Patent ID: 9315367
Filing Date: 2016-04-19
CPC Classification: B66F,Y10S

Claim Text:
1. A robot system, comprising: first and second robots each including a mobile unit and a control unit configured to control the mobile unit; first and second mechanisms provided on the first and second robots, respectively, each of the first and second mechanisms including a panel onto which an object to be placed, a first element unit configured to rotationally move the panel in a first direction and detect an amount of displacement of rotational movement, and a second element unit configured to translationally move the panel in the first direction and detect an amount of displacement of translational movement; an estimating unit configured to estimate an external force from the amount of displacement detected by the first element unit and estimate respective external forces acting on the first and second robots based on the amount of displacement detected by the second element unit, and the external force estimated by the first element unit; and a first calculating unit configured to calculate respective position correction amounts of the first and second robots to make an external force substantially zero, the external force being estimated by the estimating unit and calculate movement commands to the first and second robots based on the position correction amounts; wherein the control units of the first and second robots control the respective mobile units based on the respective movement commands calculated by the first calculating unit.