Robot control apparatus and robot system
AssigneeSeiko Epson Corporation
InventorMasaki Motoyoshi
Life of this patent
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Abstract
In order to set control with a high degree of freedom while taking into account a time response waveform, a robot control apparatus includes a control section that acquires a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and controls the driving section based on the detection value, a first setting value, and a second setting value; a first display section that displays a detection waveform that is a time response waveform of the detection value; a second display section that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance; and a receiving section that receives setting of at least the second setting value.
Claims5
A robot control apparatus comprising:
- a controller that is configured to acquire a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and the controller being configured to control the driving section based on the detection value, a setting value, a virtual inertia parameter, and a virtual viscosity parameter;
- a first display that displays a detection waveform that is a time response waveform of the detection value;
- a second displays that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance;
- and
- a receiving section that receives setting of the virtual inertia parameter and the virtual viscosity parameter,
- wherein a ratio of the virtual inertia parameter and the virtual viscosity parameter is constant.
A robot system comprising:
- a driving section that drives a robot;
- a force detector that detects a force operating on the robot;
- a controller that is configured to control the driving section based on a detection value of the force detector, a setting value, a virtual inertia parameter, and a virtual viscosity parameter;
- a first display that displays a detection waveform that is a time response waveform of the detection value detected by the force detector;
- a second displays that displays a storage waveform that is a time response waveform stored in a storage medium in advance;
- and
- a receiving section that receives setting of the virtual inertia parameter and the virtual viscosity parameter,
- wherein a ratio of the virtual inertia parameter and the virtual viscosity parameter is constant.
Dependencies are inferred from the claim text.