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

Claim 35:
36. The controller according to claim 1,
wherein the robot system includes a third sensor configured to acquire third information related to force acting on the predetermined portion,
wherein the controller is configured to acquire information, based on the first and third information, related to operational force given by the operator during the predetermined portion is moved by the direct teaching, and
wherein the controller is configured to select a first case and a second case, the first case being a case where the controller corrects information related to the operational force in the second section based on change of the operational force to acquire the information related to the operational force as force control data to perform the force control of the robot arm, and the second case being a case where the controller does not correct information related to the operational force in the second section to acquire the information related to the operational force as force control data to perform the force control of the robot arm.