Robot control apparatus and robot system
AssigneeSeiko Epson Corporation
InventorKaoru Takeuchi
Life of this patent
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Abstract
A robot control apparatus includes a processor that is configured to: receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of a force detected by a force detector should be executed; determine an initial value of one of a mass coefficient and a viscosity coefficient that should be used in the force control of the first operation based on specific information on a configuration of a robot stored in a memory unit and the first position information; and store the initial value in the memory.
Claims6
A robot control apparatus comprising:
- a processor that is configured to control an operation of a robot including a force detector detecting magnitude of an externally applied force,
- wherein the processor is configured to:
- receive first position information representing a first position in which a first operation including force control to be performed based on the magnitude of the force detected by the force detector is to be started;
- determine an initial value of one of a mass coefficient and a viscosity coefficient to be used in the force control of the first operation based on specific information on a configuration of the robot and the first position information;
- and
- store the initial value in a memory.
A robot system comprising:
- a robot;
- a force detector provided to the robot;
- and
- a robot control apparatus including a processor that is configured to control an operation of the robot,
- wherein the processor is configured to:
- receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of the force detected by the force detector is to be started;
- determine an initial value of one of a mass coefficient and a viscosity coefficient to be used in the force control of the first operation based on specific information on a configuration of the robot and the first position information;
- and
- store the initial value in a memory.
Dependencies are inferred from the claim text.