Robot and control method of robot
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United States of America Patent
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May 15, 2018
Issued Date -
N/A
app pub date -
Sep 30, 2014
filing date -
Oct 1, 2013
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
A robot includes robot arm including lower arm, upper arm and hand attached to tip end portion of upper arm such that the hand is rotatable around rotational axis thereof; lower arm drive unit which drive the lower arm to move the hand, upper arm drive unit which drives the upper arm to move the hand; hand drive unit which rotates the hand; hand angular position detecting section which detects angular position of the hand around the rotational axis; and control unit which controls upper arm drive unit, lower arm drive unit, and hand drive unit, wherein the hand includes a blade having a first contact/slide surface and second contact/slide surface which extend in a first direction, contact a teaching target and slide thereon, and first contact/slide surface and second contact/slide surface include a first characterizing portion and a second characterizing portion having bent points in the first direction, respectively.
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