초록 ▼

Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force

Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force controlling operation is carried out so as to set a force in the vertical direction of the robot arm of a robot system to a predetermined force.

대표청구항 ▼

The invention claimed is: 1. A robot for transporting an object in cooperation with a person, the robot comprising:a robot arm and a hand arranged at an end of the robot arm, the robot arm and the hand being configured to support one side of the object in the vertical direction while the person hold

The invention claimed is: 1. A robot for transporting an object in cooperation with a person, the robot comprising:a robot arm and a hand arranged at an end of the robot arm, the robot arm and the hand being configured to support one side of the object in the vertical direction while the person holds another side of the object;a driving unit that adjusts an angle of the hand;a force detection unit that detects and outputs a force exerted between the object and the hand;an angle detection unit that detects and outputs the angle of the hand; anda control unit that carries out a force controlling operation for controlling so as to set a force in a vertical direction of the robot arm to a predetermined force, based upon the output of the angle detection unit and the output of the force detection unit,wherein the force detection unit detects and outputs a force in the vertical direction exerted between the object and the hand, and the control unit determines an input in the vertical direction of the force control based upon the output of the angle detection unit and the output of the force detection unit so as to carry out the force controlling operation in such a manner that, in a case where the person raises the object to cause the input in the vertical direction of the force controlling operation to become upward, the robot arm is raised, and in a case where the person lowers the object to cause the input in the vertical direction of the force controlling operation to become downward, the robot arm is lowered.