Method for controlling robot and arm
AssigneeFuji Corporation
InventorsShinya KONDO, Naofumi YOSHIDA
Life of this patent
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Abstract
A control device is configured to control a driving device so that an arm operates in accordance with an instruction operation, and detect a collision with another object with respect to a part where an external force is greater than a threshold value among parts of the arm. At this time, the control device switches the threshold value between a case where the instruction operation is a non-contact intentional operation that is not intended for contact with another object and a case where the instruction operation is a contact intentional operation that is intended for contact with another object.
Claims8
A robot comprising:
- an arm;
- a driving device configured to drive the arm;
- an external force detection section configured to detect external forces acting on parts of the arm from another object;
- and
- a control device configured to control the driving device so that the arm operates in accordance with an instruction operation, and detect a collision with the other object for a part where the external force is greater than a threshold value among the parts,
- wherein the control device is configured to switch the threshold value between a case where the instruction operation is a non-contact intentional operation that is not intended for contact with the other object and a case where the instruction operation is a contact intentional operation that is intended for contact with the other object.
A method for controlling an arm configured to control a driving device of the arm so that the arm operates in accordance with an instruction operation, the method comprising:
- a step (a) of detecting external forces acting on parts of the arm from another object;
- and
- a step (b) of detecting a collision with the other object for a part where the external force is greater than a threshold value among the parts,
- wherein in the step (b), the threshold value is switched between a case where the instruction operation is a non-contact intentional operation that is not intended for contact with the other object and a case where the instruction operation is a contact intentional operation that is intended for contact with the other object.
Dependencies are inferred from the claim text.