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:
Apr. 19, 2022
Filed:
Sep. 16, 2019
Fanuc Corporation, Yamanashi, JP;
Masahiro Morioka, Yamanashi, JP;
Munehiro Jinushi, Yamanashi, JP;
Akihiro Fukasawa, Yamanashi, JP;
Ken Takahashi, Yamanashi, JP;
Yasuhiro Nozawa, Yamanashi, JP;
Hideyuki Watanabe, Yamanashi, JP;
FANUC CORPORATION, Yamanashi, JP;
Abstract
A robot system includes a robot main body, a sensor that detects a magnitude of an external force applied to the robot main body, a control unit that controls the robot main body, a reference value storage unit that stores a value of an external force detected by the sensor as a reference external force value in an operating state where only the weight of the robot main body and the load handled by the robot main body act on the robot main body, a determination unit that, during operation of the robot main body, determines that an external force other than the weight of the robot main body and the load acts on the robot main body when an absolute value of a difference between a value of an external force detected by the sensor and the stored reference external force value is larger than a predetermined threshold value.