Method of controlling robot
US11465288B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | May 22, 2020 |
| Grant date | Oct 11, 2022 |
| Priority date | — |
| Expiry date | Apr 8, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45091
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method of controlling a robot that performs work using an end effector on an object transported by a handler includes calculating a target position of the end effector based on a position of the object, calculating a tracking correction amount for correction of the target position in correspondence with a transport amount of the object, controlling the end effector to follow the object based on the target position and the tracking correction amount, acquiring an acting force acting on the end effector from the object using a force sensor, calculating a force control correction amount for correction of the target position to set the acting force to a target force, and controlling the acting force to be the predetermined target force by driving the manipulator based on the force control correction amount.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.