Control apparatus, robot system and control method
US-2019366549-A1 · Dec 5, 2019 · US
Control method for robot and robot system
US12128564B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-12128564-B2 |
| Application number | US-202117203773-A |
| Country | US |
| Kind code | B2 |
| Filing date | Mar 17, 2021 |
| Priority date | Mar 18, 2020 |
| Publication date | Oct 29, 2024 |
| Grant date | Oct 29, 2024 |
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Abstract
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In a control method for a robot including a manipulator and a force detector that detects an external force acting on the manipulator on three detection axes orthogonal to one another, a direction of the external force is detected by the force detector, and a degree of freedom of motion of a tool center point set for the manipulator according to the external force is limited based on the direction of the external force.
First claim
Opening claim text (preview).
What is claimed is: 1. A control method for a robot including a manipulator and a force detector that detects an external force acting on the manipulator on three detection axes orthogonal to one another, comprising: detecting a direction of the external force by the force detector; and limiting motion of a tool center point set for the manipulator according to the external force to one degree of freedom based on the direction of the external force by controlling the external force acting on the tool center point to be a predetermined target force, when the largest value of the magnitude of the respective components of the external force on the three detection axes of the force detector is larger than a product of the second largest value and a first constant. 2. A robot system comprising: a robot including a manipulator and a force detector that detects an external force acting on the manipulator on three detection axes orthogonal to one another; and a processor programmed to detect a direction of the external force by the force detector, and limits motion of a tool center point set for the manipulator according to the external force to one degree of freedom based on the direction of the external force by controlling the external force acting on the tool center point to be a predetermined target force, when the largest value of the magnitude of the respective components of the external force on the three detection axes of the force detector is larger than a product of the second largest value and a first constant. 3. The control method for the robot according to claim 1 , further comprising: limiting motion of the tool center point set according to the external force to two degrees of freedom when the largest value of the magnitude of the respective components of the external force on the three detection axes of the force detector is smaller than a product of the second largest value and a second constant and the second largest value is larger than a product of the smallest value and a third constant.
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Classifications
learning, adaptive, model based, rule based expert control · CPC title
characterised by motion, path, trajectory planning · CPC title
characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title
- B25J9/1633Primary
compliant, force, torque control, e.g. combined with position control · CPC title
- B25J9/1602Primary
characterised by the control system, structure, architecture · CPC title
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- What does patent US12128564B2 cover?
- In a control method for a robot including a manipulator and a force detector that detects an external force acting on the manipulator on three detection axes orthogonal to one another, a direction of the external force is detected by the force detector, and a degree of freedom of motion of a tool center point set for the manipulator according to the external force is limited based on the direct…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1633. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Oct 29 2024 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 5 related publications on this page (citations in our corpus or others sharing the same primary CPC).