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

Claim 6:
7. 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:
obtain at least a position of the target portion based on an output of the second sensor;
calculate an amount of movement of the target portion between a current position of the target portion being conveyed by the conveyer and the position of the target portion at a time of the output of the second sensor;
perform an approach control of controlling the robot to bring the part or the tool supported by the robot closer to the target portion based on the obtained position and the amount of movement; and
perform force control based on a detection value of the force sensor while performing a follow control of keeping a relative position between at least the distal end of the robot and the target portion when the robot is performing the predetermined task, wherein the controller is configured to perform the follow control by disposing the target portion of the object, a characteristic shape of the object, or a characteristic point of the object, which are moving by the conveyer, at a predetermined position in an angle of view of the first visual sensor.