Human-cooperative robot system
AssigneeFanuc Corporation
InventorsTakashi SATO, Yihua GU
Life of this patent
Estimating the term…
Abstract
A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.
Claims5
A human-cooperative robot system configured to work in cooperation with an operator, comprising:
- a robot including a handling part;
- a handling force-detection part configured to detect a handling force applied to the handling part;
- an operation controller configured to operate the robot in accordance with the handling force detected by the handling force-detection part;
- an external force-detection part configured to detect an external force applied to the robot when the operation controller operates the robot, the external force being a sum of the handling force and a contact force applied from an external object to the robot when the robot contacts the object;
- and
- a contact force-calculation part configured to calculate the contact force by subtracting the handling force detected by the handling force-detection part from the external force detected by the external force-detection part.
Dependencies are inferred from the claim text.