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:
Mar. 29, 2016
Filed:
Apr. 17, 2014
Fanuc Corporation, Minamitsuru-gun, Yamanashi, JP;
Takahiro Iwatake, Yamanashi, JP;
FANUC CORPORATION, Yamanashi, JP;
Abstract
A control device for controlling a robot which has a tool for holding a workpiece and a force measuring part for measuring a force acting on the tool. The control device includes a calculating part for calculating a center-of-gravity position of the workpiece, based on force data measured by the force measuring part with a plurality of postures of the robot holding the workpiece, a processing part for performing at least one of a process for estimating a holding state of the workpiece, a process for determining a type of the workpiece, and a process for testing a quality of the workpiece, based on the position of the tool and the center-of-gravity position of the workpiece, and an operating command modifying part for modifying an operating command to the robot, based on a result of the process performed by the processing part.