公开(公告)号：US11305434B2

公开(公告)日：2022-04-19

申请号：US16571433

申请日：2019-09-16

申请人： FANUC CORPORATION

发明人： Masahiro Morioka ,  Munehiro Jinushi ,  Akihiro Fukasawa ,  Ken Takahashi ,  Yasuhiro Nozawa ,  Hideyuki Watanabe

IPC分类号： B25J13/08 ,  B25J9/00

摘要： A robot system includes a robot main body, a sensor that detects a magnitude of an external force applied to the robot main body, a control unit that controls the robot main body, a reference value storage unit that stores a value of an external force detected by the sensor as a reference external force value in an operating state where only the weight of the robot main body and the load handled by the robot main body act on the robot main body, a determination unit that, during operation of the robot main body, determines that an external force other than the weight of the robot main body and the load acts on the robot main body when an absolute value of a difference between a value of an external force detected by the sensor and the stored reference external force value is larger than a predetermined threshold value.