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US 8,935,004 B2Granted
Robot control method and robot
AssigneeSeiko Epson Corporation
InventorIzumi Iida
Life of this patent
Estimating the term…
Abstract
A robot control method includes gripping a work with a hand unit; transferring the work to the vicinity of a plane; dropping the work to the plane by reducing the grip force of the hand unit, and aligning the work with the plane; and re-gripping the work, which is aligned with the plane, again with the hand unit.
Claims5
A robot control method, comprising:
- gripping a work with a hand unit by operating a motor;
- transferring the work to a vicinity of a plane by operating the motor;
- releasing the work to the plane by reducing a grip force of the hand unit by operating the motor so as to align the work with the plane;
- and
- re-gripping the work again with the hand unit by operating the motor, wherein
- the robot includes a slide sensor, which measures a slide amount of the work with respect to the hand unit, in a portion of the hand unit which comes into contact with the work, and
- the releasing is performed while grip force of the hand unit is adjusted such that the slide amount per unit time is less than a threshold.
4 more elements
Dependencies are inferred from the claim text.