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US 2016/0288327 A1Published application
Robot control apparatus, robot system, and robot control method
AssigneeSeiko Epson Corporation
InventorMasaki MOTOYOSHI
Life of this patent
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Abstract
In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.
Claims11
A robot control apparatus comprising:
- a control section that acquires a driving position of a driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force;
- and
- a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.
A robot system comprising:
- a driving section that drives a robot;
- a force detector that detects an operation force that is a force operating on the robot;
- a control section that performs first control of the driving section based on a driving position of the driving section and second control of the driving section based on the operation force;
- and
- a changing section that changes a size of a servo stiffness of the robot that is realized by the control of the control section.
2 more elements
A robot control method comprising:
- acquiring a driving position of a driving section driving a robot and an operation force that is a force operating on the robot by a control section;
- performing first control of the driving section based on the driving position and second control of the driving section based on the operation force;
- and
- changing the size of the servo stiffness of the robot that is realized by the control of the control section by the changing section.
1 more element
Dependencies are inferred from the claim text.