| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a force correction value detection method and a robot which enable a correct force to be always detected and enable a just enough correct force to be applied to a workpiece.SOLUTION: The force correction value detection method includes: detecting a first force applied to a force sensor 10 under a first posture with the posture of an end effector 12 as the first posture through controlling the posture of an arm 16; and detecting a second force applied to the force sensor 10 under a second posture with the posture of the end effector 12 as the second posture which is different from the first posture through controlling the posture of the arm 16. The control part includes calculating the drift value of the force sensor 10 through obtaining the difference between the first force and the second force. At the straight line passing through a first point of the end effector 12 and a second point of the end effector 12 which is different from the first point, a first direction toward the second point from the first point in the first posture is same as a second direction toward the first point from the second point in the second posture.</p> |
