| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system that can inspect a force sensor accurately and simply, and to provide a sensor inspection device and method.SOLUTION: In a force control type robot in which a hand tool is attached to the tip part of a robot arm via a force sensor, the robot is operated so that the hand tool is pressed to a predetermined or preliminarily arranged pressing surface to acquire a force component in a direction perpendicular to the pressing direction of the hand tool onto the pressing surface that the hand tool receives from the pressing surface, which is measured by the force sensor when the hand tool is pressed onto the pressing surface, and to determine presence/no presence of abnormality of the force sensor, based on magnitude of the acquired force component in the direction perpendicular to the pressing direction of the hand tool. |
