Control device and robot system
AssigneeSeiko Epson Corporation
InventorsMasaki MOTOYOSHI, Hiroki ADACHI, Yoshihito YAMADA
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Abstract
In teaching of a robot, a control device controls a movable unit in a first control mode in which the movable unit continuously moves according to a force detected by a force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector. A controller selects a first control mode or a second control mode according to a temporal change in the force detected by the force detector and a magnitude of the force.
Claims10
A control device that controls a robot including a movable unit and a force detector that detects a force applied to the movable unit, the control device comprising:
- a controller that controls the movable unit in a first control mode in which the movable unit continuously moves according to a force detected by the force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector, in teaching of the robot, wherein the controller selects the first control mode or the second control mode according to a temporal change in the force detected by the force detector and a magnitude of the force.
A control device that controls a robot including a movable unit and a force detector that detects a force applied to the movable unit, the control device comprising:
- a controller that controls the movable unit in a first control mode in which the movable unit continuously moves according to a force detected by the force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector, in teaching of the robot, wherein
- the controller selects the first control mode or the second control mode according to one of a temporal change in the force detected by the force detector and a magnitude of the force.
A robot system comprising:
- a robot including a movable unit and a force detector that detects a force applied to the movable unit;
- and
- the control device including a controller that controls the movable unit in a first control mode in which the movable unit continuously moves according to a force detected by the force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector, in teaching of the robot,
- wherein the controller selects the first control mode or the second control mode according to a temporal change in the force detected by the force detector and a magnitude of the force.
Dependencies are inferred from the claim text.