Working robot and control method for working robot

A control method for a robot system comprising (a) a robot body comprising a predetermined portion (b) a controller, (c) a manipulating force detection portion configured to detect an information relating to a manipulating force when an operator moves the predetermined portion, and (d) a reaction force detection portion configured to detect an information relating to a reaction force received by the predetermined portion from an object,

• the control method comprising:
• controlling, by the controller, when the operator moves the predetermined portion, a resistance force in accordance with the reaction force and the manipulating force,
• wherein, in a case where the reaction force has not been detected by the reaction force detection portion, the controller is configured to control the resistance force such that, when the operator moves the predetermined portion in a direction of the manipulating force, the resistance force becomes smaller than the resistance force when the manipulating force is not detected, and
• wherein the robot body comprises an end effector provided in the predetermined portion, and
• wherein the controller is configured to acquire the reaction force applied to the end effector, on the basis of position and orientation information of the end effector, and detection result of the reaction force detection portion.

A robot system comprising:

• a robot body comprising a predetermined portion;
• a controller;
• a manipulating force detection portion configured to detect an information relating to a manipulating force when an operator moves the predetermined portion;
• and
• a reaction force detection portion configured to detect an information relating to a reaction force received by the predetermined portion from an object,
• wherein, when the operator moves the predetermined portion, the controller is configured to control a resistance force in accordance with the reaction force and the manipulating force, and
• wherein, in a case where the reaction force has not been detected by the reaction force detection portion, the controller is configured to control the resistance force such that, when the operator moves the predetermined portion in a direction of the manipulating force, the resistance force becomes smaller than the resistance force when the manipulating force is not detected,
• wherein the robot body comprises a robot arm comprising a plurality of shafts, a handling portion configured to receive the manipulating force, and an end effector provided in the predetermined portion, and
• wherein the controller is configured to acquire the manipulating force applied to the handling portion, on the basis of posture information of the robot arm, position and orientation information of the end effector, and detection result of the manipulating force detection portion.

A control method for a robot system comprising (a) a robot body comprising a predetermined portion, (b) a controller, (c) a manipulating force detection portion configured to detect an information relating to a manipulating force when an operator moves the predetermined portion, and (d) a reaction force detection portion configured to detect an information relating to a reaction force received by the predetermined portion from an object,

• the control method comprising:
• controlling, by the controller, when the operator moves the predetermined portion, a resistance force in accordance with the reaction force and the manipulating force,
• wherein, in a case where the reaction force has not been detected by the reaction force detection portion, the controller is configured to control the resistance force such that, when the operator moves the predetermined portion in a direction of the manipulating force, the resistance force becomes smaller than the resistance force when the manipulating force is not detected,
• wherein the robot body comprises a robot arm comprising a plurality of shafts, a handling portion configured to receive the manipulating force, and an end effector provided in the predetermined portion, and
• wherein the controller is configured to acquire the manipulating force applied to the handling portion, on the basis of posture information of the robot arm, position and orientation information of the end effector, and a detection result of the manipulating force detection portion.