US Patent No. 10,780,579


Patent No. 10,780,579
Issue Date September 22, 2020
Title Work Robot System
Inventorship Masafumi Ooba, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 10,780,579

1. A work robot system comprising:a conveying apparatus that conveys an object;
a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus;
a controller that controls the robot;
a movement amount detector that detects a movement amount of the object moved by the conveying apparatus; and
a force detector that detects a force generated by contact between a part or a tool supported by the robot and the object, wherein
when the predetermined task is performed by the robot, the controller performs force control based on a value detected by the force detector while performing control of the robot by using information about a position of the target portion and a value detected by the movement amount detector; and
the controller is configured to shorten a control cycle of force control or enhance sensitivity of the force control when the value detected by the movement amount detector varies to exceed a predetermined reference.