Robot control apparatus, robot and robot system
US10220513B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 19, 2017 |
| Grant date | Mar 5, 2019 |
| Priority date | — |
| Expiry date | Jul 19, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40087
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot control apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.