Robot system comprising robot including torque sensors
AssigneeFanuc Corporation
InventorTakahiro Iwatake
Life of this patent
Estimating the term…
Abstract
This robot system includes a robot that includes torque sensors corresponding to joint axes. The robot system includes a sensor temperature determination unit that determines whether the temperature state of each of the torque sensors is an abnormal or appropriate temperature state on the basis of an output value of a temperature detection unit. The robot system includes an operation command unit that reduces at least one among the speed and the acceleration of a robot drive motor when there is a torque sensor of which the temperature state is an abnormal temperature state and not an appropriate temperature state.
Claims14
A robot system including a robot including a torque sensor corresponding to a joint axis, the robot system comprising:
- a torque sensor including a torque detection unit and a temperature detection unit;
- a processor configured to
- obtain data subjected to temperature compensation, based on an output value of the torque detection unit and an output value of the temperature detection unit,
- determine whether a temperature state of a torque sensor is an abnormal state and whether a temperature state of a torque sensor is an appropriate temperature state, based on at least one of an output value of the temperature detection unit and the obtained data subjected to temperature compensation,
- change an operation command in such a way as to stop the robot when there is a torque sensor in which a temperature state of a torque sensor is an abnormal state, and
- change, when there is a torque sensor in which a temperature state of a torque sensor is neither an abnormal state nor an appropriate temperature state, an operation command of the robot in such a way as to reduce at least one of a speed and acceleration of a joint axis in which the torque sensor is disposed.
Dependencies are inferred from the claim text.