Robot apparatus and control method
AssigneeCanon Kabushiki Kaisha
InventorYuya Yamamoto
Life of this patent
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Abstract
A robot apparatus includes a robot arm, an end effector provided in the robot arm and configured to hold a workpiece, and a controller configured to perform a control process for controlling the end effector to release the workpiece on a basis of a first torque acting on the end effector in a predetermined direction in a state in which the end effector is holding the workpiece.
Claims17
A robot apparatus comprising:
- a robot arm;
- an end effector provided in the robot arm and configured to hold a workpiece;
- and
- a controller configured to perform a control process for controlling the end effector to release the workpiece on a basis of a first torque acting on the end effector in a predetermined direction in a state in which the end effector is holding the workpiece.
An interface apparatus configured to transmit a command to release a workpiece to an end effector holding the workpiece, wherein the command is transmitted on a basis of a torque applied to the end effector in a predetermined direction by a user's operation.
A control apparatus configured to control an end effector holding a workpiece to release the workpiece, on a basis of a torque acting on the end effector in a predetermined direction in a state in which the end effector is holding the workpiece.
An end effector configured to hold a workpiece, wherein the workpiece is released on a basis of a torque acting on the end effector in a predetermined direction in a state of holding the workpiece.
A control method for controlling an end effector provided in a robot arm and configured to hold a workpiece, the control method comprising:
- causing the end effector to hold the workpiece;
- and
- controlling the end effector to release the workpiece, on a basis of a torque acting on the end effector in a predetermined direction.
Dependencies are inferred from the claim text.