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US 10,870,199 B2Granted
Robot system and robot teaching method
AssigneeFanuc Corporation
InventorMakoto Someya
Life of this patent
Estimating the term…
Abstract
Provided is a robot system including a robot including at least one sensor that detects an applied external force and a controller that controls the robot. The controller changes an operation mode of the robot when performing lead-through teaching in accordance with a position and a pattern of the external force detected by the sensor.
Claims10
A robot system comprising:
- a robot including at least one sensor that detects an applied external force;
- and
- a controller that controls the robot,
- wherein the controller is configured to determine a position to which the external force has been applied and a pattern with which the external force has been applied on a basis of the detected external force, and is configured to change one of a plurality of predetermined operation modes of the robot on a basis of the determined position and the determined pattern;
- and
- wherein the position of the external force is determined based on a moment around a first axis and at least one external force in a second axis perpendicular to the first axis when the external force is applied.
3 more elements
A robot teaching method, comprising:
- detecting an external force applied to a robot;
- determining a position to which the external force has been applied and a pattern with which the external force has been applied on a basis of the detected external force;
- and
- changing one of a plurality of predetermined operation modes of the robot on a basis of the detected position and pattern of the external force,
- wherein the position of the external force is determined based on a moment around a first axis and at least one external force in a second axis perpendicular to the first axis when the external force is applied.
2 more elements
A robot system comprising:
- a robot;
- and
- a controller that controls the robot,
- wherein the robot comprises:
- a basic shaft unit comprising a base fixed to a floor surface, a rotating body supported to rotate about a first axis that is orthogonal to the base, a first arm supported to swivel about a second axis that is horizontal to the rotating body, a second arm supported by a distal end of the first arm to swivel about a third axis that is parallel to the second axis;
- a wrist provided at a distal end of the second arm;
- and
- a sensor disposed between the rotating body and the base, the sensor detecting an applied external force, and
- wherein the controller is configured to:
- determine, on a basis of the detected external force, whether the external force has been applied with a predetermined pattern,
- calculate, on a basis of the applied external force and a moment around the first axis, a distance between the first axis and a point of application of the external force,
- determine whether the calculated distance exceeds a predetermined threshold,
- in response to the external force having been applied with the predetermined pattern and the distance exceeding the predetermined threshold, changing an operation mode such that only the wrist is manually moved, and
- in response to the external force having been applied with the predetermined pattern and the distance being equal to or less than the predetermined threshold, changing such that only the basic shaft unit is manually moved.
11 more elements
Dependencies are inferred from the claim text.