Robot control apparatus, robot, and robot system
AssigneeSeiko Epson Corporation
InventorsYasuhiro Shimodaira, Masaki Motoyoshi, Kaoru Takeuchi, Katsuji Igarashi
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Abstract
A robot control apparatus that controls a robot including a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, includes a display control unit that displays a motion position of the manipulator derived based on a target force and an output of the force detector and the target position on a screen.
Claims9
A robot control apparatus that controls a robot including a manipulator having a plurality of arm members attached by a plurality of joints that rotate completely about respective rotation axes and to which one of a plurality of end effectors may be attached, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, the robot control apparatus comprising:
- a display controller configured to display a current motion position of the manipulator and the target position on a screen;
- and
- a robot controller configured to control the robot,
- wherein the robot controller is configured to derive the current motion position of the manipulator based on a target force and an output of the force detector, to determine a velocity of the current motion position, and to determine an acting force coordinate from the output of the force detector, and
- the display controller is configured to display a speedometer indicating the velocity of the current motion position on the screen and to display a monitor in which the acting force coordinate is displayed as a time function in a line graph.
Dependencies are inferred from the claim text.