Robot apparatus, robot controlling method, program, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorAkinari Miura
Life of this patent
Estimating the term…
Abstract
Such a situation that excessive loads repetitively act on a force sensor and a robot arm and an excessive load acts on each work piece is suppressed, and even if there is a variation in a mass of a first work piece gripped by a robot hand, a high-precise fitting operation can be executed. A control unit for impedance-controlling the operation of a robot arm so that one work piece is come into contact with another work piece moves a robot hand for gripping the one work piece, and sets a value acquired before the start of the impedance control to a first target value. The impedance control is made based on the first target value.
Claims17
A robot apparatus comprising:
- a robot arm;
- a robot hand which is supported by the robot arm and is configured to grip a first work piece;
- a force sensor configured to receive a force from the robot hand;
- and
- a control unit configured to impedance control an operation of the robot arm so that the first work piece is come into contact with a second work piece,
- wherein the control unit executes
- a first process for moving the robot hand and setting a value acquired before the impedance control is started to a first target value and
- a second process for making the impedance control on the basis of the first target value.
A robot controlling method whereby an operation of a robot arm of a robot having a robot arm, a robot hand which is supported by the robot arm and is configured to grip a first work piece, and a force sensor configured to receive a force from the robot hand is impedance-controlled so that the first work piece is come into contact with a second work piece, comprising:
- a first step of moving the robot hand and setting a value acquired before the impedance control is started to a first target value and
- a second step of making the impedance control on the basis of the first target value.
A manufacturing method of an article whereby an operation of a robot arm of a robot having a robot arm, a robot hand which is supported by the robot arm and is configured to grip a first work piece, and a force sensor configured to receive a force from the robot hand is impedance-controlled and the article in which the first work piece is in contact with a second work piece is manufactured, comprising:
- a first step of moving the first work piece and setting a value acquired before the impedance control is started to a first target value and
- a second step of making the impedance control on the basis of the first target value.
A program for causing a computer to execute a robot controlling method of impedance controlling an operation of a robot arm of a robot having a robot arm, a robot hand which is supported by the robot arm and is configured to grip a first work piece, and a force sensor configured to receive a force from the robot hand, so that the first work piece is come into contact with a second work piece, wherein the method comprises:
- a first step of moving the robot hand and setting a value acquired before the impedance control is started to a first target value and
- a second step of making the impedance control on the basis of the first target value.
A non-transitory computer-readable storage medium storing a program for causing a computer to execute a robot controlling method of impedance controlling an operation of a robot arm of a robot having a robot arm, a robot hand which is supported by the robot arm and is configured to grip a first work piece, and a force sensor configured to receive a force from the robot hand, so that the first work piece is come into contact with a second work piece, wherein the method comprises:
- a first step of moving the robot hand and setting a value acquired before the impedance control is started to a first target value and
- a second step of making the impedance control on the basis of the first target value.
Dependencies are inferred from the claim text.