ROBOT APPARATUS, ROBOT CONTROLLING METHOD, PROGRAM, AND RECORDING MEDIUM
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United States of America Patent
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app pub date -
Jul 12, 2017
filing date -
Jul 20, 2016
priority date (Note) -
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status (Latency Note)
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Abstract
Such a situation that excessive loads repetitively act on a force sensor and a robot arm and an excessive load acts on each work piece is suppressed, and even if there is a variation in a mass of a first work piece gripped by a robot hand, a high-precise fitting operation can be executed. A control unit for impedance-controlling the operation of a robot arm so that one work piece is come into contact with another work piece moves a robot hand for gripping the one work piece, and sets a value acquired before the start of the impedance control to a first target value. The impedance control is made based on the first target value.
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Patent Citation Ranking
- 6 Citation Count
- B25J Class
- 28.99 % this patent is cited more than
- 7 Age