Robot and robot system
AssigneeSeiko Epson Corporation
InventorsToru Makino, Nao Kobayashi, Akihiro Gomi, Takuya Owa
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Abstract
A robot of the invention can be moved by a carrying apparatus, and in which a period between a settling start time and a settling end time of the robot overlaps with at least a part of a period between a settling start time and a settling end time of the carrying apparatus. Further, the settling start time of one having a shorter settling time of the robot and the carrying apparatus is later than the settling start time of the other having a longer settling time of the robot and the carrying apparatus or the same as the settling start time of the other having the longer settling time.
Claims10
A robot system comprising:
- a robot arm;
- a carrier that supports and moves the robot arm;
- and
- a controller configured to control movement of the robot arm on the carrier, wherein
- the controller is configured to determine a settling start time for the robot arm equal to a time when a displacement of a distal end of the robot arm from a target position first becomes zero and a settling end time equal to a time when the displacement of the distal end of the robot arm from the target position falls within a first threshold settling value,
- the controller is configured to determine a settling start time for the carrier equal to a time when a displacement of the carrier from a target position first becomes zero and a settling end time equal to a time when the displacement of the carrier from the target position falls within a second threshold settling value, and
- a period between the settling start time and the settling end time of the robot arm overlaps with at least a part of a period between the settling start time and the settling end time of the carrier.
Dependencies are inferred from the claim text.