| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to infer the operation state of a link mechanism to be measured, even when the number of sensors mounted to the link mechanism is reduced.SOLUTION: An operation inference device according to the present invention comprises: a sensor 11; a mount part movement destination calculation unit 13 provided with a sensor position coordinate calculation unit 21 and a coordinate inference storage unit 22; an arm vector calculation unit 14 for calculating an arm vector from each joint to a sensor mounted part on the basis the sensor 11 and the position of each shaft, etc.; a joint angle calculation unit 15 for calculating the angle of each joint on the basis of the arm vector and the position of each shaft, etc.; an inference result determination unit 16 for calculating sensor position coordinates on the basis of the angle of each joint, etc., comparing with the sensor position coordinates calculated by the sensor position coordinate calculation unit 21, and determining whether the calculated angle is appropriate; and a calibration unit 12 for storing the output of the sensor when each shaft, etc., are in the initial state.SELECTED DRAWING: Figure 1 |
