Patent ID: 9102059
Filing Date: 2015-08-11
Classification: B25J,G05B

Abstract:
1. A robot control method of a robot that has a suction mechanism for at least one contact portion coming in contact with an object to hold the object and that holds the object, the robot control method comprising: selecting a holding form in which at least a position on the object coming in contact with the at least one contact portion is specified as a holding form in which the robot holds the object; and determining in advance whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form, wherein it is determined that the object can continue to be stably held when a force which should be generated by the at least one contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the at least one contact portion and enlarged by a suction force from the suction mechanism; and generating a control signal for controlling the robot so that the robot holds the object in the determined holding form.