ROBOT SYSTEM AND ESTIMATING AND CALCULATING METHOD FRICTIONAL COEFFICIENT THEREOF

摘要

According to an embodiment of the present invention, a robot system comprises: an operation tool body; and a pair of gripping parts mounted on the operation tool body to be able to draw near to and be separated from each other, and each having a sensor frame for gripping an object. The sensor frames can calculate the coefficient of friction between the object and the gripping parts by measuring vertical reaction force caused when the object is gripped and sliding force detected at a right angle to the vertical reaction force when the object is slid. According to the embodiment of the present invention, a coefficient of friction that is changed depending on the environment is rapidly and accurately calculated by measuring the reaction force value caused when the gripping parts grip the object and the sliding force detected at a right angle to the vertical reaction force when the object is slid. Accordingly, the present invention can stably perform the handling process of the object, which is to pick and place the object, by generating gripping force, which means the vertical reaction force caused when gripped, to prevent the object from sliding.