# US 11,660,746 B2 · Separate moving and positioning modes for a robot, method providing separate moving and positioning modes for the robot, method of manufacturing a product, and a recording medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,660,746 B2 - Document ID: US11660746B2 - Status: Granted - Kind: B2 - Application number: 16/809,708 - Filed: 2020-03-05 - Published: 2020-09-10 - Granted: 2023-05-30 - Earliest claimed: 2019-03-08 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Tsutomu Osaka - Web page: https://patentgrep.com/patent/US11660746B2 ## CPC - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B65G 47/905: {Control arrangements} - F16H 1/20: involving more than two intermeshing members - F16H 1/22: with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts - G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) - G05B 2219/41034: Two motors driven in opposite direction to take up backlash - 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}) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - F16H: GEARING - 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 includes a first driving source, a second driving source, an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, and a control device configured to execute a first process and a second process. In the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction. In the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction. ## Claims ### Claim 1 A robot comprising: an end effector configured to hold a first workpiece; a robot arm configured to move the end effector and cause the first workpiece to contact a second workpiece, the robot arm including: a first driving source; a second driving source; and an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted; and a control device configured to execute a first process and a second process, wherein, in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, and wherein, in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward the predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction, wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece. ### Claim 2 (depends on 1) The robot according to claim 1, further comprising: a first transmission portion configured to transmit the rotation of the first driving source to the output portion; and a second transmission portion configured to transmit the rotation of the second driving source to the output portion, wherein the control device is configured to: control the first driving source and the second driving source in the first process such that when an external force is applied to the output portion while a first convex portion of the first transmission portion and a second convex portion of the second transmission portion are in contact with the output portion, the first convex portion and the second convex portion are not able to be separated from the output portion, and control the first driving source and the second driving source in the second process such that when an external force is applied to the output portion while the first convex portion and the second convex portion are in contact with the output portion, the first convex portion and the second convex portion are able to be separated from the output portion. ### Claim 3 (depends on 2) The robot according to claim 2, wherein the first transmission portion includes a first gear contacting the output portion and a third gear coaxially provided with the first gear via a first shaft, and wherein the second transmission portion includes a second gear contacting the output portion and a fourth gear coaxially provided with the second gear via a second shaft. ### Claim 4 (depends on 3) The robot according to claim 3, wherein the rotation of the first driving source is transmitted to the first transmission portion via a first friction wheel and the rotation of the second driving source is transmitted to the second transmission portion via a second friction wheel, and wherein a fifth gear engaging the third gear is provided on the first friction wheel and a sixth gear engaging the fourth gear is provided on the second friction wheel. ### Claim 5 (depends on 1) The robot according to claim 1, wherein the robot is configured to select and execute the first process or the second process depending on a motion of the robot to be performed. ### Claim 6 (depends on 1) The robot according to claim 1, wherein, in a case where the control device positions the end effector at a predetermined position, the control device executes the second process in a case where the end effector is located outside a first region that includes the predetermined position, and executes the first process in a case where the output portion is located inside the first region. ### Claim 7 (depends on 6) The robot according to claim 6, wherein, when the control device executes the first process and the end effector is located in a second region that includes the predetermined position and is smaller than the first region, the control device makes a magnitude of the first torque and a magnitude of the second torque less than a magnitude of the first torque and a magnitude of the second torque obtained when the end effector is located inside the first region and outside the second region. ### Claim 8 (depends on 1) The robot according to claim 1 wherein the control device is configured to position the end effector at a predetermined position via the output portion by executing the first process and cause the end effector to hold the first workpiece. ### Claim 9 (depends on 1) The robot according to claim 1, further comprising a detection unit configured to detect a position of the output portion, wherein the control device moves the robot in full-closed loop control performed depending on a detection result from the detection unit. ### Claim 10 (depends on 9) The robot according to claim 9, wherein the detection unit is located on a rotation axis that is different from a rotation axis of the first driving source and a rotation axis of the second driving source. ### Claim 11 (depends on 1) The robot according to claim 1, wherein, in the case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source become the same. ### Claim 12 (depends on 1) The robot according to claim 1, wherein, in a case where the first process is executed, the control device is configured to control the first driving source and the second driving source such that a rotation direction of the first driving source is different from a rotation direction of the second driving source, and wherein, in a case where the second process is executed, the control device is configured to control the first driving source and the second driving source such that the rotation direction of the first driving source is the same as the rotation direction of the second driving source. ### Claim 13 A method of controlling a robot performed by a control device, the robot including: an end effector configured to hold a first workpiece, and a robot arm configured to move the end effector and cause the first workpiece to contact a second workpiece, the robot arm including: a first driving source, a second driving source, and an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, the method comprising: executing, by the control device, a first process or a second process depending on a motion of the robot to be performed, wherein in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, wherein in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward the predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction, wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece. ### Claim 14 (depends on 13) A computer-readable non-transitory recording medium storing a program, which, when run by a computer, causes the computer to execute the method according to claim 13. ### Claim 15 A method of manufacturing a product by using a robot, the robot including: an end effector configured to hold a first workpiece, and a robot arm configured to move the end effector and cause the first workpiece to contact a second workpiece, the robot arm including: a first driving source, a second driving source, and an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, the method comprising: executing, by a control device, a first process and a second process depending on a motion of the robot to be performed, wherein, in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, for positioning the end effector at a predetermined position via the output portion and causing the end effector to hold the first workpiece, wherein, in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in the predetermined direction, the output portion is able to rotate in a direction opposite to the predetermined direction, for moving the end effector via the output portion and causing the first workpiece to contact the second workpiece to manufacture the product, wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece. ### Claim 16 A driving device for driving a robot, the robot comprising: an end effector configured to hold a first workpiece, and a robot arm including the driving device and configured to move the end effector and cause the first workpiece to contact a second workpiece, the driving device including: a first driving source, a second driving source, an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, and a control device configured to execute a first process and a second process, wherein in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, wherein in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward the predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction, wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece. ### Claim 17 A control method of a driving device for driving a robot that includes an end effector configured to hold a first workpiece, and a robot arm including the driving device and configured to move the end effector and cause the first workpiece to contact a second workpiece, the driving device including: a first driving source, a second driving source, and an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, the method comprising: executing, by a control device, a first process and a second process depending on a motion of the robot to be performed, wherein, in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, for positioning the end effector at a predetermined position via the output portion and causing the end effector to hold the first workpiece, wherein, in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated in the predetermined direction, the output portion is able to rotate in a direction opposite to the predetermined direction, for moving the end effector via the output portion and causing the first workpiece to contact the second workpiece to manufacture a product, wherein, in a case where the second process is executed to control the end effector via the output portion to move the first workpiece, the control device controls the first driving source and the second driving source such that a first torque generated by the first driving source and a second torque generated by the second driving source are made different and a difference is generated between the first torque and the second torque, and wherein, in a case where the second process is executed to control the end effector via the output portion to cause the first workpiece to contact the second workpiece, the control device controls the first driving source and the second driving source such that the first torque generated by the first driving source and the second torque generated by the second driving source are controlled such that the difference between the first torque and the second torque is less than the difference between the first torque and the second torque in the case where the second process is executed to control the end effector via the output portion to move the first workpiece.