Robot control device, robot, robot system, and robot control method
AssigneeSeiko Epson Corporation
InventorKaoru TAKEUCHI
Life of this patent
Estimating the term…
Abstract
A robot control device is configured to perform, during movement of an end effector of a robot in a movement direction of a target object, force control by which a force acts on the target object based on an output of a force detection unit included in the robot to cause the robot to perform work on the target object by the end effector. Whether the work is able to be started is determined in a process where the end effector follows the movement of the target object, and when it is determined that the work is able to be started, the work is caused to start.
Claims19
-14. (canceled)
A robot control device that performs, during movement of an end effector of a robot in a movement direction of a target object, force control by which a force acts on the target object based on an output of a force detection unit included in the robot to cause the robot to perform work on the target object by the end effector,
- wherein whether the work is able to be started is determined in a process where the end effector follows the movement of the target object, and
- when it is determined that the work is able to be started, the work is caused to start.
A robot control method comprising:
- during movement of an end effector of a robot in a movement direction of a target object,
- performing force control by which a force acts on the target object based on an output of a force detection unit included in the robot to cause the robot to perform work on the target object by the end effector;
- determining whether the work is able to be started in a process where the end effector follows the movement of the target object;
- and
- causing the work to start when it is determined that the work is able to be started.
Dependencies are inferred from the claim text.