| 摘要 |
The present invention solves a problem unique to a mass measurement device built into a robot hand and provides a mass measurement device capable of keeping measurement error to a minimum even if there are differences in a robot hand gripping mechanism (12), the acceleration mode thereof, or an article (Q) type. First outputs (Fmz, Faz) of sensors (13, 14) and the mass m1 of a first article when the first article is gripped and moved by a gripping mechanism (12) for gripping an article (Q) and second outputs (Fms, Fas) of the sensors (13, 14) and the mass m2 of a second article of a different type when the second article is gripped and moved by the gripping mechanism (12) are stored and associated with the type of the second article. When the type of the second article is specified, the mass m2 and second outputs (Fms, Fas) of the second article of the specified type and mass m1 and first outputs (Fmz, Faz) of the first article are read and the mass of an article (Q) having an unknown mass is calculated. |
