| 摘要 |
PROBLEM TO BE SOLVED: To provide a digital filter capable of performing filtering at optimum timing matched with a motion of a robot, a mass measurement device using the digital filter, and a robot system in which the measurement device is incorporated.SOLUTION: A linear phase filter is used as a digital filter for performing filtering on quantized time series data from a sensor for detecting force or acceleration applied to an article whose speed is varying, the linear phase filter taking, as a phase delay, time from a point of time at which an extreme value emerges in the time series data during speed variation to a point of time immediately before elimination of the speed variation. The digital filter is constituted by programmable processing means for performing arithmetic processing on the quantized time series data and performs, when the time has been detected from time series data stored in storage means for storing time series data before filtering, filtering using a linear phase filter having a phase delay corresponding to the detected time.SELECTED DRAWING: Figure 12 |
