US 12,269,173 B2
Robot system
Junya Terasaka, Yamanashi (JP); and Masao Motohashi, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/921,703
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed May 20, 2021, PCT No. PCT/JP2021/019191
§ 371(c)(1), (2) Date Oct. 27, 2022,
PCT Pub. No. WO2021/241397, PCT Pub. Date Dec. 2, 2021.
Claims priority of application No. 2020-090261 (JP), filed on May 25, 2020.
Prior Publication US 2023/0166402 A1, Jun. 1, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 9/1669 (2013.01); B25J 9/1674 (2013.01); G05B 2219/39121 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A robot system comprising:
a plurality of robots;
a plurality of controllers that respectively control the robots;
hands attached to wrist ends of the robots and configured to hold a workpiece; and
a sensor configured to detect that the workpiece is being held by the hands of the robots,
wherein the plurality of controllers are configured to:
control the robots to operate in coordination in response to an operation command that includes a coordination command;
prohibit operation of each of the robots based on an operation command that lacks a coordination command when the sensor detects that the workpiece is being co-held by the robot; and
control the robots to operate in response to the operation command that lacks the coordination command and based on detection result of the sensor, wherein the detection result indicates that the robots are not co-holding the workpiece.