公开(公告)号：US20150177084A1

公开(公告)日：2015-06-25

申请号：US14582615

申请日：2014-12-24

Applicant: FANUC CORPORATION

Inventor： Youichi INOUE

IPC: G01L5/00 ,  G01L5/18

CPC classification number: G01L5/0028 ,  B25J9/1676 ,  G01L5/0076 ,  G01L5/18 ,  G05B2219/40201

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.

Abstract translation: 一种外力判断方法，包括基准值取得步骤，当没有外力作用的机器人或者已知的外力为的情况下，获取第二构件相对于第一构件的相对位置或角度的基准值 假设预先由预定的命令操作; 测量值获取步骤，当所述机器人被所述预定命令操作时，获取所述第二构件相对于所述第一构件的相对位置或角度的测量值; 以及判断步骤，其基于所述基准值与所述测量值之间的差异和预定阈值来判断作用在所述机器人上的外力的有无。

公开(公告)号：US20160346935A1

公开(公告)日：2016-12-01

申请号：US15143622

申请日：2016-05-01

Applicant: FANUC CORPORATION

Inventor： Kazutaka NAKAYAMA ,  Junya FUJITA ,  Youichi INOUE

IPC: B25J9/16 ,  G01L5/00 ,  G01L5/22 ,  B25J13/08

CPC classification number: G01L5/226 ,  B25J9/1674 ,  B25J13/085 ,  B25J13/087 ,  G01L5/161

Abstract: The human cooperative robot system according to the present invention includes a robot, a force sensor detecting a load applied to a robot, and a robot controller controlling the robot. The force sensor includes at least one temperature detection element detecting temperature, incorporated therein. The robot controller determines whether or not to stop the operation of the robot based on the detected temperature output from the temperature detection element.

Abstract translation: 根据本发明的人体协作机器人系统包括机器人，检测施加到机器人的负载的力传感器和控制机器人的机器人控制器。 力传感器包括至少一个检测温度的温度检测元件，其中并入其中。 机器人控制器基于从温度检测元件输出的检测到的温度来判定是否停止机器人的动作。