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

Claim 0:
1. 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 any 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 rotatably 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 uniaxial force sensor is provided and is located to measure force along, parallel to, or orthogonal to one of the first axis and the respective axes.