Robot, control apparatus, robot system, and control method
AssigneeSeiko Epson Corporation
InventorsYukihiro Yamaguchi, Taro Ishige
Life of this patent
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Abstract
A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying j≠i) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.
Claims6
A robot that performs i+1-th work after performing i-th work, wherein the i-th work being different from the i+1-th work, that determines whether a robot calibration was performed between the i-th work and the i+1-th work, and, in response to a determination that the robot calibration was not performed between the i-th work and the i+1-th work, the robot performs the i+1-th work by visual servo.
A control apparatus that actuates a robot that performs i+1-th work after performing i-th work, wherein the i-th work being different from the i+1-th work, that determines whether a robot calibration was performed between the i-th work and the i+1-th work, and, in response to a determination that the robot calibration was not performed, between the i-th work and the i+1-th work, the control apparatus controls the robot to perform the i+1-th work by visual servo.
A robot control method comprising:
- performing i-th work;
- after performing the i-th work, performing i+1-th work, the i-th work being different from the i+1-th work;
- determining whether a robot calibration was performed between the i-th work and the i+1-th work;
- and
- in response to a determination that the robot calibration was not performed between the i-th work and the i+1-th work, performing the i+1-th work by visual servo.
Dependencies are inferred from the claim text.