Title:
ROBOT
Document Type and Number:
Japanese Patent JP2023179081
Kind Code:
A
Abstract:
To provide a robot that is capable of detecting, with a simple configuration and in short time, failure of a force sensor for detecting a load of a tool.SOLUTION: A robot 100 comprises: an arm 102; a force sensor 104 provided on the arm; a tool 106 attached to the arm via the force sensor; and a robot controller 108 for controlling operation of the arm. The robot controller acquires an output value of the force sensor, and also obtains a calculated value of inertial force applied to the force sensor from a total mass of the tool and the force sensor, and acceleration speed according to operation of the arm, in order to compare the output value to the calculated value. If a difference thereof exceeds a predetermined threshold, the robot controller detects failure of the force sensor.SELECTED DRAWING: Figure 1
Inventors:
YAMAZAKI MITSUHIRO
Application Number:
JP2022092141A
Publication Date:
December 19, 2023
Filing Date:
June 07, 2022
Export Citation:
Assignee:
NACHI FUJIKOSHI CORP
International Classes:
B25J19/06
Attorney, Agent or Firm:
Kosuke Tobita
Daisuke Suzuki
Daisuke Suzuki
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