US 11,685,042 B2
Working robot and control method for working robot
Masakazu Takahashi, Tokyo (JP)
Assigned to CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Jan. 10, 2020, as Appl. No. 16/740,208.
Application 16/740,208 is a continuation of application No. PCT/JP2018/027015, filed on Jul. 19, 2018.
Claims priority of application No. JP2017-141250 (JP), filed on Jul. 20, 2017; and application No. JP2018-127463 (JP), filed on Jul. 4, 2018.
Prior Publication US 2020/0147787 A1, May 14, 2020
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/0081 (2013.01) [B25J 9/163 (2013.01); B25J 9/1633 (2013.01); B25J 9/1687 (2013.01); B25J 9/1694 (2013.01); B25J 13/085 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A robot system comprising:
a robot body comprising a predetermined portion;
a controller;
a manipulating force detection portion configured to detect an information relating to a manipulating force when an operator moves the predetermined portion; and
a reaction force detection portion configured to detect an information relating to a reaction force received by the predetermined portion from an object,
wherein, when the operator moves the predetermined portion, the controller is configured to control a resistance force in accordance with the reaction force and the manipulating force, and
wherein, in a case where the reaction force has not been detected by the reaction force detection portion, the controller is configured to control the resistance force such that, when the operator moves the predetermined portion in a direction of the manipulating force, the resistance force becomes smaller than the resistance force when the manipulating force is not detected, and
wherein the robot body comprises an end effector provided in the predetermined portion, and
wherein the controller is configured to acquire the reaction force applied to the end effector, on the basis of position and orientation information of the end effector, and a detection result of the reaction force detection portion.