(12) United States Patent Okazaki et al.
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1 US B2 (12) United States Patent Okazaki et al. (10) Patent N0.: (45) Date of Patent: US 8,401,702 B2 Mar. 19, 2013 (54) ROBOT, AND CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ROBOT (75) Inventors: Yasunao Okazaki, Shiga (JP); Atsushi Ono, Kyoto (JP); Katsuhiko Asai, Nara (JP) (73) Assignee: Panasonic Corporation, Osaka (JP) ( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 369 days. (21) Appl. No.: 12/935,603 (22) PCT Filed: Jun. 2, 2009 (86) PCT No.: PCT/JP2009/ (0X1) (2), (4) Date: Sep. 30, 2010 (87) PCT Pub. No.: WO2009/ PCT Pub. Date: Dec. 10, 2009 (65) Prior Publication Data US 2011/ A1 Feb. 3, 2011 (30) Foreign Application Priority Data Jun. 6, 2008 (JP) (51) Int. Cl. G05B 19/18 ( ) G05B 19/00 ( ) (52) US. Cl /260; 700/257; 700/258; 700/264; 901/9; 901/11 (58) Field of Classi?cation Search..... None See application?le for complete search history. (56) References Cited U.S. PATENT DOCUMENTS 5,915,673 A * 6/1999 KaZerooni /270 5,996,150 A * 12/1999 Blevins et a /613 6,204,619 B1 * 3/2001 Gu et a1... 3l8/568.ll 6,216,056 B1 * 4/2001 Ito et a /157 (Continued) FOREIGN PATENT DOCUMENTS JP /1986 JP /1988 (Continued) OTHER PUBLICATIONS pdf (Kazushige Kakutani, Tsunehito IWaki, DaiZo Takaoka, Makoto Yamada, Kazuyoshi Tsukamoto, Development of a Transfer Supporting Equipment, 1995, IEEE, pp ).* (Continued) Primary Examiner * Khoi Tran Assistant Examiner * Bao Long T Nguyen (74) Attorney, Agent, or Firm * Wenderoth, Lind & Ponack, L.L.P. (57) ABSTRACT A robot arm provided With a body unit shifting mechanism that connects a base unit and a body unit so as to be relatively shifted, and joint lock mechanisms that are capable of mechanically securing respective joints is disposed on the body unit, and a robot operation control unit controls to switch between a robot arm operation mode in Which the robot arm is operated With one of the joints of the robot arm brought into a free state, and a body unit shift mode in Which the body unit is shifted With the joint being brought into a locked state. 13 Claims, 23 Drawing Sheets
2 US 8,401,702 B2 Page 2 U.S. PATENT DOCUMENTS JP /2007 6,385,508 B1 * 5/2002 McGee et a /254 6,386,513 B1 * 5/2002 Kazerooni. 254/270 6,394,731 B1 * 5/2002 Konosu et a1. 414/5 OTHER PUBLICATIONS 6,430,473 B1 * 8/2002 Lee et a /245 6,837,883 B2 * 1/2005 Moll et al /1 International Search Report issued Aug. 25, 2009 in International 7,395,606 B2: 7/2008 Crampton 33/503 (PCT) Application No. PCT/JP2009/ ,226,072 B2 * 7/2012 Mumyama " 269/55 International Preliminary Report on Patentability (Chapter II) (in 2002/ A1 6/2002 Moll et a1 """"""""" " 606/130 English) issued Jan. 20, 2011 in International (PCT) Application No. 2003/ A1* 7/2003 Aral et a /245 PCT/JP2009/ FOREIGN PATENT DOCUMENTS T. Odashima, Development and Evaluation of a Human-interactive Robot Platform RI-MAN, Journal of the Robotics Society of JP /1994 Japan, vol. 25, N0. 4, May 15, 2007, pp (Willi English JP /1994 Abstract) 5; Panasonic Corp., Dai 34 Kai Kokusai Fukushi Kikiten/Transfer JP 200l_ /2001 Assist Robot to Rehabilitation Shien, Panasonic Group no Broad Jp 2003_ /2003 band Hoso Channel Panasonic, Panasonic Corp., Oct. 11, JP /2003 JP /2004 * cited by examiner
3 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig CONTROL APPARAYUS (PC) j_m,% ~ CONTROL PROGRAM ' L ROBOT OPERATION CONTROL MEANS D/A 0/». COUNTER i ' 3b 35
4 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig.2
5 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 0 0t 1. 2\1% /. mm J O\ an...\ 0%.. 'A/r at m
6 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 wm mm? wmzwwmmg amozmmm zo?omm? EV 5
7 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig a 8 26b 26C 41% PC ~38 25 j ~: \DZA PNEUMATICI v (If) v; =....
8 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2
9 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig. 7A ? / '18 30 i b 30b 30c: 29 38A
10 US. Patent Fig. 75 Mar. 19, 2013 Sheet 8 0f 23 US 8,401,702 B2 30b Fig. 7C 300M 50/ 29
11 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig. 8 TM.
12 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig. 9A Fig. 9B
13 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 om 225m $2 0 2, m o mniooo 9:03 \@102 mnioom $ $ S at mneo. ooom 000% 000m com ooow coon CONTRACTION FORCE F [N] 000w 000w
14 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig. 11A Fig
15
16 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 F1913 JOINT LOCK INSTRUCTION V r' m + r» '6 POSITEON ERROR u' APPROXIMATION >"'e INVERSE 1' ie q > _ COMPENSATINC KINEMATICS MEANS CALCULATIUN r. \53 MEANSk 54 FORWARD. 4 KINEMATICS 4 71 CALCULATION MEANS Fly. 14 q dm + qpe ANGLE ERROR U S p COMPENSATINC pq _ MEANS S
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18 US. Patent Mar. 19, 2013 Sheet 16 0f 23 US 8,401,702 B2 Fig. STEP SI ACOUIRE JOINT ANGLE q; STEP S2 CALCULATE JACOB MATRIX Jjr STEP S3 CALCULATE HAND POSITION rj POSITION CONTROL MODE STEP s5 rim = 0 I STEP S6 CALCULATE DESIRED POSITION rid STEP S4 DETERMINE CONTROL MODE IMPEDANCE CONTROL MODE STEP S5 ACQUIRE EXTERNAL FORCE F; STEP S6 MAINTAIN DESIRED POSITION rid STEP S7 CALCULATE DESIRED POSITION CORRECTING OUTPUT rjda I STEP S8 CALCULATE HAND POSITION fie I STEP S9 CALCULATE JOINT ANGLE ERROR COMPENSATING OUTPUT uqe STEP S10 DRIVE FLOW RATE CONTROLLING ELECTROMAGNETIC VALVE WITH 5 PORTS E@
19 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig. 17A
20 US. Patent Mar. 19, 2013 Sheet US 8,401,702 B2 Fig. 170 Fig. 170
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