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    • 5. 发明授权
    • Robot system
    • US11123868B2
    • 2021-09-21
    • US16610328
    • 2018-04-24
    • NACHI-FUJIKOSHI CORP
    • Hiroyuki NakashimaMasayasu Futagawa
    • B25J9/16B25J9/00B25J9/04
    • Provided is a robot system that can accurately sense contact between an arm of a robot or an instrument attached to the arm and another object. The robot system includes: a robot main body 22 and a robot control unit 21, the robot main body 22 including: a motor 8; a deceleration device 19 connected to a motor shaft 17 of the motor 8; an arm 15 connected to an output shaft 16 of the deceleration device 19; a motor shaft-side angular sensor 1 capable of detecting an angle of rotation of the motor shaft 17 of the motor 8; and an output shaft-side angular sensor 2 capable of detecting an angle of rotation of the output shaft 16 of the deceleration device 19, and the robot control unit 21 being configured to detect a contact state between the arm 15 or an instrument attached to the arm 15 and another object, based on a motor shaft-side rotation angle detected by the motor shaft-side angular sensor 1, an output shaft-side rotation angle detected by the output-side angular sensor 2, and an angular sensor misalignment correction value for the motor shaft-side angular sensor 1 and the output shaft-side angular sensor 2.