US 12,168,297 B2
Robot apparatus and control method
Yuya Yamamoto, Kanagawa (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Feb. 4, 2021, as Appl. No. 17/167,353.
Claims priority of application No. 2020-028370 (JP), filed on Feb. 21, 2020.
Prior Publication US 2021/0260756 A1, Aug. 26, 2021
Int. Cl. B25J 9/16 (2006.01); B23Q 7/04 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1612 (2013.01) [B23Q 7/046 (2013.01); B25J 9/1638 (2013.01); B25J 13/085 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A robot apparatus comprising:
a robot arm;
an end effector provided in the robot arm and configured to hold a workpiece; and
a controller configured to perform a control process for controlling the end effector to release the workpiece, the controller being configured to perform the control process in a case where an operation is performed within a predetermined time to change an orientation of the workpiece with respect to the end effector while the workpiece is supported by a user after a force in a gravity direction acting on the end effector from the workpiece decreases as a result of the user supporting the workpiece that is being held by the end effector.