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Patent Searching and Data


Title:
MULTI-JOINT ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/186518
Kind Code:
A1
Abstract:
Provided is a multi-joint robot comprising: a plurality of arms which are connected to each other through joints; a plurality of motors which turn the plurality of arms; a drive unit which drives the plurality of motors on the basis of the corresponding torque commands, respectively; and a control unit. The control unit sets the torque commands for the plurality of motors through feedback control so that the positions of the plurality of arms reach target positions, monitors the torques of the plurality of motors and sets, when the torque of any one of the plurality of motors exceeds a threshold value, the torque command of at least one of the plurality of motors to zero.

Inventors:
NAGIRI KEISUKE (JP)
Application Number:
PCT/JP2020/011565
Publication Date:
September 23, 2021
Filing Date:
March 16, 2020
Export Citation:
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Assignee:
FUJI CORP (JP)
International Classes:
B25J19/06
Foreign References:
JP2002283276A2002-10-03
JP2007265028A2007-10-11
JP2003216243A2003-07-31
JP2005059171A2005-03-10
JP2006123012A2006-05-18
DE102016210060A12017-12-14
Attorney, Agent or Firm:
ITEC INTERNATIONAL PATENT FIRM (JP)
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