Robot control apparatus, robot, and robot system
US10434646B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 10, 2017 |
| Grant date | Oct 8, 2019 |
| Priority date | — |
| Expiry date | Nov 18, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39322
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot control apparatus includes a robot control part that controls a robot; and a force detection information acquisition part that acquires force detection information from a force detector. The robot control part allows the robot to move a first object closer to a second object and, if a magnitude of at least one of a force and moment contained in the force detection information exceeds a predetermined first threshold value, to perform an operation of bringing a first surface of the first object into surface contact with a second surface of the second object according to position control and force control based on a predetermined distance and a predetermined velocity.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.