# US 2018/0021950 A1 · Robot control apparatus, robot 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 2018/0021950 A1 - Document ID: US20180021950A1 - Status: Published application - Kind: A1 - Application number: 15/653,953 - Filed: 2017-07-19 - Published: 2018-01-25 - Earliest claimed: 2016-07-22 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Yasuhiro SHIMODAIRA - Web page: https://patentgrep.com/patent/US20180021950A1 ## CPC - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - G05B 19/04: Program control other than numerical control, i.e. in sequence controllers or logic controllers (G05B19/418 takes precedence) - G05B 19/4086: {Coordinate conversions; Other special calculations} - G05B 19/425: Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector - G05B 19/00: Program-control systems - G05B 2219/39322: Force and position control - G05B 2219/40032: Peg and hole insertion, mating and joining, remote center compliance - G05B 2219/40087: Align hand on workpiece to pick up workpiece, peg and hole - 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 apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different. ## Claims ### Claim 1 A robot control apparatus that controls a robot having a movable part in which a force detection unit is provided, comprising a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different. ### Claim 2 (depends on 1) The robot control apparatus according to claim 1, further comprising a position setting part that sets the first position and the second position. ### Claim 3 (depends on 1) The robot control apparatus according to claim 1, further comprising a target force setting part that sets the first target force and the second target force. ### Claim 4 (depends on 1) The robot control apparatus according to claim 1, wherein the force control and position control are performed in at least a part of the insertion job. ### Claim 5 (depends on 1) The robot control apparatus according to claim 1, wherein the second position is located in a positive direction of an insertion direction of the first object with respect to the first position, and the second target force is larger than the first target force. ### Claim 6 (depends on 1) The robot control apparatus according to claim 1, wherein a force that cancels a force subjected to the first object from the insertion portion is added to a target force of the force control in at least a part of the insertion job. ### Claim 7 (depends on 1) The robot control apparatus according to claim 1, further comprising a coordinate system setting part that sets a coordinate system having an axis along an insertion direction of the first object. ### Claim 8 (depends on 1) The robot control apparatus according to claim 1, further comprising a display control part that displays output of the force detection unit and a trajectory of the movable part in a display unit. ### Claim 9 (depends on 1) The robot control apparatus according to claim 1, wherein, in the insertion job, when moving at least one of the first object and the second object in a direction in which the first object and the second object come closer using the movable part and determining that the first object has come into contact with a position different from the insertion portion based on output of the force detection unit, the robot control part moves at least one of the first object and the second object in a direction in which the first object and the second object separate using the movable part. ### Claim 10 (depends on 1) The robot control apparatus according to claim 1, wherein the robot control part performs control on the movable part based on insertion positions in which insertion of the first object into the insertion portion was successful and the number of successful times. ### Claim 11 (depends on 1) A robot comprising a movable part in which a force detection unit is provided, and controlled by the robot control apparatus according to claim 1. ### Claim 12 (depends on 2) A robot comprising a movable part in which a force detection unit is provided, and controlled by the robot control apparatus according to claim 2. ### Claim 13 (depends on 3) A robot comprising a movable part in which a force detection unit is provided, and controlled by the robot control apparatus according to claim 3. ### Claim 14 (depends on 4) A robot comprising a movable part in which a force detection unit is provided, and controlled by the robot control apparatus according to claim 4. ### Claim 15 (depends on 5) A robot comprising a movable part in which a force detection unit is provided, and controlled by the robot control apparatus according to claim 5. ### Claim 16 (depends on 1) A robot system comprising: the robot control apparatus according to claim 1; and the robot controlled by the robot control apparatus. ### Claim 17 (depends on 2) A robot system comprising: the robot control apparatus according to claim 2; and the robot controlled by the robot control apparatus. ### Claim 18 (depends on 3) A robot system comprising: the robot control apparatus according to claim 3; and the robot controlled by the robot control apparatus. ### Claim 19 (depends on 4) A robot system comprising: the robot control apparatus according to claim 4; and the robot controlled by the robot control apparatus. ### Claim 20 (depends on 5) A robot system comprising: the robot control apparatus according to claim 5; and the robot controlled by the robot control apparatus.