Patent ID: 11858133
Assignee: DENSO WAVE INCORPORATED
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 5:
6. An articulated robot system, comprising
a base;
a plurality of arms formed on the base, the arms being articulated arms provided with a plurality of axes located between mutually adjacent two of the arms, the arms being linked relatively rotatably via the axes;
a plurality of electric motors each arranged to a corresponding one of the plurality of axes and configured to drive rotation of each of the plurality of arms;
a plurality of detection units, each of the plurality of arms being provided with a corresponding one of the detection units, and each of the detection units being configured to detect a signal showing whether or not an operator manually holds the arm on which the corresponding detection unit is provided; and
a control unit configured to:
determine an operator's holding state of the arms based on the signal detected by the detection units;
control rotation of the motors for selecting a constrained state which constrains one or more of the axes by braking a corresponding one or more of the motors and a released state in which the one or more of the axes are released from being constrained, based on determined results of the hold determining unit, during the released state the operator is allowed to move the arms with the released axes for direct teaching;
determine that the operator's holding state of the arms is stopped; and
control the released axes to be constrained again.