US 11,865,728 B2
Fitting method and robot system
Hirofumi Kinoshita, Matsumoto (JP); Kaoru Takeuchi, Azumino (JP); and Hiroki Adachi, Yokohama (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Oct. 29, 2021, as Appl. No. 17/514,064.
Claims priority of application No. 2020-182096 (JP), filed on Oct. 30, 2020.
Prior Publication US 2022/0134563 A1, May 5, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1687 (2013.01) [B25J 13/085 (2013.01); B25J 13/088 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A fitting method of fitting a first object in a second object using a robot having a movable unit including a robot arm and an end effector provided in the robot arm and gripping the first object and a force detection unit detecting a force applied to the movable unit, comprising:
(a) moving the first object in a fitting direction and detecting a first position as a position where fitting of the first object and the second object is determined;
(b) moving the first object from the first position toward a determination direction different from the fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value; and
(c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.