APPARATUS FOR MEASURING FORCE OR TORQUE OF MULTI-DOFS GRIPPER DEVICE ON A SLIDER OF ROBOT ARMS AND METHOD OF THE SAME

摘要

The present invention relates to a device and a method for measuring torque or power of a multi-DOF gripper by using a slider of a robot arm. According to the device and the method for measuring a contact force, which is power or torque, between a gripper and a target object, the contact force is measured based on the torque transmitted to the gripper from the slider of the robot arm, which is sensed by an external sensor, without attaching the sensor to the gripper inserted into a body. [Reference numerals] (1) Gripper;(100) Main computer;(11) Robot arm;(110) Control program;(2) Slider;(200) Slave computer;(3) Operating body;(300) Motion controller;(S) Sensor;(SW) Adhesive power calculating program