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:
Jan. 28, 2025
Filed:
Sep. 10, 2021
Fanuc Corporation, Yamanashi, JP;
Toshiyuki Ando, Yamanashi, JP;
FANUC CORPORATION, Yamanashi, JP;
Abstract
A robot system including an articulated robot equipped with a tool attached to a distal-end wrist axis, a sensor that detects a position and an orientation of the workpiece, and a controller configured to control the robot based on an operation program. The operation program includes two or more teaching points, each of which defines a position and an orientation of the tool, and an operation instruction. The controller is configured to correct the position and the orientation of the tool at a first teaching point based on the detected position and the orientation, determine whether an angle of the distal-end wrist axis at the first teaching point after correction exceeds an operating limit, and when it is determined that the operating limit is exceeded, change the angle, at the first teaching point, to an angle to be within the operating range by increasing or decreasing the angle.