The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 23, 2021
Filed:
Oct. 19, 2017
Applicant:
Seiko Epson Corporation, Tokyo, JP;
Inventors:
Fumiaki Hasegawa, Azumino, JP;
Ryuichi Okada, Matsumoto, JP;
Assignee:
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1682 (2013.01); B25J 9/0087 (2013.01); B25J 9/1633 (2013.01); B25J 13/085 (2013.01); G05B 2219/39109 (2013.01); G05B 2219/39343 (2013.01); G05B 2219/45048 (2013.01);
Abstract
A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, includes a processor that configured to move the first robot arm until a target force is detected by the first force detection part and performs impedance control on the second robot arm based on output of the second force detection part in at least a part of a movement period in which the first robot arm is moved.