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:
May. 15, 2018
Filed:
Dec. 20, 2016
Canon Kabushiki Kaisha, Tokyo, JP;
Shuuichi Sato, Kawasaki, JP;
CANON KABUSHIKI KAISHA, Tokyo, JP;
Abstract
The present invention provides a force sensor correcting method which is simple and capable of performing correction, with the force sensor remaining mounted at the end of an arm without an exchange of an end effector. In the present invention, a force sensorof one robothas already been corrected, and a force sensorof the other robotis an object to be corrected. First, handsof a pair of robotsare made to abut on each other (abutting step). A detected signal of the corrected force sensorof the one robot, generated by execution of the abutting step, is converted into a measured value indicating a force or a moment (measurement step). Based on the measured value obtained in the measurement step, a value indicating a force or a moment acting on the handof the other robotdue to a reaction generated by the abutting step is obtained (calculation step). The conversion data is updated such that a detected signal, outputted by the force sensoras the object to be corrected of the other robotin the abutting step, is converted into an identical value to the value indicating the force or the moment obtained in the calculation step (correction step).