公开(公告)号：US20180129184A1

公开(公告)日：2018-05-10

申请号：US15806719

申请日：2017-11-08

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA ,  Junya UEDA

IPC: G05B19/401 ,  B25J13/08 ,  B25J9/16

CPC classification number: G05B19/401 ,  B25J9/1692 ,  B25J9/1694 ,  B25J13/085 ,  G05B2219/39323 ,  G05B2219/39529 ,  G05B2219/45064 ,  G05B2219/45091

Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot that includes a robot arm including a force detector, wherein the processor is configured to reset the force detector after moving the robot arm at a first speed, and subsequently moves the robot arm at a second speed faster than the first speed and performs force control based on an output from the force detection unit.

公开(公告)号：US20180059637A1

公开(公告)日：2018-03-01

申请号：US15793125

申请日：2017-10-25

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA

IPC: G05B19/401 ,  B25J13/08

CPC classification number: G05B19/401 ,  B25J9/1692 ,  B25J9/1694 ,  B25J13/085 ,  G05B2219/39058 ,  G05B2219/39529 ,  G05B2219/40599 ,  G05B2219/45058 ,  G05B2219/45064 ,  Y10S901/02 ,  Y10S901/31 ,  Y10S901/41 ,  Y10S901/46

Abstract: A robot includes a robot arm, a force sensor, and a control unit configured to control the operation of the robot art. The control unit initializes the force sensor while the robot arm is moving at uniform speed. It is preferable that the control unit initializes the force sensor while the robot arm is moving at the uniform speed and the amplitude of a detection value of the force sensor is smaller than a threshold.

公开(公告)号：US20160354928A1

公开(公告)日：2016-12-08

申请号：US15170034

申请日：2016-06-01

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA ,  Masakazu KOBAYASHI

IPC: B25J9/16 ,  B25J17/02 ,  B25J13/08

CPC classification number: B25J9/1687 ,  B25J9/1633 ,  B25J9/1679 ,  B25J13/085 ,  B25J17/0208 ,  G05B2219/39319 ,  G05B2219/39321 ,  G05B2219/39322 ,  G05B2219/39332 ,  G05B2219/40032 ,  G05B2219/40033 ,  G05B2219/45055 ,  Y10S901/09

Abstract: 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.

Abstract translation: 机器人包括具有多个臂构件的臂，驱动多个臂构件的驱动单元和把持单元; 和力检测器。 机器人顺序地执行接触操作，其中由把持单元抓住的配合构件沿预定接触方向移动并与被配合构件接触，姿势改变操作，其中装配构件的姿势 改变成装配姿态，并且使装配姿势中的装配构件沿搜索方向移动并且装配构件沿装配方向装配到装配构件中的装配操作。 接触方向，搜索方向和装配方向是彼此不同的方向。

公开(公告)号：US20160052135A1

公开(公告)日：2016-02-25

申请号：US14833619

申请日：2015-08-24

Applicant: Seiko Epson Corporation

Inventor： Masaki MOTOYOSHI ,  Yasuhiro SHIMODAIRA ,  Sota YAMAMOTO ,  Yudai TAKEUCHI

IPC: B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/1633 ,  G05B2219/39325 ,  G05B2219/40014 ,  G05B2219/40032

Abstract: A robot includes: a controller that causes a fitting member including at least one fitting flat surface which is a flat surface parallel to a fitting direction to move in the fitting direction so as to fit a fitted section.

Abstract translation: 机器人包括：控制器，其使得配合构件包括至少一个与装配方向平行的平坦表面的配合平面，以沿配合方向移动以配合配合部。