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US 11,358,276 B2Granted
Robot and robot system
AssigneeFanuc Corporation
InventorsKazutaka Nakayama, Kenichiro Oguri
Life of this patent
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Abstract
A robot includes: a wrist unit including a plurality of wrist joints; and a plurality of basic joints configured to determine the position of the wrist unit in a three-dimensional space. Only the basic joints are provided with torque sensors configured to detect torque of the basic joints about axis lines.
Claims11
A robot comprising:
- a wrist including a plurality of wrist joints;
- a motor configured to drive each wrist joint;
- a plurality of basic joints configured to determine the position of the wrist in a three-dimensional space;
- and
- a first controlled configured to
- detect current supplied to each motor, and
- estimate torque of each wrist joint about the axis line based on the detected current,
- wherein only the basic joints are provided with torque sensors configured to detect torque of the basic joints about axis lines.
5 more elements
A robot system comprising:
- a robot comprising:
- a wrist including a plurality of wrist joints,
- a plurality of basic joints configured to determine the position of the wrist in a three-dimensional space, and
- a first controller configured to operate each basic joint,
- wherein only the basic joints are provided with torque sensors configured to detect torque of the basic joints about axis lines;
- and
- a second controller configured to control the robot,
- wherein outline shape information of the robot is stored in the second controller, and
- wherein the second controller restricts a motion range of at least one of the basic joints and the wrist joints to prevent the outline of the robot from overlapping the axis line of at least one of the basic joints.
6 more elements
Dependencies are inferred from the claim text.