| 摘要 |
Disclosed are a system for calculating an object weight and the center of gravity of a robot and a method for controlling the same, comprising: a lifting step; a joint angle calculating step for measuring a change in an angle of each joint through an angle sensor prepared in each joint of a gripper in lifting, and for calculating the joint angular speed and joint angular acceleration of each joint in a controlling part; an acceleration calculating step for calculating the acceleration of an object in the controlling part; a measuring step for measuring an upper welding force and a lower welding force by a power sensor prepared in a joint; and a weight calculating step for calculating the weight of the object through the upper welding force and the lower welding force, acceleration of gravity, and the vertical component of object acceleration in the controlling part. |
