METHOD AND SYSTEM FOR CALCULATING WEIGHT AND CENTER OF GRAVITY OF OBJECT LIFTED BY ROBOT

摘要

A method for calculating weight and center of gravity of an object lifted by a robot includes lifting an object, measuring a change in angle of each joint through an angle sensor provided for each joint of the gripper in the event of the lifting, and calculating angular velocity and acceleration of each joint, calculating, via a controller, acceleration of the object, measuring an upper pressing force and a lower pressing force using force sensors installed on the joints, and calculating, via the controller, the weight of the object using a vertical component of the acceleration of the object, gravitational acceleration, and the upper and lower pressing forces.

主权项

1. A method of controlling a system for calculating weight and center of gravity of an object for a robot, the method comprising:
pressing respective upper and lower surfaces of the object via upper and lower parts of a robotic gripper to grip the object; lifting the object with the gripper; measuring, during lifting of the object, a change in angle of each joint through an angle sensor provided for each joint of the gripper and calculating angular velocity and angular acceleration of each joint; calculating, via a controller, acceleration of the object using the angular velocity, the angular acceleration and a Jacobian matrix of the gripper; measuring an upper pressing force with which the upper part of the gripper presses the upper surface of the object and a lower pressing force with which the lower part of the gripper presses the lower surface of the object using force sensors installed on the joints; and calculating, via the controller, the weight of the object using a vertical component of the acceleration of the object, a gravitational acceleration and the upper and lower pressing forces.