ROBOT DEVICE, AND CONTROL METHOD
To suppress excessive load on a workpiece.SOLUTION: A robot device according to one aspect of the present disclosure comprises: a robot having a tip, and a multi-joint arm changing a position and an attitude of the tip; a placement control unit controlling the multi-joint arm so that the tip is plac...
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| Format: | Patent |
| Sprache: | eng ; jpn |
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| Zusammenfassung: | To suppress excessive load on a workpiece.SOLUTION: A robot device according to one aspect of the present disclosure comprises: a robot having a tip, and a multi-joint arm changing a position and an attitude of the tip; a placement control unit controlling the multi-joint arm so that the tip is placed above a workpiece; and a load control unit which reduces a supporting force to be applied to the tip by the multi-joint arm while the tip is placed above the workpiece, and causes at least a part of the weight of the tip to act on the workpiece.SELECTED DRAWING: Figure 2
【課題】ワークへの過度な荷重を抑制する。【解決手段】本開示の一側面に係るロボット装置は、先端部と、先端部の位置及び姿勢を変更させる多関節アームとを有するロボットと、ワークの上方に先端部を配置するように多関節アームを制御する配置制御部と、ワークの上方に先端部が配置された状態で、多関節アームが先端部に付与する支持力を縮小して、先端部の重さの少なくとも一部をワークに作用させる荷重制御部と、を備える。【選択図】図２ |
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