# US 11,161,249 B2 · Robot control apparatus and robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,161,249 B2 - Document ID: US11161249B2 - Status: Granted - Kind: B2 - Application number: 16/394,384 - Filed: 2019-04-25 - Published: 2019-10-31 - Granted: 2021-11-02 - Earliest claimed: 2018-04-26 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Kaoru Takeuchi - Web page: https://patentgrep.com/patent/US11161249B2 ## CPC - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - G05B 2219/39322: Force and position control - G05B 2219/39323: Force and motion control - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The robot control apparatus according to claim 1, wherein the processor is configured to receive selection information on one or more configurations of: an end effector attached to the robot; an object to be processed by the robot; and a bench on which the object is placed, and determine the initial value based on the selection information. ### Claim 3 (depends on 1) The robot control apparatus according to claim 1, wherein the processor is configured to: store the initial value associated with the first position information in the memory; receive second position information representing a second position as a position different from the first position in which a second operation including the force control is to be started; determine an initial value of one of the coefficients to be used in the force control of the second operation based on the initial value associated with the first position information, the first position information, and the second position information, and associates the initial value with the second position information; and store the initial value associated with the second position information in the memory. ### Claim 4 (depends on 3) The robot control apparatus according to claim 3, wherein the processor is configured to: receive the setting value of the one coefficient to be used in the force control of the second operation; store the setting value in the memory; and output an error message when the received setting value is not included within a range predetermined based on the initial value of the one coefficient to be used in the force control of the second operation. ### Claim 5 (depends on 1) The robot control apparatus according to claim 1, wherein the processor is configured to: receive the setting value of the one coefficient to be used in the force control of the first operation; store the setting value in the memory; and output an error message when the received setting value is not within a range predetermined based on the initial value. ### Claim 6 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.