| 摘要 |
PROBLEM TO BE SOLVED: To provide an articulated robot capable of being driven by hydraulic pressure and detecting the weight of an object.SOLUTION: An articulated robot 1 is equipped with a link mechanism 12; a fluid pressure mechanism 13; a pressure detecting device 46; and a control device 14. The link mechanism 12 is equipped with a plurality of rotary joint 22; a plurality of links 21; and a plurality of actuators 23 respectively rotating the links 21 to the rotary joints 22, and equipped with cylinders 31 and pistons 32. The fluid pressure mechanism 13 drives the actuators 23. The pressure detecting device 46 detects pressure in the cylinders 31 when the actuators 23 are driven while an object 100 is supported by the links 21. The control device 14 obtains the thrust of the actuators 23 from pressure in the cylinders 31 detected by the pressure detecting device 45 and areas of the cylinders 31, obtains the joint torque τ of the rotary joints 22 from distances L from the rotary joints 22 to tip ends of the links 21 and the thrust, and obtains the weight f of the object 100 from the joint torque τ, and the Jacobian matrix Jof the rotary joints 2 and the links 21.SELECTED DRAWING: Figure 1 |
