Robot control method

Patent metadata

Field	Value
Publication number	US-11090814-B2
Application number	US-201916430513-A
Country	US
Kind code	B2
Filing date	Jun 4, 2019
Priority date	Mar 18, 2016
Publication date	Aug 17, 2021
Grant date	Aug 17, 2021

Abstract

A control device includes a robot control section that controls a robot including a hand and a force detecting section; and an operation-mode switching section that switches, when storing a position and a posture of the robot, a first mode for moving the robot by the robot control section until an external force applied to the hand satisfies a predetermined condition and a second mode for moving the robot by the robot control section on the basis of an external force applied to a first part included in the robot.

First claim

What is claimed is:

1. A robot control method for causing a processor to execute a process, the method comprising executing on the processor the steps of:
detecting an external force applied to a hand of a robot by a force sensor, the robot having a manipulator, the manipulator being provided at the hand, the force sensor being provided at the manipulator;
determining whether a magnitude of the detected external force is equal to or greater than a predetermined threshold;
moving the hand in a predetermined direction by a predetermined amount by moving the manipulator in response to the determined magnitude,
acquiring an operation mode switching instruction for the robot from a teaching device; and
switching between a first mode and a second mode,
wherein the first mode corresponds to an operation in which the hand moves in the predetermined direction by the predetermined amount by moving the manipulator in response to the determined magnitude, and
the second mode corresponds to an operation in which the hand moves in a direction by an amount directly corresponding to the magnitude of the detected external force.

2. The robot control method according to claim 1 ,
wherein, after the hand moves in the predetermined direction by the predetermined amount, the processor is further configured to:
calculate a current position of a control point on the manipulator;
output information corresponding to the current position of the control point to a teaching device; and
store the information in a memory.

3. The robot control method according to claim 1 , the method comprising executing on the processor the steps of:
acquiring teaching point information from a teaching device;
generating a control signal for the robot in response to the acquired teaching point information; and
operating the robot in response to the control signal.

4. The robot control method according to claim 1 ,
wherein the external force applied to the hand is in a first direction, and the first direction is the same as the predetermined direction.

5. The robot control method according to claim 1 ,
wherein the external force applied to the hand is in a first direction, and the first direction is different from the predetermined direction.

6. A robot control method for causing a processor to execute a process, the method comprising executing on the processor the steps of:
detecting an external force in a first direction applied to a hand of a robot by a force sensor, the robot having a manipulator, the manipulator being provided at the hand, the force sensor being provided at the manipulator;
determining whether a magnitude of the detected external force is equal to or greater than a predetermined threshold;
moving the hand in the first direction by a predetermined amount by moving the manipulator in response to the determined magnitude;
acquiring an operation mode switching instruction for the robot from a teaching device; and
switching between a first mode and a second mode,
wherein the first mode corresponds to an operation in which the hand moves in the predetermined direction by the predetermined amount by moving the manipulator in response to the determined magnitude, and
the second mode corresponds to an operation in which the hand moves in a direction by an amount directly corresponding to the magnitude of the detected external force.

7. The robot control method according to claim 6 ,
wherein, after the hand moves in the predetermined direction by the predetermined amount, the processor is further configured to:
calculate a current position of a control point on the manipulator;
output information corresponding to the current position of the control point to a teaching device; and
store the information in a memory.

8. The robot control method according to claim 6 , the method comprising executing on the processor the steps of:
acquiring teaching point information from a teaching device;
generating a control signal for the robot in response to the acquired teaching point information; and
operating the robot in response to the control signal.

Assignees

• Seiko Epson Corp

Inventors

• Takeuchi Kaoru

Classifications

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J13/085 Primary

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• G05B19/423

  Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path · CPC title

• B25J9/0081 Primary

  with leader teach-in means · CPC title

• B25J9/1679

  characterised by the tasks executed · CPC title