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US 11,173,603 B2Granted
Robot system and robot
AssigneeFanuc Corporation
InventorMasafumi Ooba
Life of this patent
Estimating the term…
Abstract
This robot system includes a sensor which obtains data for detecting at least a position of an object which is being moved, a robot at which a tool is attached, and which performs a predetermined operation for the object by means of the tool, and a controller which controls a tool moving device which moves the tool with respect to the robot, the tool, or an arm member which is located at a distal end side of an arm of the robot with a tool control cycle which is shorter than a control cycle of the robot.
Claims5
A robot system comprising:
- a sensor configured to obtain data for detecting at least a position of an object which is being moved by a moving means for moving the object, wherein the sensor obtains the data in a sensor cycle;
- a robot to which a tool is attached, and which is configured to perform a predetermined operation for the object by using the tool;
- a robot controller for controlling the robot, wherein the robot controller is configured to use the data which is sequentially received from the sensor in a robot control cycle so as to control the robot;
- and
- a tool controller which is configured to control, using the data, a tool moving device which moves the tool with respect to the robot, the tool, or an arm member which is located at a distal end side of an arm of the robot with a tool control cycle,
- wherein the sensor cycle is shorter than or equal to the tool control cycle and the tool control cycle is shorter than the robot control cycle.
3 more elements
A robot comprising:
- an arm to which a tool is attached, and the arm is configured to performs a predetermined operation by the tool for an object which is being moved by a moving means for moving the object;
- a sensor which is attached to the arm or the tool and is configured to obtain data for detecting at least a position of the object which is being moved by the moving means, wherein the sensor obtains the data in a sensor cycle;
- a robot controller configured to control the robot and configured to use the data which is sequentially received from the sensor;
- and
- a tool controller configured to control, using the data, a tool moving device which moves the tool with respect to the arm, the tool, or an arm member which is located at a distal end side of the arm with a tool control cycle,
- wherein the sensor cycle is shorter than or equal to the tool control cycle and the tool control cycle is shorter than the robot control cycle.
3 more elements
Dependencies are inferred from the claim text.