Teaching method and robot system
US11660742B2 · kind B2 · utility
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4Claims
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Key dates
| Filing date | Jan 29, 2021 |
| Grant date | May 30, 2023 |
| Priority date | — |
| Expiry date | May 20, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/36489
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.