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Force control coordinate axis setting device, robot, and force control coordinate axis setting method

A technology for controlling coordinate axes and setting devices, which is applied in the direction of robots, program-controlled manipulators, manipulators, etc., and can solve problems such as the inability to set the force control coordinate system

Inactive Publication Date: 2018-05-08
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing technology, the coordinate system for force control cannot be set in the absence of the robot

Method used

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  • Force control coordinate axis setting device, robot, and force control coordinate axis setting method
  • Force control coordinate axis setting device, robot, and force control coordinate axis setting method
  • Force control coordinate axis setting device, robot, and force control coordinate axis setting method

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Embodiment Construction

[0022] Hereinafter, embodiments of the present invention will be described in the following order with reference to the drawings. In addition, in each figure, the same code|symbol is attached|subjected to the corresponding component, and overlapping description is abbreviate|omitted.

[0023] (1) The structure of the robot:

[0024] (2) Setting of force control coordinate axis:

[0025] (3) Other implementation modes:

[0026] (1) The structure of the robot:

[0027] figure 1 It is a perspective view of the robot 1 that can be controlled using the force control coordinate axes set by the force control coordinate axis setting device according to the embodiment of the present invention. Such as figure 1 As shown, the robot 1 includes a robot arm 10 and an end effector 20 . The robot arm 10 is a 6-axis robot arm having three bending joints B1-B3 and three torsion joints R1-R3. The bending joints B1 to B3 are joints that rotate the members constituting the robot arm 10 abou...

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Abstract

The invention provides a force control coordinate axis setting device, a robot and a force control coordinate axis setting method, wherein the force control coordinate axis setting device easily setsa coordinate system with an axis which is parallel with a target force. The force control coordinate axis setting device is configured such that within a virtual space, a force direction axis parallelto a direction of a target force applied to a robot and two orthogonal axes orthogonal to the force direction axis and orthogonal to each other are set, and the force direction axis and the orthogonal axes are set as coordinate axes of force control in the robot.

Description

technical field [0001] The invention relates to a force control coordinate axis setting device, a robot and a force control coordinate axis setting method. Background technique [0002] Conventionally, force control is known that adjusts a force acting on a robot to a target force. When performing this force control, a coordinate system that can easily express the target force is often set. For example, Patent Document 1 discloses that a working tool is pressed against a workpiece to be processed while maintaining a working posture, the reaction force is detected, and the direction of the reaction force is defined as one axis of the orthogonal coordinate system. direction. In addition, it is disclosed that an orthogonal coordinate system for force control is set using the 1-axis direction and position parameters for generating a target trajectory. [0003] [Prior Art Literature] [0004] 【Patent Literature】 [0005] Patent Document 1: Japanese Patent Application Laid-Op...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1605B25J19/007B25J9/1671B25J9/1633B25J13/085Y10S901/09
Inventor 竹内馨
Owner SEIKO EPSON CORP