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:
Aug. 04, 2020
Filed:
Oct. 25, 2016
Kawasaki Jukogyo Kabushiki Kaisha, Kobe-shi, Hyogo, JP;
Koji Muneto, Kobe, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
A monitoring device of a robot system including: a current sensor detecting a value of a current flowing through the servo motor; a current/torque converting the value of the current flowing through the servo motor which is detected by the current sensor into a torque value; a driving torque estimating section estimating at least a part of driving torque required to drive the servo motor; a differential torque calculating differential torque between the torque value obtained by conversion in the current/torque converting section and an estimated value of the driving torque; an external force converting the differential torque calculated by the differential torque calculating section into an external force applied to the robot; and a stop signal generating section which generates to stop the robot based on a value of the external force obtained by conversion in the external force converting section, and supplies the stop signal to the controller.