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:
Sep. 21, 2021
Filed:
Dec. 12, 2019
Kyocera Document Solutions Inc., Osaka, JP;
Haruki Shoji, Osaka, JP;
KYOCERA Document Solutions Inc., Osaka, JP;
Abstract
A control apparatus includes a robot having an arm, a driver, an end effector, a first detector, and a second detector, and a control device. The control device acts as a third detector, a calculator, and a controller. The third detector detects a slip direction of the object held by the end effector. The calculator calculates an angle defined by the slip direction detected by the third detector and a direction opposite to gravity. The controller causes the end effector holding the object to pivot by the angle calculated by the calculator, to align the slip direction detected by the third detector with the direction opposite to gravity.