Controller, robot and robot system
AssigneeSeiko Epson Corporation
InventorYoshito Miyamoto
Life of this patent
Estimating the term…
Abstract
A controller includes a processor that is configured to execute computer-executable instruction so as to control a robot including a movable section and a force detecting section provided in the movable section, wherein the processor is configured to sense that a first portion of a first target object has come into contact with a second target object and then sense that a second portion of the first target object has come into contact with the second target object based on an output from the force detecting section, cause the movable section to move in a first direction, sense that a third portion of the first target object has come into contact with the second target object, store first information in a storage section, and generate data on teaching to the movable section based on the first information.
Claims20
A controller comprising:
- a processor that is configured to execute computer-executable instruction so as to control a robot including a movable section and a force detecting section provided in the movable section,
- wherein the processor is configured to cause the movable section to cause a first portion of a first target object to approach a second target object, sense that the first portion has come into contact with the second target object based on an output from the force detecting section, then cause the movable section to cause a second portion of the first target object to approach the second target object, and sense that the second portion has come into contact with the second target object based on an output from the force detecting section, cause the movable section to move in a first direction, sense that a third portion of the first target object has come into contact with the second target object based on an output from the force detecting section, store first information containing a first position of the first target object in a storage section, cause the movable section to move in a second direction different from the first direction, sense that a fourth portion of the first target object has come into contact with the second target object based on an output from the force detecting section, store second information containing a second position of the first target object in the storage section, and generate data on teaching to the movable section based on the first information and the second information stored in the storage section.
A controller comprising:
- a processor that is configured to execute computer-executable instruction so as to control a robot including a movable section and a force detecting section provided in the movable section,
- wherein the processor is configured to cause the movable section to cause a first portion of a first target object to approach a second target object, sense that the first portion has come into contact with the second target object based on an output from the force detecting section, then cause the movable section to cause a second portion of the first target object to approach the second target object, sense that the second portion has come into contact with the second target object based on an output from the force detecting section, move the movable section in a first direction, sense that a first portion of the movable section has come into contact with the second target object based on an output from the force detecting section, store first information containing a first position of the movable section in a storage section, move the movable section in a second direction different from the first direction, sense that a second portion of the movable section has come into contact with the second target object based on an output from the force detecting section, store second information containing a second position of the movable section in the storage section, and generate teaching data to the movable section based on the first information and the second information stored in the storage section.
Dependencies are inferred from the claim text.