a first joint section pivotally interconnecting the first movable member and the second movable member; a second joint section pivotally interconnecting the second movable member and the holding section; a first joint driving section capable of driving the first joint section; a second joint driving section capable of driving the second joint section; a collision monitoring section for specifying one of the first movable member and the second movable member which has a possibility of collision with an obstacle, the possibility of collision being detected using a photographing section; and a control device for controlling the first joint driving section and the second joint driving section in such a manner as to pivotally move the one movable member specified by the collision monitoring section in a direction away from the obstacle, and pivotally move the other movable member in a direction toward the obstacle. - View Dependent Claims (5, 6, 7, 8, 9)
-
-
10. A manipulator comprising:
-
a first movable member; a second movable member; a holding section; a first joint section pivotally interconnecting the first movable member and the second movable member; a second joint section pivotally interconnecting the second movable member and the holding section; a first joint driving section capable of driving the first joint section; a second joint driving section capable of driving the second joint section; a collision detecting section for specifying one of the first movable member and the second movable member which has a collision with an obstacle, the collision being detected by a contact sensor; and a control device for controlling the first joint driving section and the second joint driving section in such a manner as to pivotally move the one movable member specified by the collision detecting section in a direction away from the obstacle, and pivotally move the other movable member in a direction toward the obstacle.
-
-
11. A manipulator comprising:
-
a first movable member; a second movable member; a first joint section pivotally interconnecting the first movable member and the second movable member; a moving section including a driving section; a second joint section pivotally interconnecting the second movable member and the moving section; a first joint driving section capable of driving the first joint section; a second joint driving section capable of driving the second joint section; a collision monitoring section for specifying one of the first movable member and the second movable member which has a possibility of collision with an obstacle, and a control device for controlling the first joint driving section, the second joint driving section, and the driving section in such a manner as to pivotally move the one movable member specified by the collision monitoring section in a direction away from the obstacle, move the moving section in the direction away from the obstacle, in the case where the one movable member is the first movable member, and move the moving section in a direction toward the obstacle, in the case where the one movable member is the second movable member. - View Dependent Claims (12, 13)
-
Specification