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AssigneeCanon Kabushiki Kaisha
InventorTakayuki Ogawara
Estimating the term…
A robot apparatus includes a robot arm having an end effector. The robot apparatus includes a position detection unit configured to detect a position of the end effector, and a control unit configured to control the robot apparatus, wherein the control unit includes a force control unit configured to control the end effector by force control, and information about a plurality of operation ranges in which the end effector operates by the force control, the plurality of operation ranges being set for the plurality of contact works, wherein the control unit controls the end effector using the position detection unit and the force control unit such that one of the plurality of contact works is performed within one of the plurality of operation ranges corresponding to the one of the plurality of contact works.
A robot apparatus configured to perform at least two contact works to bring a first object and a second object into contact with each other, the robot apparatus comprising:
A control method for a robot apparatus configured to perform at least two contact works to bring a first object and a second object into contact with each other,
A producing method for an article using a robot apparatus configured to perform at least two contact works to bring a first object and a second object into contact with each other,
Dependencies are inferred from the claim text.