公开(公告)号：US20180339414A1

公开(公告)日：2018-11-29

申请号：US15981026

申请日：2018-05-16

申请人： Seiko Epson Corporation

发明人： Makoto TAGUCHI

IPC分类号： B25J19/02 ,  B25J13/08 ,  B25J13/06 ,  B25J9/16 ,  B25J9/00

CPC分类号： B25J19/028 ,  B25J9/0081 ,  B25J9/1633 ,  B25J9/1684 ,  B25J9/1687 ,  B25J13/06 ,  B25J13/085

摘要： A control device controls the arm such that a first contacting operation of setting an object to a first orientation and bringing the object into contact with an inserted object is performed, and an inserting operation of setting the object to a second orientation different from the first orientation and inserting the object by moving the object in a first direction is performed. Between the first contacting operation and the inserting operation, the control device performs a second contacting operation of bringing the object and the inserted object into contact in a portion different from a contact portion in the first contacting operation by performing force control such that a component of a target force in a second direction orthogonal to the first direction is set to a value greater than 0 based on an output from the force sensor at an orientation at which the object is tilted.

公开(公告)号：US20220134564A1

公开(公告)日：2022-05-05

申请号：US17514147

申请日：2021-10-29

申请人： Seiko Epson Corporation

发明人： Makoto TAGUCHI

IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J9/00

摘要： A robot control method for a robot performing an insertion operation of inserting a second target object with force control into a first target object conveyed by a conveyor device is provided. The robot control method includes: a follow step of causing the second target object to follow the first target object from an operation start location, based on a conveyance speed of the first target object; a contact step of bringing the second target object into contact with the first target object, the second target object being in a tilted attitude in relation to the first target object, with the force control; an attitude change step of changing the attitude of the second target object in such a way that the tilt in relation to the first target object is eliminated, while pressing the second target object against the first target object, with the force control; and an insertion step of inserting the second target object into the first target object.

公开(公告)号：US20180200893A1

公开(公告)日：2018-07-19

申请号：US15872085

申请日：2018-01-16

申请人： Seiko Epson Corporation

发明人： Makoto TAGUCHI

IPC分类号： B25J13/08 ,  B25J9/16 ,  G05B15/02

CPC分类号： B25J13/085 ,  B25J9/0096 ,  B25J9/1633 ,  B25J9/1669 ,  B25J9/1687 ,  B25J9/1694 ,  G05B15/02 ,  G05B2219/40033 ,  Y10S901/09 ,  Y10S901/30 ,  Y10S901/46

摘要： A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot provided with a manipulator, wherein in a case where the processor is configured to cause an end effector connected to the manipulator assemble a first object held by the end effector to a second object and a third object, the processor is configured to: cause the first object to come into contact with at least one of the second object and the third object; rotate the first object around a second rotation axis intersecting a first rotation axis while rotating the first object around the first rotation axis to assemble the second object and the first object to each other; and thereafter, rotate the first object around a third rotation axis intersecting the first rotation axis to assemble the third object and the first object to each other.