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1. (WO2018203492) ROBOT SYSTEM

Pub. No.:    WO/2018/203492    International Application No.:    PCT/JP2018/016576
Publication Date: Fri Nov 09 00:59:59 CET 2018 International Filing Date: Wed Apr 25 01:59:59 CEST 2018
IPC: B25J 19/06
Applicants: NACHI-FUJIKOSHI CORP.
株式会社不二越
Inventors: NAKASHIMA, Hiroyuki
中島 潤之
FUTAGAWA, Masayasu
二川 正康
Title: ROBOT SYSTEM
Abstract:
The present invention is provided with: a motor (8); a speed reducer connected to a motor shaft of the motor (8); an arm connected to an output shaft of the speed reducer; a motor-shaft-side angle sensor (1) capable of detecting the rotation angle of the motor shaft of the motor (8); a robot body having an output-shaft-side angle sensor (2) capable of detecting the rotation angle of the output shaft of the speed reducer; and a robot control device (21) for detecting a state of contact between the arm or an instrument attached to the arm and another object on the basis of the motor-shaft-side rotation angle detected by the motor-shaft-side angle sensor (1), the output-shaft-side rotation angle detected by the output-side angle sensor (2), and an angle sensor assembly misalignment correction value of the motor-shaft-side angle sensor (1) and the output-shaft-side angle sensor (2); and it is thereby possible to provide a robot system whereby contact between the arm of the robot or an instrument attached to the arm and another object can be sensed with good precision.