Grip position setting method and robot system
AssigneeSeiko Epson Corporation
InventorHiroki NAGATA
Life of this patent
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Abstract
A grip position setting method includes a work step of gripping, by an end effector, an object disposed on a working surface, storing, as a height T1, a height of the end effector when gripping the object, moving the end effector upward to separate the object from the working surface, moving the end effector downward to bring the object into contact with the working surface, storing, as a height T2, a height of the end effector when the object contacts, and acquiring a difference ΔT between the height T1 and the height T2 and a setting step of setting the grip position of the object based on the difference ΔT.
Claims10
A grip position setting method for a robot system including a robot having an end effector for gripping an object, the grip position setting method being for setting a grip position of the object by the end effector, the grip position setting method comprising:
- a work step of
- gripping the object disposed on a working surface by the end effector,
- storing, as a height T1, a height of the end effector during gripping,
- moving the end effector upward to separate the object from the working surface,
- moving the end effector downward to bring the object into contact with the working surface,
- storing, as a height T2, a height of the end effector at time of contact, and
- acquiring a difference ΔT between the height T1 and the height T2 and
- a setting step of setting the grip position of the object based on the difference ΔT.
A robot system including a robot having an end effector for gripping an object wherein
- the robot system performs the following steps:
- a work step of
- gripping the object disposed on a working surface by the end effector,
- storing, as a height T1, a height of the end effector during gripping,
- moving the end effector upward to separate the object from the working surface,
- moving the end effector downward to bring the object into contact with the working surface,
- storing, as a height T2, a height of the end effector at time of contact, and
- acquiring a difference ΔT between the height T1 and the height T2 and
- a setting step of setting the grip position of the object based on the difference ΔT.
Dependencies are inferred from the claim text.