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:
Nov. 25, 2014
Filed:
Jun. 13, 2012
Takashi Sato, Yamanashi, JP;
Takahiro Iwatake, Yamanashi, JP;
Takashi Sato, Yamanashi, JP;
Takahiro Iwatake, Yamanashi, JP;
Fanuc Corporation, Yamanashi, JP;
Abstract
A robot controller () which moves either a tool () or a workpiece (W) relative to another one with a hand unit, controls the force acting between the tool and the workpiece, comprising a force detector unit () for detecting a force in one axial direction and moments about the axes in two axial directions that are at right angles with the one axis and are, further, at right angles with each other; a force-presuming point setting unit () for setting a force-presuming point at where a force acting between the tool and the workpiece is presumed; and a force-presuming unit () for presuming forces in the two axial directions and a moment about the one axis based upon the force in the one axial direction and the moments about the axes in the two axial directions, and upon the position of the force-presuming point.