Title:
制御方法
Document Type and Number:
Japanese Patent JP6696341
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a robot that can perform contact detection having less influence of variation of a detection value of a force detection part, and the like.SOLUTION: A robot comprises a first movable part. In the case where a speed of the first movable part is faster than a speed of a second member, when gripping an object with the first movable part, the robot detects contact between the object and the second member based on a detection result of a second force detection part provided on the second member. A control part for controlling the first movable part receives the detection result. When not gripping the object with the first movable part, the robot detects contact between the first movable part and the second member based on the detection result of the second force detection part, and the control part for controlling the first movable part receives the detection result.SELECTED DRAWING: Figure 1
Inventors:
Nobuhiro Kado
Application Number:
JP2016149431A
Publication Date:
May 20, 2020
Filing Date:
July 29, 2016
Export Citation:
Assignee:
Seiko Epson Corporation
International Classes:
B25J13/08
Domestic Patent References:
| JP2015150673A | ||||
| JP2012254487A | ||||
| JP2014237199A | ||||
| JP2012139771A |
Attorney, Agent or Firm:
Kazuaki Watanabe
Mitsuhiro Isobe
Satoshi Nakai
Hiroki Matsuoka
Mitsuhiro Isobe
Satoshi Nakai
Hiroki Matsuoka