ROBOT SYSTEM, ROBOTIC PROCESSING METHOD, AND PROCESSING PROGRAM
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United States of America Patent
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Issued Date -
Oct 17, 2024
app pub date -
Jul 29, 2022
filing date -
Jul 29, 2022
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Abstract
A robot system 100 includes a robot 1 that removes a processing portion B of an object W by a griding device 11a and a controller 3 that controls the robot 1. The controller 3 has a trajectory generator 610 that generates a target trajectory of the griding device 11a tracing the processing portion B and a movement commander 60 that executes position control for moving the robot 1 such that the griding device 11a moves along the target trajectory while executing elasticity control for moving the robot 1 such that the griding device 11a moves so as to deviate from the target trajectory according to reactive force from the object W and the pressing force of the griding device 11a on the object W increases according to the distance from the target trajectory.
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