Control device, robot system, and robot
AssigneeSeiko Epson Corporation
InventorYoshito Miyamoto
Life of this patent
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Abstract
A control device includes a control section configured to control a motion of a robot arm using values detected by a plurality of distance sensors. The plurality of distance sensors include a first distance sensor and a second distance sensor disposed in a first direction orthogonal to the axial direction of a dispenser. The second distance sensor is disposed in a position further apart from the dispenser than the first distance sensor. The control section executes, on a robot, a first instruction for causing the robot to execute discharge of a discharge object by the dispenser when a distance acquired by the first distance sensor is a distance in a predetermined range and a distance acquired by the second distance sensor is a distance larger than the distance in the predetermined range.
Claims10
A control device that controls a robot including a robot arm, a dispenser provided at a distal end of the robot arm and configured to discharge a discharge object, and a plurality of distance sensors configured to detect distances to a target in a direction in which the discharge object is discharged,
- the control device comprising a control section configured to control a motion of the robot arm using values detected by the distance sensors, wherein
- the plurality of distance sensors include a first distance sensor and a second distance sensor,
- the first distance sensor is disposed between the dispenser and the second distance sensor,
- the second distance sensor is disposed along a first direction orthogonal to an axis of the dispenser and extending from the axis of the dispenser toward the first distance sensor, and
- the dispenser discharges the discharge object when a first condition that a first value detected by the first distance sensor is included in a predetermined range and a second value detected by the second distance sensor exceeds the range is satisfied.
A robot controlled by a control device, the robot comprising:
- a robot arm;
- a dispenser provided at a distal end of the robot arm and configured to discharge a discharge object;
- and
- a plurality of distance sensors configured to detect distances to a target in a direction in which the discharge object is discharged, wherein
- the plurality of distance sensors include a first distance sensor and a second distance sensor,
- the first distance sensor is disposed between the dispenser and the second distance sensor,
- the second distance sensor is disposed along a first direction orthogonal to an axis of the dispenser and extending from the axis of the dispenser toward the first distance sensor, and
- the dispenser discharges the discharge object when a first condition that a first value detected by the first distance sensor is included in a predetermined range and a second value detected by the second distance sensor exceeds the range is satisfied.
Dependencies are inferred from the claim text.