| 发明名称 |
ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT SYSTEM |
| 摘要 |
A robot includes an arm that has a plurality of arm members, a drive unit driving the plurality of arm members, and a grasp unit; and a force detector. The robot sequentially performs a contact operation in which a fitting member grasped by the grasp unit is moved in a predetermined contact direction and is brought into contact with a to-be-fitted member, a posture change operation in which a posture of the fitting member is changed to a fitting posture, and a fitting operation in which the fitting member in the fitting posture is moved in a searching direction and the fitting member is fitted into the to-be-fitted member in a fitting direction. The contact direction, the searching direction, and the fitting direction are directions different from one another. |
| 申请公布号 |
US2016354928(A1) |
申请公布日期 |
2016.12.08 |
| 申请号 |
US201615170034 |
申请日期 |
2016.06.01 |
| 申请人 |
Seiko Epson Corporation |
发明人 |
SHIMODAIRA Yasuhiro;KOBAYASHI Masakazu |
| 分类号 |
B25J9/16;B25J17/02;B25J13/08 |
主分类号 |
B25J9/16 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A robot comprising:
an arm that has a plurality of arm members, a drive unit driving the plurality of arm members, and a grasp unit; and a force detector, wherein the robot sequentially performs a contact operation in which a fitting member grasped by the grasp unit is moved in a predetermined contact direction and is brought into contact with a to-be-fitted member, a posture change operation in which a posture of the fitting member is changed to a fitting posture, and a fitting operation in which the fitting member in the fitting posture is moved in a searching direction and the fitting member is fitted into the to-be-fitted member in a fitting direction, and wherein the contact direction, the searching direction, and the fitting direction are directions different from one another. |
| 地址 |
Tokyo JP |
