Title:
ARTICULATED ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/176066
Kind Code:
A1
Abstract:
This articulated robot is provided with a drive device whereby a drive shaft is driven by the output of a drive source, and a control device that is equipped with: a movement-limiting unit provided to establish a fiducial for the drive shaft, and that limits movement of the drive shaft; a drive physical-quantity detection unit that detects a drive physical quantity being a physical quantity involving a drive quantity of the drive device; and an assessment unit that, in a fiducial establishing operation for establishing the fiducial for the drive shaft, if the detected drive physical quantity detected by the drive physical-quantity detection unit has increased by a predetermined amount from a normal drive physical quantity detected by the drive physical-quantity detection unit during normal movement in which the drive shaft is moved without being limited by the movement-limiting unit, assesses that the movement of the drive shaft has been limited by the movement-limiting unit.
Inventors:
OTA AKIHIRO (JP)
Application Number:
PCT/JP2021/005942
Publication Date:
August 25, 2022
Filing Date:
February 17, 2021
Export Citation:
Assignee:
FUJI CORP (JP)
International Classes:
B25J9/10
Domestic Patent References:
| WO2020165989A1 | 2020-08-20 |
Foreign References:
| JPH0944252A | 1997-02-14 | |||
| JP2007001368A | 2007-01-11 | |||
| JP2002095292A | 2002-03-29 |
Attorney, Agent or Firm:
KIMURA Gunji et al. (JP)
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