Robot apparatus, method for controlling robot, program, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorShuuichi Sato
Life of this patent
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Abstract
An object of the present invention is to sense forces from a fine external force to a large external force with high precision, and enable high-precision control. A multi-joint robot arm has a first sensor arranged in an end portion, and second sensors arranged in joints, respectively. The first sensor and the second sensor have different detectable ranges from each other for a detectable force. A controlling apparatus selects which sensing result of a sensor should be used between sensing results of the first sensor 131 and the second sensor, and controls a robot arm by using the selected sensing result of the sensor.
Claims22
A robot apparatus comprising:
- a robot arm having at least one joint;
- an end-effector which is supported by an end portion of the robot arm;
- a first sensor which is arranged between the end-effector and the end portion of the robot arm and detects force generated at the end-effector;
- a second sensor which is arranged in the joint of the robot arm and detects torque generated at the joint;
- and
- a controlling unit for controlling operations of the robot arm and the end-effector,
- wherein:
- ranges of detectable values of the first and second sensors are different from each other, and
- the controlling unit selects one detection result of the detection results of the first sensor or the second sensor based on a predetermined condition, and controls the robot arm based on the detection result selected.
A method for controlling a robot apparatus in which an end-effector is attached to an end portion of a robot arm having at least one joint, the robot apparatus having a first sensor which is arranged between the end-effector and the end portion of the robot arm and detects force generated at the end-effector, a second sensor which is arranged in the joint of the robot arm and detects torque generated at the joint and a controlling unit for controlling operations of the robot arm and the end-effector, wherein ranges of detectable values of the first and second sensors are different from each other,
- the method comprising:
- selecting one detection result of the detection results of the first sensor or the second sensor based on a predetermined condition;
- and
- controlling the robot arm based on the detection result selected.
A manufacturing method of an article using a robot apparatus, wherein the robot apparatus has an end-effector attached to an end portion of a robot arm having at least one joint, the robot having a first sensor which is arranged between the end-effector and the end portion of the robot arm and detects force generated at the end-effector, a second sensor which is arranged in the joint of the robot arm and detects torque generated at the joint, and a controlling unit for controlling operations of the robot arm and the end-effector, wherein ranges of detectable values of the first and second sensors are different from each other, the method comprising:
- selecting one detection result of detection results of the first sensor or the second sensor based on a predetermined condition;
- and
- controlling the robot arm based on the detection result selected.
Dependencies are inferred from the claim text.