Teaching method
US11389948B2 · kind B2 · utility
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6Claims
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Key dates
| Filing date | Oct 9, 2020 |
| Grant date | Jul 19, 2022 |
| Priority date | — |
| Expiry date | Jan 19, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40354
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A teaching method of driving a robot arm by a drive unit based on a detection result of a force detection unit and storing a position and a posture of the driven robot arm in a memory unit, includes determining whether or not the posture of the robot arm is close to a singular posture, and, when determining that the posture of the robot arm is close to the singular posture, selecting and executing one escape posture from a plurality of escape posture candidates escaping from the posture close to the singular posture according to an external force detected by the force detection unit.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.