Robotersteuerungsverfahren und Robotersystem

Details

Veröffentlichungs-Nr.

EP3991923

Aktenzeichen

EP21204428

Anmeldetag

25. Oktober 2021

Veröffentlichung

12. Februar 2025

Erteilung

12. Februar 2025

Rechtsraum

EP

IPC

B25J9/16B25J9/00B25J13/08

Abstract

A robot control method for a robot (200) performing an insertion operation of inserting a second target object (Q) with force control into a first target object (W) conveyed by a conveyor device (600) is provided. The robot control method includes: a follow step (S71) of causing the second target object (Q) to follow the first target object (W) from an operation start location (L2), based on a conveyance speed of the first target object (W); a contact step (S73, S74) of bringing the second target object (Q) into contact with the first target object (W), the second target object (Q) being in a tilted attitude in relation to the first target object (W), with the force control; an attitude change step (S75) of changing the attitude of the second target object (Q) in such a way that the tilt in relation to the first target object (W) is eliminated, while pressing the second target object (Q) against the first target object (W), with the force control; and an insertion step (S76) of inserting the second target object (Q) into the first target object (W).

Anmelder

Firma

Seiko Epson Corporation

Land

🇯🇵 Japan

Fachgebiete