Patent ID: 9381641
Filing Date: 2016-07-05
CPC Classification: B25J,Y10S

Claim Text:
1. A robot comprising: a base; a body connected to the base; a pair of articulated arms rotatably connected to body; a moving mechanism adapted to move the body toward or away from the base; and a controller operatively associated with the moving mechanism and adopted to determine a relative positional relationship with a workbench by moving the body with respect to the base using the moving mechanism while keeping the articulated arms in predetermined postures, and then making the articulated arms contact the workbench, wherein the controller is further adapted to detect a tilt of the workbench using a first moving amount of the body with respect to the base in a case in which a first one of the articulated arms contacts the workbench, and a second moving amount of the body with respect to the base in a case in which a second one of the articulated arms subsequently contacts the workbench.