Patent ID: 11904483
Assignee: FANUC CORPORATION
Field: Audio-visual technology (Electrical engineering)
Classification: CPC B  G  H  Y | IPC B  G  H

Claim 0:
1. A work robot system comprising:
a conveyer configured to convey an object along a predetermined route;
a robot configured to perform a predetermined task on a target portion of the object that is moving by the conveyer;
a controller configured to control the robot;
a first visual sensor that is attached to a distal end of the robot;
a second sensor that is located at a position along the predetermined route; and
a force sensor configured to detect a force generated by contact between the object and a part or a tool supported by the robot, wherein the controller is further configured to:
set a coordinate system of the first visual sensor as a coordinate system of the robot;
move the coordinate system of the robot in response to a movement of the target position;
obtain at least a three-dimensional position of the target portion based on an output of the second sensor;
control the robot to bring the part or the tool supported by the robot closer to the target portion based on the obtained position; and
perform a force control based on a detection value of the force sensor while performing a follow control of making at least the distal end of the robot to follow the target portion that is moving by the conveyer when the robot is performing the predetermined task.