Title:
ROBOT DEVICE, ROBOT CONTROL METHOD, ARTICLE MANUFACTURING METHOD, PROGRAM, AND RECORDING MEDIUM
Document Type and Number:
Japanese Patent JP2018020430
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a robot device for suppressing the repeated actions of an excessive load upon a force sensor or a robot arm, for suppressing an excessive load from acting on each work-piece, thereby to enable a fitting action of high accuracy even if the weight of a first work to be gripped by the robot hand is dispersed.SOLUTION: A control part 301 for impedance-controlling the operations of a robot arm 201 so that the detection value of a force sensor 203 may approach to a target value so as to make a work-piece W1 contact a work-piece W2 causes a robot hand 202 for gripping the work-piece W1 to move thereby to acquire a first target value from the detection value of the force sensor 203. Moreover, the impedance control is performed by assuming the first target value obtained, as the detection value of the force sensor 203.SELECTED DRAWING: Figure 1
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Inventors:
MIURA AKINARI
Application Number:
JP2017133945A
Publication Date:
February 08, 2018
Filing Date:
July 07, 2017
Export Citation:
Assignee:
CANON KK
International Classes:
B25J13/08
Domestic Patent References:
| JP2010142909A | 2010-07-01 |
Attorney, Agent or Firm:
Kazuo Chikajima
Takashi Daejeon
Takashi Daejeon