Robot and robot system
US-2018029221-A1 · Feb 1, 2018 · US
Teaching method and robot system
US11660742B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11660742-B2 |
| Application number | US-202117161714-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jan 29, 2021 |
| Priority date | Jan 31, 2020 |
| Publication date | May 30, 2023 |
| Grant date | May 30, 2023 |
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Abstract
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A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.
First claim
Opening claim text (preview).
What is claimed is: 1. A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method comprising gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm, wherein when the restrictive condition is relaxed, a rate of change in a degree of the relaxing of the restrictive condition is gradually reduced until, a predetermined time or up to a predetermined movement amount and is gradually increased at the predetermined or subsequent time or the predetermined or larger movement amount. 2. The teaching method according to claim 1 , wherein the restrictive condition is an upper limit value of speed or acceleration of the robot arm. 3. The teaching method according to claim 1 , wherein, the restrictive condition is an upper limit value of force control parameters, or a target force of the robot arm. 4. A robot system comprising: a robot including a robot arm; a force sensor configured to detect external force applied to the robot arm; a memory configured to store a position and a posture of the robot arm; and a processor configured to drive the robot arm with force control based on the external force and execute teaching for storing the position and the posture of the robot arm in the memory, wherein the processor gradually relaxes, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm, wherein when the restrictive condition is relaxed, a rate of change in a degree of the relaxing of the restrictive condition is gradually reduced until a predetermined time or up to a predetermined movement amount and is gradually increased at the predetermined or subsequent time or the predetermined or larger movement amount.
Assignees
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Classifications
Move manually, touch surface, record position · CPC title
Record play back, teach position and record it then play back · CPC title
acceleration, rate control · CPC title
characterised by motion, path, trajectory planning · CPC title
characterised by the control system, structure, architecture · CPC title
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- What does patent US11660742B2 cover?
- A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robo…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/0081. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue May 30 2023 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).