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:
Jun. 27, 2023
Filed:
Jan. 10, 2020
Canon Kabushiki Kaisha, Tokyo, JP;
Masakazu Takahashi, Tokyo, JP;
CANON KABUSHIKI KAISHA, Tokyo, JP;
Abstract
A working robot includes an arm including a plurality of shafts, a hand, a controller, a handling portion configured to receive a manipulating force applied by a teaching operator, a manipulating force detection portion configured to detect the manipulating force, and a reaction force detection portion configured to detect a reaction force received by the hand from a work target object. When the teaching operator teaches an operation of the arm and the hand for generating a work operation program, in a case where the reaction force has not been detected, the controller adjusts a parameter of impedance control such that resistance to movement of the hand applied is reduced, and in a case where the reaction force has been detected by the reaction force detection portion, the controller adjusts the parameter of impedance control such that the resistance to movement of the hand applied is increased.