Control apparatus, robot system and control method
AssigneeSeiko Epson Corporation
InventorHiroki Adachi
Life of this patent
Estimating the term…
Abstract
A control apparatus includes a processor that is configured to control a robot, and receive an object coordinate system set for an object not an end effector and not moving or rotating with the end effector. The processor is configured to execute a first control mode in which the end effector is moved and rotated according to a detected force while the force is detected by a force detector, and execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system moving and rotating with the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.
Claims9
A control apparatus that controls a robot including an end effector and a force detector detecting an external force applied to the end effector, comprising:
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- receive an object coordinate system via an input device operable by a user, the object coordinate system being set for an object, the object coordinate system having a first X-axis, a first Y-axis, and a first Z-axis;
- execute a direct teaching mode of the robot, in the direct teaching mode, the processor being further configured to:
- cause the end effector of the robot to move and rotate according to only a detection signal from the force detector corresponding to the external force applied to the end effector;
- and
- cause the end effector of the robot to maintain a stop position when the force sensor detects no external force applied to the end effector;
- determine a relative angle between one axis of the object coordinate system and one axis of an end effector coordinate system, the end effector coordinate system being set for the end effector, the end effector coordinate system having a second X-axis, a second Y-axis, and a second Z-axis;
- and
- execute an alignment mode of the robot when the processor determines that the relative angle is smaller than an angle threshold value, in the alignment mode, the processor being further configured to:
- rotate the end effector so as to make the relative angle to be zero, the rotation of the end effector being performed due to driving by the robot without using the detection signal from the force detector.
A robot system comprising:
- a robot including an end effector and a force detector detecting an external force applied to the end effector;
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- receive an object coordinate system via an input device operable by a user, the object coordinate system being set for an object, the object coordinate system having a first X-axis, a first Y-axis, and a first Z-axis;
- execute a direct teaching mode of the robot, in the direct teaching mode, the processor being further configured to:
- cause the end effector of the robot to move and rotate according to only a detection signal from the force detector corresponding to the external force applied to the end effector;
- and
- cause the end effector of the robot to maintain a stop position when the force sensor detects no external force applied to the end effector;
- determine a relative angle between one axis of the object coordinate system and one axis of an end effector coordinate system, the end effector coordinate system being set for the end effector, the end effector coordinate system having a second X-axis, a second Y-axis, and a second Z-axis;
- and
- execute an alignment mode of the robot when the processor determines that the relative angle is smaller than an angle threshold value, in the alignment mode, the processor being further configured to:
- rotate the end effector so as to make the relative angle to be zero, the rotation of the end effector being performed due to driving by the robot without using the detection signal from the force detector.
Dependencies are inferred from the claim text.