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US 9,908,237 B2Granted
Compliant motion control for robot
AssigneesSeiko Epson Corporation, Tahoku University
InventorsTakashi Nammoto, Kazuhiro Kosuge, Abhilasha Saksena
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Abstract
A robot includes an arm and a control unit configured to control a motion of the arm using compliant motion control. The control unit changes a parameter value of the compliant motion control depending on a relative position and orientation of a first object moving along with the arm and a second object.
Claims7
A robot comprising:
- an arm;
- and
- a control unit configured to control a motion of the arm using compliant motion control,
- wherein the control unit configured to:
- calculate a relative position of a first object moving along with the arm and a second object;
- calculate a relative orientation of the first object and the second object;
- and
- change a parameter value of the compliant motion control depending on the relative position and the relative orientation.
5 more elements
A robot system comprising:
- a robot having an arm;
- and
- a control device configured to control a motion of the arm using compliant motion control,
- wherein the control device is configured to:
- calculate a relative position of a first object moving along with the arm and a second object;
- calculate a relative orientation of the first object and the second object, and
- change a parameter value of the compliant motion control depending on the relative position and the relative orientation.
4 more elements
A control device for a robot comprising:
- a processing unit;
- and
- a communication unit connected to the processing unit and configured to selectively communicate with the robot,
- wherein the processing unit is configured to:
- calculate a relative position of a first object moving along with an arm of the robot and a second object;
- calculate a relative orientation of the first object and the second object;
- and
- change a parameter value of compliant motion control for controlling a motion of the arm depending on the relative position and the relative orientation.
5 more elements
A control method for a robot comprising:
- calculating a relative position of a first object moving along with an arm of the robot and a second object;
- calculating a relative orientation of the first object and the second object;
- and
- changing a parameter value of compliant motion control for controlling a motion of the arm depending on the relative position and the relative orientation.
1 more element
Dependencies are inferred from the claim text.