Patent ID: 11872698
Assignee: CANON KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 17:
18. A control method of a controller controlling a robot system comprising a robot arm to which an operator can perform direct teaching, the control method comprising:
acquiring first information related to a contact force acting on a predetermined portion of the robot arm by using a first sensor, second information related to position of the predetermined portion by using a second sensor, and third information related to an operational force by the direct teaching of the operator during the predetermined portion moved by the direct teaching;
acquiring information related to a contact force generated by a contact of the predetermined portion and a peripheral object based on the first information;
setting the second information in a first section and a second section during the predetermined portion being moved by the direct teaching, the first section being a section for performing a position control of the robot arm, and the second section being a section for performing a force control of the robot arm;
acquiring information related to the operational force given by the direct teaching of the operator in the second section based on the first information and the third information; and
acquiring force control data to perform the force control of the robot arm in the second section based on the information related to the operational force.