| 发明名称 | Robot apparatus, assembling method, and recording medium | ||
| 摘要 | A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit. | ||
| 申请公布号 | US9211642(B2) | 申请公布日期 | 2015.12.15 |
| 申请号 | US201514594723 | 申请日期 | 2015.01.12 |
| 申请人 | Seiko Epson Corporation | 发明人 | Nammoto Takashi;Kosuge Kazuhiro;Kamei Kentaro |
| 分类号 | G05B19/00;B25J9/16;B25J13/08 | 主分类号 | G05B19/00 |
| 代理机构 | Harness, Dickey & Pierce, P.L.C. | 代理人 | Harness, Dickey & Pierce, P.L.C. |
| 主权项 | 1. A robot for assembling a first component with a second component, the robot comprising: a manipulator unit capable of turning and bending; a gripping unit coupled to the manipulator unit; and a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, wherein: the gripping unit is controlled by a control unit based on the detection values and a transition information, and the transition information includes information for transitioning the gripping unit from a present contact state to a next target state. | ||
| 地址 | JP | ||