Title:
ロボット装置、制御方法、プログラム、記録媒体及び物品の製造方法
Document Type and Number:
Japanese Patent JP6794194
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To stop the action of a robot by reducing a load applied on the robot or work, when a stop command is received during control.SOLUTION: A robot 200 has electric motors 211-216, and torque sensors 541-546. The robot control device 300 obtains a torque instruction value to each electric motor 211-216 so as to decrease a force deviation between force acted at a hand end and a force target value, controls the drive of each electric motor 211-216 on the basis of each torque instruction value, and stops the action of the robot 200 by attenuating the force target value when receiving a stop command.SELECTED DRAWING: Figure 3
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Inventors:
Ryoichi Tsuzaki
Application Number:
JP2016172261A
Publication Date:
December 02, 2020
Filing Date:
September 02, 2016
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J19/06; B25J9/10
Domestic Patent References:
| JP2011104740A | ||||
| JP5371882B2 | ||||
| JP8132369A | ||||
| JP8305429A | ||||
| JP2010137312A | ||||
| JP2012213844A | ||||
| JP6312346A |
Attorney, Agent or Firm:
Chikajima International Patent Office