Control apparatus, robot system and control method
AssigneeSeiko Epson Corporation
InventorHiroki ADACHI
Life of this patent
Estimating the term…
Abstract
A control apparatus includes a processor that is configured to control a robot, and receive an object coordinate system set for an object not an end effector and not moving or rotating with the end effector. The processor is configured to execute a first control mode in which the end effector is moved and rotated according to a detected force while the force is detected by a force detector, and execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system moving and rotating with the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.
Claims9
A control apparatus that controls a robot including an end effector and a force detector detecting a force applied to the end effector, comprising:
- a processor that is configured to control the robot and receive an object coordinate system set for an object from a user, wherein
- the processor is configured to:
- execute a first control mode in which the end effector is moved and rotated according to the force detected by the force detector, and
- execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system set for the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.
A robot system comprising:
- a robot including an end effector and a force detector detecting a force applied to the end effector;
- and
- a control apparatus including a processor that is configured to control the robot, wherein
- the processor is configured to:
- receive an object coordinate system set for an object from a user;
- execute a first control mode in which the end effector is moved and rotated according to the force detected by the force detector;
- and
- execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system set for the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.
Dependencies are inferred from the claim text.