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

Claim 19:
20. A product manufacturing method manufacturing a product by operating workpieces by controlling a robot system controlled by a controller,
wherein the robot system comprises a robot arm to which an operator can perform direct teaching, a first sensor configured to acquire first information related to a force acting on a predetermined portion of the robot arm, and a second sensor configured to acquire second information related to a position of the predetermined portion,
wherein the controller comprises a processing part executing the method of:
a first acquiring process of acquiring the first information and the second information, during the predetermined portion being moved by the direct teaching;
a second acquiring process of acquiring information related to a contact force generated by a contact of the predetermined portion and a peripheral object based on the first information;
a setting process of setting a first section and a second section in the second information 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, the second section being a section for performing a force control of the robot arm; and
a manufacturing process of manufacturing the product by operating workpieces by using the predetermined portion by controlling the robot arm by using a position control data of the first section and a force control data of the second section.