Title:
ENGAGEMENT METHOD, ROBOT SYSTEM, CONTROL DEVICE, AND COMPUTER PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/019070
Kind Code:
A1
Abstract:
Provided is an engagement method that includes: a step for using a robot arm 20 to hold a subject W; a step for using the robot arm 20 to move the subject W so as to engage with a target object M; and a step for switching, on the basis of the occurrence of galling between the subject W and the target object M, to a compensation operation mode in which the robot arm 20 compensates for the weight thereof.
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Inventors:
OKADA TAKESHI (JP)
Application Number:
PCT/JP2021/024738
Publication Date:
January 27, 2022
Filing Date:
June 30, 2021
Export Citation:
Assignee:
SUMITOMO HEAVY INDUSTRIES (JP)
International Classes:
B25J13/08
Foreign References:
| JPH0796427A | 1995-04-11 | |||
| JP2003236785A | 2003-08-26 |
Attorney, Agent or Firm:
INABA, Yoshiyuki et al. (JP)
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