Title:
ROBOT SYSTEM CONTROL METHOD, ROBOT SYSTEM AND PROGRAM
Document Type and Number:
Japanese Patent JP2022150352
Kind Code:
A
Abstract:
To provide a robot system control method, a robot system and a program which can reduce the probability that it is wrongly determined whether insertion is success or failure.SOLUTION: A robot system control method includes: a detecting step of detecting a position of a female-type connector: a reference position setting step of setting a reference position as a reference for determining whether insertion of a male-type connector into the female-type connector is success or failure, on the basis of the position of the female-type connector; and an insertion operating step in which the male-type connector at an insertion starting position is moved along an inserting direction of the female-type connector, a position, at which a force sensor that a robot has senses predetermined force generated when the male-type connector contacts the female-type connector during the movement of the male-type connector, is set as a comparing position, and the reference position is compared with the comparing position to determine whether the insertion is success or failure.SELECTED DRAWING: Figure 4
Inventors:
UEDA JUNYA
Application Number:
JP2021052920A
Publication Date:
October 07, 2022
Filing Date:
March 26, 2021
Export Citation:
Assignee:
SEIKO EPSON CORP
International Classes:
B25J13/08; B25J9/12
Attorney, Agent or Firm:
Satoshi Nakai
Hiroki Matsuoka
Masayuki Imamura
Hiroki Matsuoka
Masayuki Imamura