Robot and robot system
US-2018029221-A1 · Feb 1, 2018 · US
Teaching method and robot system
US2021237261A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2021237261-A1 |
| Application number | US-202117161714-A |
| Country | US |
| Kind code | A1 |
| Filing date | Jan 29, 2021 |
| Priority date | Jan 31, 2020 |
| Publication date | Aug 5, 2021 |
| Grant date | — |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
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. 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, and when the restrictive condition is relaxed, the upper limit value is gradually increased. 3 . The teaching method according to claim 1 , wherein, when the restrictive condition is relaxed, the upper limit value is gradually increased. 4 . The teaching method according to claim 1 , wherein, when the restrictive condition is relaxed, the restrictive condition is continuously relaxed. 5 . The teaching method according to claim 1 , wherein, when the restrictive condition is relaxed, a rate of change in a degree of the relaxing of the restrictive condition is gradually reduced. 6 . The teaching method according to claim 1 , wherein, when the restrictive condition is relaxed, a rate of change in a degree of the relaxing of the restrictive condition is gradually increased. 7 . The teaching method according to claim 1 , wherein, when the restrictive condition is relaxed, a rate of change in a degree of the relaxing of the restrictive condition is gradually increased until a predetermined time or up to a predetermined movement amount and is gradually reduced at the predetermined or subsequent time or the predetermined or larger movement amount. 8 . The teaching method according to claim 1 , 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. 9 . A robot system comprising: a robot including a robot arm; a force detecting section configured to detect external force applied to the robot arm; a storing section configured to store a position and a posture of the robot arm; and a control section 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 storing section, wherein the control section 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.
Assignees
Inventors
Classifications
Position and force · CPC title
Move manually, touch surface, record position · CPC title
- G05B19/423Primary
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
compliant, force, torque control, e.g. combined with position control · CPC title
Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US2021237261A1 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 G05B19/423. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Thu Aug 05 2021 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). 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).