Control apparatus, robot system, and control method

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United States of America Patent

PATENT NO 11738469
APP PUB NO 20200130198A1
SERIAL NO

16666623

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A control apparatus includes a memory and a processor. The processor is configured to control a distal end portion of a robot to rotate around first and second distal end axes, perform a first control mode in which the distal end portion rotates around the first and second distal end axes, perform a second control mode in which the distal end portion rotates around the first distal end axis and does not rotate around the second distal end axis, switch the first control mode to the second control mode when the first distal end axis is perpendicular to a working surface, and control the distal end portion to work while performing the second control mode and maintaining a state in which the first distal end axis is perpendicular to the working surface after the first control mode is switched to the second control mode.

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Patent Owner(s)

  • SEIKO EPSON CORPORATION

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Hagihara, Tsutomu Hara-mura, JP 6 64

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