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公开(公告)号：EP4223465A1
公开(公告)日：2023-08-09
申请号：EP21875881.1
申请日：2021-10-01
摘要： A robot system 100 includes a robot (1) including an end effector (6), an operation unit (8), and a controller (3) which moves the end effector (6) based on operation of the operation unit (8) and causes the end effector (6) to perform processing to a to-be-processed surface of a workpiece in a contactless manner. When moving the end effector (6) based on the operation of the operation unit (8), the controller (3) performs at least either one of a first control in which a distance between the end effector (6) and a control to-be-processed surface, which is the to-be-processed surface of the workpiece or an imaginary to-be-processed surface of the workpiece, is constant, or a second control in which an angle of the end effector with respect to the control to-be-processed surface is constant.
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公开(公告)号：EP4223464A1
公开(公告)日：2023-08-09
申请号：EP21875884.5
申请日：2021-10-01
摘要： A processing method of the present disclosure includes one or both of a first processing and a second processing for extracting a reference teaching point from teaching points, which include position/posture information on an end effector (120) and form a moving route of the end effector in a time-series manner. The first processing extracts a reference teaching point having a difference between a direction vector from a position of a teaching point preceding the reference teaching point by a given interval to a position of the reference teaching point, and a direction vector from the position of the reference teaching point to a position of a teaching point succeeding the reference teaching point by a given interval, being equal to or more than a threshold. The second processing extracts the reference teaching point having one of a difference between a posture at a teaching point preceding the reference teaching point by a given interval and a posture at the reference teaching point, and a difference between the posture at the reference teaching point and a posture of a teaching point succeeding the reference teaching point by a given interval, being equal to or more than a threshold.
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