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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.:

US 9200972 B1

PDFFull Text
Date of Patent:
Dec. 01, 2015

Filed:

Dec. 24, 2014

External force judgment method and external force judgment device of human-collaborative industrial robot

Applicant:

Fanuc Corporation, Minamitsuru-gun, Yamanashi, JP;

Inventor:

Youichi Inoue, Yamanashi, JP;

Assignee:

FANUC CORPORATION, Yamanashi, JP;

Attorney:

Hauptman Ham, LLP

Primary Examiner:

Lisa Caputo

Assistant Examiner:

Jamel Williams

Int. Cl.
CPC ...
G01L 1/00 (2006.01); G01L 1/16 (2006.01); G01L 1/14 (2006.01); G01L 5/00 (2006.01); G01L 19/14 (2006.01); G01L 5/18 (2006.01);
U.S. Cl.
CPC ...
G01L 5/0028 (2013.01); G01L 5/18 (2013.01);
Abstract

An external force judgment method including a reference value acquisition step of acquiring a reference value of a relative position or angle of a second member with respect to a first member when a robot on which no external force is acting or on which a known external force is acting is assumed to be operated by a predetermined command in advance; a measured value acquisition step of acquiring a measured value of a relative position or angle of the second member with respect to the first member when the robot is operated by the predetermined command; and a judgment step of judging the presence or absence of an external force acting on the robot based on a difference between the reference value and the measured value and a predetermined threshold value.

Find Patent Forward Citations

Inoue, Youichi. (2015). External force judgment method and external force judgment device of human-collaborative industrial robot (U.S. Patent No. 9200972). U.S. Patent and Trademark Office. https://idiyas.com/patent/badge/9200972

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