Robot controller
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United States of America Patent
Stats
-
Sep 25, 2001
Grant Date -
N/A
app pub date -
Jul 15, 1999
filing date -
Jul 23, 1998
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A robot controller is provided which can smoothly switch the mode between a position control in a free space and a position or force control to a contact surface, so that even if the contact surface has an unknown geometric error, the control system mode can be switched without the damage of a contact object and a workpiece and the out-of-control of the robot. The workpiece is moved to approach an estimated contact surface within the free space under a position control. Next, a groping motion is carried out under a position control from the estimated contact surface to an actual contact surface, and switched to a contact motion under a force control at the time point when the detected force value exceeds a certain threshold value. Then, a leaving motion is carried out.
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