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:
Jul. 19, 2022
Filed:
Oct. 09, 2020
Seiko Epson Corporation, Tokyo, JP;
Kaoru Takeuchi, Azumino, JP;
Hiroki Adachi, Matsumoto, JP;
Abstract
A teaching method of driving a robot arm by a drive unit based on a detection result of a force detection unit and storing a position and a posture of the driven robot arm in a memory unit, includes determining whether or not the posture of the robot arm is close to a singular posture, and, when determining that the posture of the robot arm is close to the singular posture, selecting and executing one escape posture from a plurality of escape posture candidates escaping from the posture close to the singular posture according to an external force detected by the force detection unit.
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