Human-cooperative robot system
AssigneeFanuc Corporation
InventorsTakashi Sato, Yihua Gu
Life of this patent
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Abstract
A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.
Claims7
A human-cooperative robot system configured to work in cooperation with an operator, the system comprising:
- a robot including a handle;
- and
- a processor configured to:
- calculate a handling force applied to the handle, based on an output signal from a first force sensor provided at the handle,
- operate the robot in accordance with the calculated handling force,
- when operating the robot, calculate
- a resultant force of all forces acting on, a second force sensor provided at a proximal end side component of the robot, based on an output signal from the second force sensor, and
- an internal force acting on the second force sensor, based on mass of the robot,
- calculate an external force applied to the robot when operating the robot, by subtracting the calculated internal force from the calculated resultant force, the external force being indicative of a sum of
- (1) the handling force, and
- (2) a contact force applied from an external object to the robot when the robot contacts the object, and
- calculate the contact force by subtracting the calculated handling force from the calculated external force.
Dependencies are inferred from the claim text.