Teaching method and robot system
AssigneeSeiko Epson Corporation
InventorsHirofumi KINOSHITA, Kaoru TAKEUCHI, Hiroki ADACHI
Life of this patent
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Abstract
A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.
Claims9
A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method comprising gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.
A robot system comprising:
- a robot including a robot arm;
- a force detecting section configured to detect external force applied to the robot arm;
- a storing section configured to store a position and a posture of the robot arm;
- and
- a control section configured to drive the robot arm with force control based on the external force and execute teaching for storing the position and the posture of the robot arm in the storing section, wherein
- the control section gradually relaxes, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.
Dependencies are inferred from the claim text.