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:
Nov. 01, 2022
Filed:
Dec. 11, 2020
Seiko Epson Corporation, Tokyo, JP;
Masaki Motoyoshi, Azumino, JP;
Abstract
A control method executes a first step of actuating a brake to decelerate a robot arm, a second step of releasing or relaxing the actuation of the brake when one of Conditions A1, A2, and A3 is satisfied after deceleration of the robot arm, and a third step of actuating the brake again to restrict driving of the robot arm when one of Conditions B1, B2, and B3 is satisfied after release or relaxation of the brake, Condition A1: a velocity of the robot arm becomes a predetermined value or less; Condition A2: a contact state between the robot arm and the object becomes stable; Condition A3: time TA elapses; Condition B1: time TB elapses; Condition B2: a movement amount of the robot arm becomes a predetermined value or more; and Condition B3: the contact state between the object and the robot arm is released or relaxed.