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Control Apparatus And Robot System

  • US 20200130200A1
  • Filed: 10/29/2019
  • Published: 04/30/2020
  • Est. Priority Date: 10/30/2018
  • Status: Active Grant
First Claim
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1. A robot system comprising:

  • a robot having a base, a movable unit provided movably relative to the base, and a force detection unit that detects a force applied to the movable unit; and

    a control unit that controls the movable unit according to the force detected by the force detection unit in teaching of the robot, whereinwhen a first condition that a time in which magnitude of a first detection force detected by the force detection unit is larger than a first force threshold value continued for a time longer than zero and shorter than a first time threshold value is satisfied in the teaching, the control unit moves the movable unit in a predetermined amount in a direction according to a direction of the first detection force, andwhen a second condition that magnitude of a second detection force detected by the force detection unit is larger than a second force threshold value that is larger than the first force threshold value is satisfied during the movement of the movable unit, the control unit decelerates or stops the movable unit.

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