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US006212443B1
(12) United States Patent ao) Patent No.: us 6,212,443 Bi
Nagata et al. (45) Date of Patent: *Apr. 3,2001
(54) TEACHING UNIT FOR ROBOTS
(75) Inventors: Hideo Nagata; Youichi Tanaka;
Yasuyuki Inoue; Hirotaka Morita, all
of Fukuoka (JP)
(73) Assignee: Kabushiki Kaisha Yaskawa Denki, Kitakyushu (JP)
( * ) Notice: This patent issued on a continued pros-
ecution application filed under 37 CFR
1.53(d), and is subject to the twenty year
patent term provisions of 35 U.S.C.
154(a)(2).
Subject to any disclaimer, the term of this
patent is extended or adjusted under 35
U.S.C. 154(b) by 0 days.
(21) Appl. No.: 09/029,856
(22) PCT Filed: Sep. 13, 1996
(86) PCT No.: PCT/JP96/02638 § 371 Date: Mar. 16, 1998
§ 102(e) Date: Mar. 16, 1998
(87) PCT Pub. No.: WO97/10080 PCT Pub. Date: Mar. 20, 1997
(30) Foreign Application Priority Data
Sep. 14, 1995 (JP) 7-262327
Sep. 20, 1995 (JP) 7-267916
Nov. 29, 1995 (JP) 7-335961
(51) Int. C I. G06F 19 00
(52) U.S. CI 700/245; 700/63; 700/258;
318/568.13
A direct teaching apparatus which allows an operator to perform the direct teaching of a robot in safety. The apparatus includes a force detector and a teaching tool. The tool includes a working tool or handle fixed to the first detector and held by the operator to lead the robot. It also includes a device for computing the position or speed directive based on the force detector data and a motion model. It further includes a device for computing the generation torque of a motor for driving a robot depending on the position or speed directive and a controller to control the generated torque.
14 Claims, 22 Drawing Sheets
