US008401702B2 (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/JP2009/002456 371 (0X1) (2), (4) Date: Sep. 30, 2010 (87) PCT Pub. No.: WO2009/147832 PCT Pub. Date: Dec. 10, 2009 (65) Prior Publication Data US 2011/0029133 A1 Feb. 3, 2011 (30) Foreign Application Priority Data Jun. 6, 2008 (JP)..... 2008-148946 (51) Int. Cl. G05B 19/18 (2006.01) G05B 19/00 (2006.01) (52) US. Cl...... 700/260; 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..... 254/270 5,996,150 A * 12/1999 Blevins et a1....... 5/613 6,204,619 B1 * 3/2001 Gu et a1... 3l8/568.ll 6,216,056 B1 * 4/2001 Ito et a1...... 700/157 (Continued) FOREIGN PATENT DOCUMENTS JP 61-252084 11/1986 JP 63-200986 8/1988 (Continued) OTHER PUBLICATIONS 00525894.pdf (Kazushige Kakutani, Tsunehito IWaki, DaiZo Takaoka, Makoto Yamada, Kazuyoshi Tsukamoto, Development of a Transfer Supporting Equipment, 1995, IEEE, pp. 268-273).* (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
US 8,401,702 B2 Page 2 U.S. PATENT DOCUMENTS JP 2007-252469 10/2007 6,385,508 B1 * 5/2002 McGee et a1...... 700/254 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 a1.. 700/245 6,837,883 B2 * 1/2005 Moll et al..... 606/1 International Search Report issued Aug. 25, 2009 in International 7,395,606 B2: 7/2008 Crampton 33/503 (PCT) Application No. PCT/JP2009/002456. 8,226,072 B2 * 7/2012 Mumyama " 269/55 International Preliminary Report on Patentability (Chapter II) (in 2002/0082612 A1 6/2002 Moll et a1 """"""""" " 606/130 English) issued Jan. 20, 2011 in International (PCT) Application No. 2003/0135303 A1* 7/2003 Aral et a1...... 700/245 PCT/JP2009/002456 FOREIGN PATENT DOCUMENTS T. Odashima, Development and Evaluation of a Human-interactive Robot Platform RI-MAN, Journal of the Robotics Society of JP 6497366 10/1994 Japan, vol. 25, N0. 4, May 15, 2007, pp. 70-81 (Willi English JP 6-320451 11/1994 Abstract) 5; Panasonic Corp., Dai 34 Kai Kokusai Fukushi Kikiten/Transfer JP 200l_269370 10/2001 Assist Robot to Rehabilitation Shien, Panasonic Group no Broad Jp 2003_011079 1/2003 band Hoso Channel Panasonic, Panasonic Corp., Oct. 11, 2007. JP 2003-136440 5/2003 JP 2004-358575 12/2004 * cited by examiner
US. Patent Mar. 19, 2013 Sheet 1 0123 US 8,401,702 B2 Fig. 1 38 39 CONTROL APPARAYUS (PC) j_m,% ~ CONTROL PROGRAM 44 41 ' L ROBOT OPERATION CONTROL MEANS D/A 0/». COUNTER i 18 58 64 65 27' 3b 35
US. Patent Mar. 19, 2013 Sheet 2 0123 US 8,401,702 B2 Fig.2
US. Patent Mar. 19, 2013 Sheet 3 0123 US 8,401,702 B2 0 0t 1. 2\1% /. mm J O\ an...\ 0%.. 'A/r at m cm @
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US. Patent Mar. 19, 2013 Sheet 5 0123 US 8,401,702 B2 Fig.5 25 26a 8 26b 26C 41% PC ~38 25 j ------------------- -~: \DZA PNEUMATICI v (If) v; =....
US. Patent Mar. 19, 2013 Sheet 6 0123 US 8,401,702 B2
US. Patent Mar. 19, 2013 Sheet 7 0123 US 8,401,702 B2 Fig. 7A 7 11 5? / '18 30 i4 290 29b 30b 30c: 29 38A
US. Patent Fig. 75 Mar. 19, 2013 Sheet 8 0f 23 US 8,401,702 B2 30b Fig. 7C 300M 50/ 29
US. Patent Mar. 19, 2013 Sheet 9 0123 US 8,401,702 B2 Fig. 8 TM. 38 @180.
US. Patent Mar. 19, 2013 Sheet 10 0123 US 8,401,702 B2 Fig. 9A Fig. 9B
US. Patent Mar. 19, 2013 Sheet 11 0123 US 8,401,702 B2 om 225m $2 0 2, m o mniooo 9:03 \@102 mnioom $0.58 35$ S at mneo. ooom 000% 000m com ooow coon CONTRACTION FORCE F [N] 000w 000w
US. Patent Mar. 19, 2013 Sheet 12 0123 US 8,401,702 B2 Fig. 11A Fig. 118 36 35
US. Patent Mar. 19, 2013 Sheet 14 0123 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 52 2 2 49 Fly. 14 q dm + qpe ANGLE ERROR U S p COMPENSATINC pq _ MEANS S 61 600
US. Patent Mar. 19, 2013 Sheet 16 0f 23 US 8,401,702 B2 Fig. 16 @ 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@
US. Patent Mar. 19, 2013 Sheet 17 0123 US 8,401,702 B2 Fig. 17A
US. Patent Mar. 19, 2013 Sheet 18 0123 US 8,401,702 B2 Fig. 170 Fig. 170