Robot controlling method, robot apparatus, program and recording medium
US-2016263747-A1 · Sep 15, 2016 · US
Control apparatus, robot, and robot system
US10953547B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10953547-B2 |
| Application number | US-201715788054-A |
| Country | US |
| Kind code | B2 |
| Filing date | Oct 19, 2017 |
| Priority date | Oct 24, 2016 |
| Publication date | Mar 23, 2021 |
| Grant date | Mar 23, 2021 |
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- Title
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Abstract
Official abstract text for this publication.
A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, includes a processor that configured to move the first robot arm until a target force is detected by the first force detection part and performs impedance control on the second robot arm based on output of the second force detection part in at least a part of a movement period in which the first robot arm is moved.
First claim
Opening claim text (preview).
What is claimed is: 1. A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, comprising: a processor that is configured to using force trigger control, move the first robot arm until a target force is detected by the first force detection part, and at a same time that the first robot arm is moved using force trigger control and without using impedance control to move the first robot arm, perform impedance control on the second robot arm based on output of the second force detection part, without using force trigger control, in at least a part of a movement period in which the first robot arm is moved and before the first arm is stopped in response to the target force being detected. 2. The control apparatus according to claim 1 , wherein the processor is configured to perform the impedance control in an entirety of the movement period. 3. The control apparatus according to claim 1 , wherein the processor is configured to perform control of moving the first robot arm to operate an apparatus using the first robot arm, and performs the impedance control with an object grasped by the second robot arm. 4. The control apparatus according to claim 1 , wherein the processor is configured to control a robot having the first robot arm and the second robot arm. 5. The control apparatus according to claim 1 , wherein the processor is configured to perform vacuum packaging work by cooperatively operating the first robot arm and the second robot arm. 6. A robot comprising a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, and controlled by the control apparatus according to claim 1 . 7. A robot system comprising: the control apparatus according to claim 1 ; and the first robot arm provided with the first force detection part and the second robot arm provided with the second force detection part controlled by the control apparatus. 8. A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, comprising; a controller configured to using impedance control, move the first robot arm until a target force is detected by the first force detection part, and at a same time that the first robot arm is moved using force trigger control and without using impedance control to move the first robot arm, perform impedance control on the second robot arm based on output of the second force detection part, without using force trigger control, in at least a part of a movement period in which the first robot arm is moved and before the first arm is stopped in response to the target force being detected.
Assignees
Inventors
Classifications
- B25J9/1682Primary
Dual arm manipulator; Coordination of several manipulators · CPC title
Packaging · CPC title
compliant, force, torque control, e.g. combined with position control · CPC title
Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title
Force based impedance control · CPC title
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- What does patent US10953547B2 cover?
- A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, includes a processor that configured to move the first robot arm until a target force is detected by the first force detection part and performs impedance control on the second robot arm based on output of the second force detection p…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1682. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Mar 23 2021 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 1 related publication on this page (citations in our corpus or others sharing the same primary CPC).