US 12,306,057 B2
Force sensor diagnostic device and robot control device
Takatoshi Iwayama, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/797,957
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Feb. 26, 2021, PCT No. PCT/JP2021/007237
§ 371(c)(1), (2) Date Aug. 5, 2022,
PCT Pub. No. WO2021/177147, PCT Pub. Date Sep. 10, 2021.
Claims priority of application No. 2020-037862 (JP), filed on Mar. 5, 2020.
Prior Publication US 2023/0040101 A1, Feb. 9, 2023
Int. Cl. G01L 25/00 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01)
CPC G01L 25/00 (2013.01) [B25J 13/085 (2013.01); B25J 19/02 (2013.01); G05B 2219/40582 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A force sensor diagnostic device that diagnoses a force sensor provided in a robot, the force sensor disposed in a proximal end side of the robot and detecting a force and a moment applied to the robot from an outside, the force sensor diagnostic device comprising:
a robot-motion controller configured to cause, based on a motion program, the robot to perform a sensor-diagnosis motion for diagnosing the force sensor; and
one or more processors, wherein the one or more processors are configured to conduct:
a calculation process that calculates a theoretical detection value of the force and a theoretical detection value of the moment of the force sensor;
a determination process that determines whether a distortion due to anchor bolts, which fix the proximal end side of the robot to an installation surface, is caused in the force sensor or not by comparing an actually measured value of the force and an actually measured value of the moment detected by the force sensor with the theoretical detection value of the force and the theoretical detection value of the moment; and
a notification process that notifies a determination result determined by the determination process.