Patent ID: 11919164
Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 6:
7. The robot system according to claim 3, further comprising:
an actuator which applies a force to the operation apparatus based on a control signal;
the controller is further configured to calculate an operation movement indicating the motion of the actuator so that the force applied to the operation apparatus by the actuator to be the same as the calculation operating force; and
the controller is further configured to output the control signal based on the operation movement;
wherein when the operator-operating force is not 0, the controller updates the model by performing additional learning based on the resultant force of the operator-operating force and the calculation operating force, the surrounding environment data, the operation data, and the operation command.