초록 ▼

A movable apparatus drive system comprises a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for ou

A movable apparatus drive system comprises a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for outputting a command signal to drive the driving device so as to move the movable apparatus to a target position, based on target position data of the movable apparatus to be moved and current position data of the movable apparatus; and a supply device for supplying a composite signal constituted by the environmental information data and the command signal. Moreover, a robot control system comprises a control device for controlling the motion of a robot in response to a command signal to the robot; a spring mechanism provided at a working point of the robot for detecting a deflection (displacement ) caused by an external force applied to the robot; and a feedback means for feeding back a deflection feedback value obtained by multiplying detected output of the spring meachnisum by a predetermined gain. The control device controls the motion of the robot in response to the addition of a position command generated from the control means and the deflection feedback value.

대표청구항 ▼

A driving system for a movable apparatus comprising: means for driving the movable apparatus; first means for detecting environmental information data associated with the movable appartus and for producing corresponding environmental information data signal outputs, said first means comprising at le

A driving system for a movable apparatus comprising: means for driving the movable apparatus; first means for detecting environmental information data associated with the movable appartus and for producing corresponding environmental information data signal outputs, said first means comprising at least one force sensor connected to the movable apparatus for detecting an external force applied thereto and for producing a follow-up displacement command output, means for detecting the current position of the movable apparatus and producing corresponding, detected current position data outputs; and a displacement sensor for detecting the distance, relative to a current position of the movable apparatus, from an obstacle; second means responsive to the outputs representing the detected, current position data of the movable apparatus and to target position data defining the target position of movement of the movable appartus, for producing a displacement command signal output; and means responsive to the follow-up displacement command output of said first means and the displacement command signal output of said second means for producing a composite signal and for supplying the composite signal to said driving means for driving the movable apparatus to the target position.