Robot system including robot having handle and method of controlling robot
AssigneeFanuc Corporation
InventorsYihua Gu, Takashi Satou
Life of this patent
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Abstract
A robot system causing a robot to operate in response to a handling force, wherein a position of the robot can be adjusted with higher accuracy. In one aspect of the present disclosure, a robot system includes a robot having a handle, a force sensor configured to detect a handling force applied to the handle, and an inching motion execution section configured to execute an inching motion of causing the robot to move by a movement amount determined in response to the handling force detected by the force sensor.
Claims10
A robot system comprising:
- a robot including a handle;
- a force sensor configured to detect a handling force applied to the handle;
- and
- an inching motion execution section configured to execute an inching motion to move the robot by a determined movement amount, in response to the handling force detected by the force sensor,
- wherein the inching motion execution section is configured to:
- start the inching motion in response to a detected value of the force sensor exceeding a predetermined threshold value, and
- stop the robot to end the inching motion in response to the robot being moved by the determined movement amount, even in response to the detected value still exceeding the threshold value.
A method of controlling a robot including a handle, the method comprising:
- detecting, by a force sensor, a handling force applied to the handle;
- and
- executing an inching motion to move the robot by a determined movement amount, in response to the handling force detected by the force sensor,
- wherein the inching motion execution section is configured to:
- start the inching motion in response to a detected value of the force sensor exceeding a predetermined threshold value, and
- stop the robot to end the inching motion in response to the robot being moved by the determined movement amount, even in response to the detected value still exceeding the threshold value.
A robot system comprising:
- a robot including a handle;
- a force sensor configured to detect a handling force applied to the handle;
- an inching motion execution section configured to execute an inching motion to move the robot by a determined movement amount, in response to the handling force detected by the force sensor;
- and
- a parameter determination section configured to determine an inching-motion parameter of the inching motion based on the handling force detected by the force sensor,
- wherein the parameter determination section is configured to determine the inching-motion parameter in response to a number of times for which the force sensor detects the handling force within a predetermined period of time.
Dependencies are inferred from the claim text.