POSTURE CONTROL DEVICE OF MANIPULATOR AND POSTURE CONTROL METHOD THEREOF

摘要

PROBLEM TO BE SOLVED: To provide a posture control device of a manipulator adapted to reduce the collision force against an obstacle even if the collision with the obstacle such as a person cannot be avoided and the collision occurs.;SOLUTION: The manipulator 1 has an arm part 3 turnably disposed in a body part 2. When a posture control part 10 shifts the body part 2 of the manipulator 1, the posture control part 10 controls so that the arm part 3 is inclined obliquely rearward with respect to the forwad direction P. Consequently, because the arm part 3 in its inclined state collides with the obstacle 11, the collision force against the obstacle 11 is dispersed. If the obstacle 11 is a person, the collision force exerted on the person is relaxed and his/her pain is reduced than during a frontal collision. Hence, the safety of the manipulator 1 is enhanced.;COPYRIGHT: (C)2010,JPO&INPIT