REMOTE CONTROL ROBOT SYSTEM |
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| 申请号 | US15755141 | 申请日 | 2016-05-27 | 公开(公告)号 | US20180243899A1 | 公开(公告)日 | 2018-08-30 |
| 申请人 | KAWASAKI JUKOGYO KABUSHIKI KAISHA; | 发明人 | Yasuhiko HASHIMOTO; Masayuki KAMON; | ||||
| 摘要 | A remote control robot system includes a master arm, and a slave arm having a plurality of control modes of an automatic mode in which the slave arm operates based on a prestored task program and a manual mode in which the slave arm operates based on manipulation of an operator received by the master arm. The master arm includes one or more motors configured to drive joints of the master arm, and a motor actuator configured to generate a torque instruction value that operates the joints according to an external force applied to the master arm and gives drive current corresponding to the torque instruction value to the motor. The motor actuator generates, when the control mode is the manual mode, the torque instruction value so that the joints operate according to the external force while resisting a frictional force of the motor. | ||||||
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| 说明书全文 | |||||||
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