US 12,403,585 B2
Robot system
Masahiro Morioka, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/916,661
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed May 20, 2021, PCT No. PCT/JP2021/019187
§ 371(c)(1), (2) Date Oct. 3, 2022,
PCT Pub. No. WO2021/235520, PCT Pub. Date Nov. 25, 2021.
Claims priority of application No. 2020-089282 (JP), filed on May 22, 2020.
Prior Publication US 2023/0150112 A1, May 18, 2023
Int. Cl. B25J 5/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 5/007 (2013.01) [B25J 9/162 (2013.01); B25J 9/1674 (2013.01); B25J 13/085 (2013.01); G05B 2219/40298 (2013.01); G05B 2219/40599 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A robot system comprising:
a robot and a controller that controls the robot,
wherein the robot includes a wheeled platform and a manipulator mounted on the wheeled platform,
the manipulator includes a sensor that detects a force or a moment that acts on at least one joint,
the controller controls at least one of the manipulator and the wheeled platform on the basis of the force or moment detected by the sensor so that a moment acting on the wheeled platform does not exceed a tip-over moment,
the controller calculates a differential moment by subtracting the moment acting on the wheeled platform from the tip-over moment at each position of the manipulator in operation relative to the wheeled platform, and decelerates a motion of the manipulator when the differential moment reaches a predetermined value, and
the predetermined value is set to be larger than a deceleration torque needed for the manipulator to make an emergency stop at each position of the manipulator in operation relative to the wheeled platform.