US 11,951,625 B2
Control method for robot and robot system
Nobuhiro Karito, Kiso (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Jun. 29, 2021, as Appl. No. 17/361,425.
Claims priority of application No. 2020-112527 (JP), filed on Jun. 30, 2020.
Prior Publication US 2021/0402596 A1, Dec. 30, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1661 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A control method for a robot having a robot arm that performs first work on a first working object and performs second work of a same type as the first work on a second working object of a same type as the first working object, comprising:
obtaining first information relating to configurations of the first and second working objects and positions of the first and second working objects within a robot coordinate system from a memory;
setting a plurality of initial target positions with respect to the first working object within the robot coordinate system based on the first information, the first working object being in a three-dimensional shape having a first outer periphery and a first inside interior of the first outer periphery, the plurality of initial target positions being located at the first inside interior of the first working object;
setting an initial target trajectory along which a control point on the robot arm passes such that a tool center point of a tool attached to the robot arm passes through the plurality of initial target positions;
executing the first work on the first working object by operating the robot arm with force control based on the set initial target trajectory;
detecting a first actual trajectory along which the control point passes during the execution of the first work on the first working object with the force control;
storing the first actual trajectory into the memory;
setting a plurality of first updated target positions with respect to the second working object based on the first actual trajectory, the second working object being in a three-dimensional shape having a second outer periphery and a second inside interior of the second outer periphery, the plurality of first updated target positions being located on the second outer periphery of the second work object; and
executing the second work on the second working object by operating the robot arm with the force control based on the set plurality of first updated target positions.