Patent ID: 9242380
Filing Date: 2016-01-26
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A robot including a robot arm and configured to convey an object in cooperation with a person, the robot comprising: a holder provided to the robot arm and configured to hold the object; a contact detector configured to detect contact between the holder and the object; a contact condition detector configured to detect a distance between the object and the holder as a contact condition upon contact; a holding motion selecting unit configured to switch motion of the robot arm upon hold in accordance with the contact condition detected by the contact condition detector; and a motion controller configured to move the robot arm in accordance with force applied to the robot arm by the person, wherein when the contact detector detects the contact, the robot arm temporarily stops and the holding motion selecting unit then selects one of continuously stopped motion, directionally limited motion, and directionally unlimited motion in accordance with information including one or both of the distance between the robot arm and the contacted object and the force applied to the robot arm by the person, and the motion controller causes the selected motion to achieve holding motion.