Robot system having error detection function of robot and control method thereof

一种机器人系统、控制方法的技术，应用在机器人系统领域，能够解决无法精度地检测碰撞等问题

Active Publication Date: 2012-11-21
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, for example, even if a person or object collides with the robot arm, the collision cannot be detected with precision

Method used

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  • Robot system having error detection function of robot and control method thereof
  • Robot system having error detection function of robot and control method thereof
  • Robot system having error detection function of robot and control method thereof

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Embodiment Construction

[0028] One embodiment of the present invention will be described below with reference to the drawings. figure 1 It is a figure which schematically shows the structure of the robot system 11 which concerns on 1st Embodiment of this invention. The robot system 11 includes, for example, an articulated robot 12 constituting a 6-axis vertical articulated robot, and a control unit 13 connected to the articulated robot 12 to control the operation of the articulated robot 12 . The articulated robot 12 and the control unit 13 are connected by a wire 14 . The articulated robot 12 has a manipulator 15 as a working tool. The robot arm 15 can grip a workpiece, for example. The articulated robot 12 is placed, for example, in a space where the articulated robot 12 cooperates with humans.

[0029] The articulated robot 12 has: for example, a base 16 fixed on the ground; for example, a base end arm 17 rotatably connected to the base 16 around a rotation axis x1 perpendicular to the ground; ...

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PUM

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Abstract

When an error occurs in robot system, a difference between first and second detection values of two sensors or first and second sensors occurs due to differences in position and responsibility. When this difference exceeds a predetermined threshold, control section detects that a difference has occurred in robot system. The first and second detection values of two sensors or first and second sensors are compared, and therefore, reliability of the detection values can be secured. Further, the abnormal state can be determined through the difference between the first and second detection values, and therefore, errors resulting from problems such as variations in gears and speed reducers due to temperature changes of the operational state and disposition environment of the robot can be avoided. The threshold value of the difference of the detection value can be reduced. The robot can detect the difference with high sensitivity.

Description

technical field [0001] The present invention relates to a robot system with a robot, and more particularly to a robot system with a robot abnormality detection function. Background technique [0002] Japanese Patent Application Laid-Open No. 2009-196030 discloses a robot control device that controls the driving of a robot arm with high precision. In this robot controller, sensors are incorporated in the drive units of the respective axes of the robot arm. The robot arm is driven according to the commands output to the robot arm. The sensor outputs the actual detected torque that is actually transmitted to the robot arm. The arithmetic processing unit specifies the difference between the command torque and the detected torque. When the determined difference becomes equal to or greater than a predetermined threshold, the power supply to the robot arm is cut off. [0003] Japanese Patent Application Laid-Open No. 2007-301691 discloses a robot control device having two senso...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06B25J13/08
CPCB25J9/1674
Inventor 森冈昌宏足立悟志
Owner FANUC LTD
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