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US 10,369,703 B2Granted
Robot, control device, and robot system
AssigneeSeiko Epson Corporation
InventorYoshito Miyamoto
Life of this patent
Estimating the term…
Abstract
A robot includes an arm. A first inclinometer is provided in a grasping unit provided in the arm or an object grasped by the grasping unit. The arm is operated based on a first angle of a reference surface and a second angle measured by the first inclinometer.
Claims17
A robot disposed within a processing chamber having a ceiling surface including a jig, the robot comprising:
- an arm having an end effector configured to grasp an object;
- a first inclinometer provided on a surface of the end effector or on the object grasped by the end effector;
- a controller configured to operate the arm based on a first angle of a reference surface of the jig relative to a plane in the robot coordinate system and a second angle of a predetermined surface of the end effector relative to the plane in the robot coordinate system;
- and
- a laser processing device provided on the ceiling surface, parallel to the reference surface,
- wherein the object is a workpiece and the laser processing device is configured to emit a laser onto the workpiece to surface process the workpiece, and
- wherein the first inclinometer is configured to measure the second angle.
4 more elements
A method for controlling a robot within a robot coordinate system having an arm and an end effector, the method comprising:
- measuring, by a first inclinometer provided on a surface of the end effector or on an object grasped by the end effector, a first angle of a reference surface with respect to a plane in the robot coordinate system;
- measuring, by the first inclinometer, a second angle of a predetermined surface of the end effector with respect to the plane in the robot coordinate system,
- emitting, by a laser processing device, a laser onto a workpiece grasped by the end effector to surface process the workpiece,
- wherein the laser is emitted from the laser processing device and is provided on a surface parallel to the reference surface;
- and
- operating, by a controller, the arm based on the first angle and the second angle.
3 more elements
Dependencies are inferred from the claim text.