US 11,738,458 B2
Control method for robot system
Yuki Kiyosawa, Shiojiri (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Nov. 13, 2020, as Appl. No. 17/97,127.
Claims priority of application No. 2019-206825 (JP), filed on Nov. 15, 2019.
Prior Publication US 2021/0146542 A1, May 20, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 5/00 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 5/007 (2013.01); B25J 13/087 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A control method for a robot system for causing a processor to execute a process,
the robot system including:
a robot arm,
a vehicle being movable and supporting the robot arm, and
a tilt sensor configured to detect a tilt value of a tilt relative to a reference direction of t least one of the robot arm or the vehicle,
the control method comprising executing on the processor the steps of:
controlling the robot arm to sequentially position a control point of the robot arm to a plurality of target points initially based on a control parameter, the plurality of target points including an initial target point a previous target point, and an object target point the previous target point being initially set as one point directly prior to the object target point among the plurality of target points;
moving at least one of the robot arm or the vehicle to position the control point to the initial target point using the control parameter;
moving at least one of the robot arm or the vehicle to position the control point to the previous target point using the control parameter after the control point is positioned at the initial target point;
causing the tilt sensor to detect the tilt value of the tilt relative to the reference direction of at least one of the robot arm or the vehicle when the control point is positioned at the previous target point;
resetting the control parameter based on the tilt value so as to generate a reset control parameter; and
moving at least one of the robot arm or the vehicle to position the control point to the object target point using the reset control parameter.