Robot apparatus and control method
AssigneeCanon Kabushiki Kaisha
InventorYuya Yamamoto
Life of this patent
Estimating the term…
Abstract
A robot apparatus includes a robot arm, an end effector provided in the robot arm and configured to hold a workpiece, and a controller configured to perform a control process for controlling the end effector to release the workpiece on a basis of a first torque acting on the end effector in a predetermined direction in a state in which the end effector is holding the workpiece.
Claims32
A robot apparatus comprising:
- a robot arm;
- an end effector provided in the robot arm and configured to hold a workpiece;
- and
- a controller configured to perform a control process for controlling the end effector to release the workpiece, the controller being configured to perform the control process in a case where an operation is performed within a predetermined time to change an orientation of the workpiece with respect to the end effector while the workpiece is supported by a user after a force in a gravity direction acting on the end effector from the workpiece decreases as a result of the user supporting the workpiece that is being held by the end effector.
An interface apparatus configured to transmit a command to release a workpiece to an end effector holding the workpiece, wherein the command is transmitted in a case where an operation is performed within a predetermined time to change an orientation of the workpiece with respect to the end effector while the workpiece is supported by a user after a force in a gravity direction acting on the end effector from the workpiece decreases as a result of the user supporting the workpiece that is being held by the end effector.
A control apparatus configured to control an end effector holding a workpiece to release the workpiece in a case where an operation is performed within a predetermined time to change an orientation of the workpiece with respect to the end effector while the workpiece is supported by a user after a force in a gravity direction acting on the end effector from the workpiece decreases as a result of the user supporting the workpiece that is being held by the end effector.
An end effector configured to hold a workpiece, wherein the workpiece is released in a case where an operation is performed within a predetermined time to change an orientation of the workpiece with respect to the end effector while the workpiece is supported by a user after a force in a gravity direction acting on the end effector from the workpiece decreases as a result of the user supporting the workpiece that is being held by the end effector.
A control method for controlling an end effector provided in a robot arm and configured to hold a workpiece, the control method comprising:
- causing the end effector to hold the workpiece;
- and
- controlling the end effector to release the workpiece in a case where an operation is performed within a predetermined time to change an orientation of the workpiece with respect to the end effector while the workpiece is supported by a user after a force in a gravity direction acting on the end effector from the workpiece decreases as a result of the user supporting the workpiece that is being held by the end effector.
Dependencies are inferred from the claim text.