Robot system, robot, and robot control apparatus
AssigneeSeiko Epson Corporation
InventorsTakahiko Noda, Takashi Nammoto
Life of this patent
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Abstract
A robot system includes an arm with a plurality of joints, the arm being configured to assume a first position and a second position, an end effector attached to the arm, the end effector having a specific position, and a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, and a robot control apparatus configured to receive an output value from the force detector to change the arm from the first position to the second position while the end effector remains in the specific position, and store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector.
Claims9
A robot system comprising:
- an arm with a plurality of joints, the arm being configured to assume a first position and a second position;
- an end effector attached to the arm, the end effector having a specific position;
- a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, the force detector being disposed between the arm and the end effector;
- an external switch disposed in the end effector;
- and
- a robot control apparatus configured to:
- receive an output value from the force detector to change a position of the arm from the first position to the second position based on the output value, wherein the end effector remains in the specific position when the robot control apparatus changes the position of the arm, and
- store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector,
- wherein the external switch is configured to switch the robot control apparatus between a first mode and a second mode, the end effector being set in the specific position in the first mode while the first position of the arm is changed to the second position of the arm based on the output value from the force detector, and in the second mode the specific position of the end effector being changed to another position based on the output value from the force detector.
A robot comprising:
- an arm with a plurality of joints, the arm being configured to assume a first position and a second position;
- and
- an end effector attached to the arm, the end effector having a specific position,
- a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, the force detector being disposed between the arm and the end effector;
- an external switch disposed in the end effector;
- wherein the robot is configured to:
- receive an output value from a force detector to change a position of the arm from the first position to the second position based on the output value, wherein the end effector remains in the specific position when the robot control apparatus changes the position of the arm, and
- store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector,
- wherein the external switch is configured to switch the robot between a first mode and a second mode, the end effector being set in the specific position in the first mode while the first position of the arm is changed to the second position of the arm based on the output value from the force detector, and in the second mode the specific position of the end effector being changed to another position based on the output value from the force detector.
A robot control apparatus configured to control a robot, the robot including an arm with a plurality of joints and an end effector attached to the arm, the arm being configured to assume a first position and a second position, the end effector having a specific position, a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, the force detector being disposed between the arm and the end effector, an external switch disposed in the end effector, the robot control apparatus comprising:
- a memory;
- and
- a controller configured to:
- receive an output value from a force detector to change a position of the arm from the first position to the second position based on the output value, wherein the end effector remains in the specific position when the robot control apparatus changes the position of the arm, and
- store the second position of the arm in the memory so as to relate the second position of the arm with the specific position of the end effector;
- wherein the external switch is configured to switch the robot control apparatus between a first mode and a second mode, the end effector being set in the specific position in the first mode while the first position of the arm is changed to the second position of the arm based on the output value from the force detector, and in the second mode the specific position of the end effector being changed to another position based on the output value from the force detector.
Dependencies are inferred from the claim text.