# US 10,870,199 B2 · Robot system and robot teaching method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,199 B2 - Document ID: US10870199B2 - Status: Granted - Kind: B2 - Application number: 16/003,773 - Filed: 2018-06-08 - Published: 2019-01-17 - Granted: 2020-12-22 - Earliest claimed: 2017-07-12 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Makoto Someya - Web page: https://patentgrep.com/patent/US10870199B2 ## CPC - B25J 9/0081: {with leader teach-in means} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - G05B 19/423: Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path - G05B 2219/36418: Modify trajectory by operator gesture, gesture force sensed by end effector - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The robot system according to claim 1, wherein the sensor detects the magnitude of the applied external force applied to the robot and also detects the moment around the first axis, and wherein the determining of the position and the pattern comprises calculating the position to which the applied external force has been applied based on the magnitude of the applied external force and the moment detected by the sensor. ### Claim 3 (depends on 1) The robot system according to claim 1, wherein the pattern of the applied external force is set in accordance with a predetermined number of contact operations performed within a predetermined time period. ### Claim 4 (depends on 1) The robot system according to claim 1, wherein the robot includes a wrist section and a basic shaft unit that determines a three-dimensional position of the wrist section, and wherein the operation mode of the robot is changed in accordance with a case where the applied external force is applied to a position near the basic shaft unit and a case where the external force is applied to a position near the wrist section. ### Claim 5 (depends on 1) The robot system according to claim 1, wherein the controller is capable of controlling the robot by changing a coordinate system and varies the operation mode in accordance with the set coordinate system. ### Claim 6 (depends on 1) The robot system according to claim 1, wherein the sensor is a contact sensor disposed on a surface of the robot. ### Claim 7 (depends on 1) The robot system according to claim 1, wherein the position of the external force is determined by dividing the moment around the first axis by a magnitude of the external force. ### Claim 8 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. ### Claim 9 (depends on 8) The robot system according to claim 8, wherein the position of the external force is determined by dividing the moment around the first axis by a magnitude of the external force. ### Claim 10 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.