公开(公告)号：US20230166402A1

公开(公告)日：2023-06-01

申请号：US17921703

申请日：2021-05-20

Applicant: FANUC CORPORATION

Inventor： Junya TERASAKA ,  Masao MOTOHASHI

IPC: B25J9/16

CPC classification number: B25J9/1682 ,  B25J9/1669 ,  B25J9/1674

Abstract: A robot system including a plurality of robots, controllers that respectively control the robots, hands attached to wrist ends of the robots and configured to hold and release a workpiece, and a sensor configured to detect that the workpiece is being held by the hands of the robots. The controllers are interconnected and configured to exchange signals so that the robots operate in coordination in response to an operation command that includes a coordination command, and prohibit operation of each of the robots based on an operation command that lacks a coordination command in a state in which the sensor detects the workpiece being held.

公开(公告)号：US20210031369A1

公开(公告)日：2021-02-04

申请号：US16927991

申请日：2020-07-14

Applicant: FANUC CORPORATION

Inventor： Junya TERASAKA

IPC: B25J9/16 ,  B25J5/02 ,  B25J9/00

Abstract: An apparatus capable of accurately determining a robot coordinate system of a robot configured to be moved along an axis. The apparatus of setting the robot coordinate system of the robot configured to be moved along a first axis includes a coordinate system acquisition section configured to determine, from positions of two robot coordinate systems preset along the first axis, a position of another robot coordinate system to be set between the positions of the two robot coordinate systems by calculation. Further, a method of setting a robot coordinate system of a robot configured to be moved along a first axis includes determining, from positions of two robot coordinate systems preset along the first axis, a position of another robot coordinate system to be set between the positions of the two robot coordinate systems by calculation.