公开(公告)号：US20210053219A1

公开(公告)日：2021-02-25

申请号：US16997945

申请日：2020-08-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NISHIMURA ,  Issei AOYAMA ,  Tetsuro IZUMI ,  Shangning LI ,  Akihiro YAMAMOTO

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A robot system includes: a first robot; a second robot; and circuitry configured to: control the first and second robots to execute a collaborative operation on a work piece; and control, in response to a detection of an irregular state of the first robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state.