The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 12, 2019
Filed:
Jan. 21, 2016
Applicant:
Canon Kabushiki Kaisha, Tokyo, JP;
Inventor:
Shuuichi Sato, Kawasaki-shi, JP;
Assignee:
CANON KABUSHIKI KAISHA, Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1694 (2013.01); B25J 9/1674 (2013.01); B25J 13/085 (2013.01); B25J 9/1676 (2013.01); G05B 2219/39529 (2013.01); G05B 2219/40599 (2013.01); G05B 2219/40607 (2013.01); Y10S 901/04 (2013.01); Y10S 901/09 (2013.01);
Abstract
An object of the present invention is to sense forces from a fine external force to a large external force with high precision, and enable high-precision control. A multi-joint robot arm has a first sensor arranged in an end portion, and second sensors arranged in joints, respectively. The first sensor and the second sensor have different detectable ranges from each other for a detectable force. A controlling apparatus selects which sensing result of a sensor should be used between sensing results of the first sensorand the second sensor, and controls a robot arm by using the selected sensing result of the sensor.