US 11,872,698 B2
Controller of robot and control method
Masakazu Takahashi, Tokyo (JP)
Assigned to CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Feb. 6, 2019, as Appl. No. 16/269,306.
Claims priority of application No. 2018-023368 (JP), filed on Feb. 13, 2018; and application No. 2018-227346 (JP), filed on Dec. 4, 2018.
Prior Publication US 2019/0248006 A1, Aug. 15, 2019
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/161 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01)] 37 Claims
OG exemplary drawing
 
1. A controller of a robot system, the robot system comprising a robot arm to which an operator can perform direct teaching, a first sensor configured to acquire first information related to a contact force acting on a predetermined portion of the robot arm, a second sensor configured to acquire second information related to a position of the predetermined portion of the robot arm, and a third sensor configured to acquire third information related to an operational force by the direct teaching of the operator, the controller comprising a processing part executing:
a first acquiring process of acquiring the first information, the second information, and the third information during the predetermined portion being moved by the direct teaching;
a second acquiring process of acquiring information related to the contact force generated by a contact of the predetermined portion and a peripheral object based on the first information;
a setting process of setting the second information in a first section and a second section during the predetermined portion being moved by the direct teaching, the first section being a section for performing a position control of the robot arm, and the second section being a section for performing a force control of the robot arm;
a third acquiring process of acquiring information related to the operational force given by the direct teaching of the operator in the second section based on the first information and the third information; and
a fourth acquiring process of acquiring force control data to perform the force control of the robot arm in the second section based on the information related to the operational force.