# US 2015/0148950 A1 · Robot control device, robot control method, robot control program, and robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2015/0148950 A1 - Document ID: US20150148950A1 - Status: Published application - Kind: A1 - Application number: 14/607,120 - Filed: 2015-01-28 - Published: 2015-05-28 - Earliest claimed: 2012-02-16 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Takashi NAMMOTO; Kazuhiro KOSUGE; Kentaro KAMEI - Web page: https://patentgrep.com/patent/US20150148950A1 ## CPC - B25J 9/1643: {redundant control} - G05B 2219/39414: 7-DOF - G05B 2219/40367: Redundant manipulator - 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}) - 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 control device of a vertical articulated robot having seven axes and an offset structure includes: a storage unit which stores a condition of a status of the vertical articulated robot including a position of an elbow in the vertical articulated robot and control information for controlling the vertical articulated robot such that the condition is satisfied to match each other; an input unit to which the condition of the status of the vertical articulated robot including the position of the elbow is input; and a robot control unit which controls the vertical articulated robot such that the input condition is satisfied on the basis of the control information stored in the storage unit to match the same condition as the condition input to the input unit. ## Claims ### Claim at position 1 1-7. (canceled) ### Claim 8 A robot comprising: a robot body that includes an elbow, wherein the robot body has a vertical structure with an offset section and a plurality of rotatable axes arranged along the vertical structure of the robot body; and a robot control device that controls the body and includes: a storage unit that stores a condition of a status including a position of the elbow and control information that satisfies the condition of the status to match each other, an input unit to which the condition of the status is input, and a robot control unit that controls the robot body based on the control information such that the condition inputted via the input unit is satisfied. ### Claim 9 (depends on 8) The robot according to claim 8 wherein: the robot body includes a hand, and the condition of the status stored in the storage unit includes a condition that designates a position and a posture of the hand and the position of the elbow in the robot body. ### Claim 10 (depends on 8) The robot according to claim 8 wherein the control information is information for controlling at least one rotating axis and at least one turning axis of the robot body, the at least one rotating axis and the at least one turning axis are among the plurality of rotatable axes. ### Claim 11 (depends on 8) The robot according to claim 8, wherein the plurality of axes includes a first rotatable axis and a second rotatable axis, the second rotatable axis is disposed between the first rotatable axis and the elbow, and the offset section of the robot body is between the first rotatable axis and the second rotatable axis. ### Claim 12 (depends on 8) The robot according to claim 8 wherein: the plurality of axes includes a first rotatable axis, a second rotatable axis, a third rotatable axis, a fourth rotatable axis, a fifth rotatable axis, a sixth rotatable axis, and a seventh rotatable axis, the elbow is disposed at the fourth rotatable axis, and the offset section of the robot body is between the sixth rotatable axis and the seventh rotatable axis. ### Claim 13 (depends on 8) The robot according to claim 8 wherein the robot body includes a shoulder and a hand, the elbow is disposed between the shoulder and the hand, and the offset section is at the shoulder of the robot body. ### Claim 14 (depends on 8) The robot according to claim 8 wherein the robot body includes a shoulder and a hand, the elbow is disposed between the shoulder and the hand, and the offset section is between the hand and the elbow of the robot body.