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:
Jul. 21, 2020
Filed:
Jun. 24, 2016
Kawasaki Jukogyo Kabushiki Kaisha, Kobe-shi, Hyogo, JP;
Medicaroid Corporation, Kobe-shi, Hyogo, JP;
Tsuyoshi Tojo, Ibaraki, JP;
Nobuyasu Shimomura, Kobe, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe-Shi, JP;
MEDICAROID CORPORATION, Kobe-Shi, JP;
Abstract
Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and operator operates, operating information according to operation, and motion controller controlling robot main body's operation according to operating information outputted from operating device.