Steuerungsvorrichtung, Steuerungsverfahren und Steuerungsprogramm

Details

Veröffentlichungs-Nr.

EP4789824

Anmeldetag

2. Oktober 2024

Veröffentlichung

10. April 2025

Rechtsraum

EP

IPC

B25J13/00

Abstract

A control apparatus acquires position data of a control target portion provided to a robot. The control apparatus controls the control target portion so as to be in a first mode, in which a degree of softness of the control target portion is a prescribed value or greater, in cases in which the control target portion has not visited a position expressed by the position data in the past, or in cases in which a degree of contact of the control target portion with an obstacle at the position data is a prescribed degree or greater. Moreover, the control apparatus controls the control target portion so as to be in a second mode, in which a degree of rigidity of the control target portion is a prescribed value or greater, in cases in which the control target portion has visited the position expressed by the position data in the past and also in cases in which a degree of contact of the control target portion with an obstacle at the position data is less than the prescribed degree.

Anmelder

Firmen

OMRON Corporation
National University Corporation Nara Institute of Science and Technology

Land

🇯🇵 Japan

Fachgebiete