Robot Control Method And Robot System
AssigneeSeiko Epson Corporation
InventorMasayuki OKUYAMA
Life of this patent
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Abstract
A robot control method for controlling a robot including a robot arm that performs predetermined work on a work target object, the robot control method including a target-position setting step for setting, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved and a driving step for driving the robot arm with force control based on the plurality of target positions set in the target-position setting step and force applied to the robot arm and performing the predetermined work.
Claims9
A robot control method for controlling a robot including a robot arm that performs predetermined work on a work target object,
- the robot control method comprising:
- a target-position setting step for setting, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved;
- and
- a driving step for driving the robot arm with force control based on the plurality of target positions set in the target-position setting step and force applied to the robot arm and performing the predetermined work.
A robot control method for controlling a robot including a robot arm that performs predetermined work on a work target object,
- the robot control method comprising:
- a target-position setting step for setting, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved;
- and
- a driving step for driving the robot arm with position control based on the plurality of target positions set in the target-position setting step and a separation distance between the work target object and the control point of the robot arm and performing the predetermined work such that the separation distance reaches a predetermined value.
A robot system comprising:
- a robot arm configured to perform predetermined work on a work target object;
- a force detecting section configured to detect force applied to the robot arm;
- a target-position setting section configured to set, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved;
- and
- a driving control section configured to drive the robot arm with force control based on the plurality of target positions set by the target-position setting section and force applied to the robot arm and perform the predetermined work.
A robot system comprising:
- a robot arm configured to perform predetermined work on a work target object;
- a distance detecting section configured to detect a distance between the robot arm and the work target object;
- a target-position setting section configured to set, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved;
- and
- a driving control section configured to drive the robot arm with position control based on the plurality of target positions set by the target-position setting section and a detection result of the distance detecting section and perform the predetermined work such that a separation distance between the work target object and the robot arm reaches a predetermined value.
Dependencies are inferred from the claim text.