公开(公告)号：US20200338727A1

公开(公告)日：2020-10-29

申请号：US16807468

申请日：2020-03-03

Applicant: FANUC CORPORATION

Inventor： Yasunobu HATADA ,  Toshihiro NISHIMURA ,  Kazutaka NAKAYAMA

IPC: B25J9/16 ,  B25J17/02

Abstract: A robot includes: a first member; a second member that is rotationally driven around a first axis with respect to the first member; a third member that is rotationally driven around a second axis with respect to the second member, the second axis being located at an interval from the first axis; a single axis torque detection unit that detects only at least one of torque around the first axis and torque around the second axis; and a force sensor that is provided between the first member and a surface to be installed, or in the first member, the second member or the third member, and is capable of detecting force in a direction intersecting with both the first axis and the second axis.

公开(公告)号：US20230211499A1

公开(公告)日：2023-07-06

申请号：US17996749

申请日：2021-04-23

Applicant: FANUC CORPORATION

Inventor： Kazuki WAKABAYASHI ,  Toshihiro NISHIMURA ,  Shigeo YOSHIDA ,  Gou INABA

IPC: B25J9/16 ,  B23K37/02 ,  G05B19/423

CPC classification number: B25J9/1664 ,  B23K37/0229 ,  G05B19/423

Abstract: Provided are a robot system, a robot control device, a control method, and a program which make it possible to more simply teach a robot action. The robot system comprises: a feature point teaching unit which causes a storage unit to store the position of a feature point that has been taught using lead-through; an input accepting unit which accepts the input of an angle value of a tool with respect to a workpiece W; a posture determining unit which determines the posture of the tool on the basis of the angle value of the tool; and a program generating unit which generates a robot program for a robot on the basis of the position of the feature point and the posture.