Control method and robot system
AssigneeSeiko Epson Corporation
InventorMasaki Motoyoshi
Life of this patent
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Abstract
A control method executes a first step of actuating a brake to decelerate a robot arm, a second step of releasing or relaxing the actuation of the brake when one of Conditions A1, A2, and A3 is satisfied after deceleration of the robot arm, and a third step of actuating the brake again to restrict driving of the robot arm when one of Conditions B1, B2, and B3 is satisfied after release or relaxation of the brake, Condition A1: a velocity of the robot arm becomes a predetermined value or less; Condition A2: a contact state between the robot arm and the object becomes stable; Condition A3: time TA elapses; Condition B1: time TB elapses; Condition B2: a movement amount of the robot arm becomes a predetermined value or more; and Condition B3: the contact state between the object and the robot arm is released or relaxed.
Claims9
A control method for a robot having a robot arm, a drive unit that drives the robot arm, and a brake that decelerates the robot arm, comprising:
- a first step of actuating the brake to decelerate the robot arm when contact of an object with the robot arm during driving is determined;
- a second step of releasing or relaxing the actuation of the brake when one of the following condition A1, the following condition A2, and the following condition A3 is satisfied after the first step;
- and
- a third step of actuating the brake again to restrict driving of the robot arm when one of the following condition B1, the following condition B2, and the following condition B3 is satisfied after the second step:
- condition A1:
- after deceleration of the robot arm, a velocity of the robot arm becomes equal to or less than a predetermined value;
- condition A2:
- after deceleration of the robot arm, a contact state between the robot arm and the object becomes stable;
- condition A3:
- after deceleration of the robot arm, time TA elapses;
- condition B1:
- after release or relaxation of the brake, time TB elapses;
- condition B2:
- after release or relaxation of the brake, a movement amount of the robot arm becomes equal to or more than a predetermined value;
- and
- condition B3:
- after release or relaxation of the brake, the contact state between the object and the robot arm is released or relaxed.
A robot system comprising:
- a robot arm;
- a drive unit that drives the robot arm;
- a brake that decelerates the robot arm;
- and
- a control unit that controls actuation of the drive unit and the brake, wherein
- the control unit actuates the brake to decelerate the robot arm when determining that an object contacts the robot arm during driving,
- releases or relaxes actuation of the brake when one of the following condition A1, the following condition A2, and the following condition A3 is satisfied after deceleration of the robot arm, and
- actuates the brake again to restrict driving of the robot arm when one of the following condition B1, the following condition B2, and the following condition B3 is satisfied after release or relaxation of the brake:
- condition A1:
- after deceleration of the robot arm, a velocity of the robot arm becomes equal to or less than a predetermined value;
- condition A2:
- after deceleration of the robot arm, a contact state between the robot arm and the object becomes stable;
- condition A3:
- after deceleration of the robot arm, time TA elapses;
- condition B1:
- after release or relaxation of the brake, time TB elapses;
- condition B2:
- after release or relaxation of the brake, a movement amount of the robot arm becomes equal to or more than a predetermined value;
- and
- condition B3:
- after release or relaxation of the brake, the contact state between the object and the robot arm is released or relaxed.
Dependencies are inferred from the claim text.