Robot control method and robot system
AssigneeSeiko Epson Corporation
InventorKoji Yoshii
Life of this patent
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Abstract
A robot control method for controlling a robot is provided. The robot has a robot arm and a force detection unit detecting a force applied to the robot arm and grips a target object conveyed on a belt with an end effector provided at the robot arm. The method includes: a gripping step of executing an operation of gripping the target object with the end effector; and a determination step of determining whether the gripping of the target object is normally performed or not, based on a result of detection by the force detection unit in the gripping step.
Claims6
A robot control method for controlling a robot that has a robot arm and a force detection unit detecting a force applied to the robot arm and that grips a target object conveyed on a belt with an end effector provided at the robot arm, the method comprising:
- a gripping step of executing an operation of gripping the target object with the end effector;
- and
- a determination step of determining whether the gripping of the target object is normally performed or not, based on a result of detection by the force detection unit in the gripping step, wherein when the gripping of the target object is normally performed, the end effector grips a surface of the target object rather than edge of the surface of the target object or the belt,
- wherein
- the end effector is configured to grip the target object by suction, and
- in the gripping step, a pressing operation of lowering the end effector and pressing the end effector against the target object while performing the suction, and a lifting operation of lifting the end effector while performing the suction after the pressing operation, are sequentially executed,
- in the determination step, when a maximum value of a force detected by the force detection unit in the pressing operation is less than a first threshold, it is determined that the gripping of the target object is not normally performed,
- in the determination step, when a magnitude of a force detected by the force detection unit in the lifting operation is less than a second threshold, it is determined that the gripping of the target object is not normally performed.
A robot system comprising:
- a robot having a robot arm and a force detection unit that detects a force applied to the robot arm;
- and
- a control unit controlling driving of the robot arm so as to grip a target object conveyed on a belt with an end effector provided at the robot arm, wherein
- the control unit executes an operation of gripping the target object with the end effector, and
- determines whether the gripping of the target object is normally performed or not, based on a result of detection by the force detection unit, wherein when the gripping of the target object is normally performed, the end effector grips a surface of the target object rather than edge of the surface of the target object or the belt,
- wherein
- the end effector is configured to grip the target object by suction, and
- in the gripping, a pressing operation of lowering the end effector and pressing the end effector against the target object while performing the suction, and a lifting operation of lifting the end effector while performing the suction after the pressing operation, are sequentially executed,
- in the determining, when a maximum value of a force detected by the force detection unit in the pressing operation is less than a first threshold, it is determined that the gripping of the target object is not normally performed,
- in the determining, when a magnitude of a force detected by the force detection unit in the lifting operation is less than a second threshold, it is determined that the gripping of the target object is not normally performed.
Dependencies are inferred from the claim text.