Patent ID: 11872700
Assignee: FANUC CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 14:
15. A robot, comprising:
a base;
at least one rotationally driven member,
a wrist unit, and
wherein a first of the at least one rotationally driven member is rotationally coupled to the base to rotate about a first axis, and successive members of the at least one rotationally driven member are rotationally coupled to a preceding one of the at least one rotationally driven members to rotate about a respective axis,
wherein the wrist unit is attached to a last of the at least one rotationally driven member,
wherein at least one of the first axis and the respective axes is provided with precisely one single-axis torque sensor for measuring torque about a corresponding axis, and
wherein precisely one force sensor is provided which measures force in only three directions.