Robot control apparatus and robot system
AssigneeSeiko Epson Corporation
InventorMasaki Motoyoshi
Life of this patent
Estimating the term…
Abstract
In order to set control with a high degree of freedom while taking into account a time response waveform, a robot control apparatus includes a control section that acquires a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and controls the driving section based on the detection value, a first setting value, and a second setting value; a first display section that displays a detection waveform that is a time response waveform of the detection value; a second display section that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance; and a receiving section that receives setting of at least the second setting value.
Claims20
A robot control apparatus comprising:
- a controller that is configured to control a motor for driving a robot based on:
- an operation force operating on the robot detected by a force detector;
- a virtual elastic parameter;
- a virtual inertia parameter;
- and
- a virtual viscosity parameter;
- an information display that has an indicator for adjusting a ratio of the virtual inertia parameter and the virtual viscosity parameter;
- and
- a receiving section that receives the ratio of the virtual inertia parameter and the virtual viscosity parameter based on a state of the indicator of the information display, the receiving section transferring the ratio to the controller.
A robot system comprising:
- a motor that drives a robot;
- a force detector that detects an operation force operating on the robot;
- a controller that is configured to control the motor for driving the robot based on:
- the operation force detected by the force detector;
- a virtual elastic parameter;
- a virtual inertia parameter;
- and
- a virtual viscosity parameter;
- an information display that has an indicator for adjusting a ratio of the virtual inertia parameter and the virtual viscosity parameter;
- and
- a receiving section that receives the ratio of the virtual inertia parameter and the virtual viscosity parameter based on a state of the indicator of the information display, the receiving section transferring the ratio to the controller.
Dependencies are inferred from the claim text.