US 12,128,564 B2
Control method for robot and robot system
Hiroki Adachi, Matsumoto (JP); Kaoru Takeuchi, Azumino (JP); and Hirofumi Kinoshita, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, Tokyo (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Mar. 17, 2021, as Appl. No. 17/203,773.
Claims priority of application No. 2020-047310 (JP), filed on Mar. 18, 2020.
Prior Publication US 2021/0291365 A1, Sep. 23, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/163 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A control method for a robot including a manipulator and a force detector that detects an external force acting on the manipulator on three detection axes orthogonal to one another, comprising:
detecting a direction of the external force by the force detector; and
limiting motion of a tool center point set for the manipulator according to the external force to one degree of freedom based on the direction of the external force by controlling the external force acting on the tool center point to be a predetermined target force, when the largest value of the magnitude of the respective components of the external force on the three detection axes of the force detector is larger than a product of the second largest value and a first constant.