Robot control apparatus, robot and robot system
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United States of America Patent
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Mar 5, 2019
Grant Date -
Jan 25, 2018
app pub date -
Jul 19, 2017
filing date -
Jul 22, 2016
priority date (Note) -
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Abstract
A robot control apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different.
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