公开(公告)号：US20160167231A1

公开(公告)日：2016-06-16

申请号：US14937878

申请日：2015-11-11

Applicant: FANUC Corporation

Inventor： Kazutaka NAKAYAMA ,  Takashi SATO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1694 ,  G05B2219/40202 ,  Y10S901/09

Abstract: A human-interactive type robot system which can constantly detect a contact force at a high precision even if the contact force is small, comprising a force sensor which measures a force which the robot receives from the outside and outputs a measurement value, a force detection value calculating part which subtracts a correction value from the measurement value to calculate a force detection value, and a correction value updating part which updates a force detection value when a predetermined condition stands for use as the correction value. The predetermined condition is that the robot is stopped or operating at a fixed speed and a margin of fluctuation of the force detection value at a predetermined unit time is a fluctuation margin threshold value or less or that the robot is stopped and the current force detection value is the force detection value threshold value or less.

Abstract translation: 即使接触力较小，也能够以高精度持续检测接触力的人机交互式机器人系统，包括：力传感器，其测量机器人从外部接收的力并输出测量值;力检测 值计算部，其从所述测量值中减去校正值，以计算力检测值;以及校正值更新部，其在预定条件代表用作所述校正值时更新力检测值。 预定条件是机器人停止或以固定速度操作，并且在预定单位时间的力检测值的波动余量为波动余量阈值或更小，或者机器人停止，并且当前力检测值 是力检测值阈值以下。