| 摘要 |
PROBLEM TO BE SOLVED: To provide a mass measurement device capable of accurately measuring the mass of articles during movement with less influence by frequency characteristics possessed by a sensor as possible.SOLUTION: In order to move an article Q and calculate a mass m of the article Q from force acting on the article Q and acceleration speed then, a mass measurement device 100 includes: an adsorption part 2 which holds the article Q; a robot arm 3 which moves the absorption part 2; a force sensor 1 which measures the force acting on the article Q during movement; an acceleration speed sensor 4 which grasps the acceleration speed acting on the article Q during movement; and a control part 40 which performs operation control of the absorption part 2 and the robot arm 3 and calculates the mass of the article Q on the basis of the force measurement data indicating a measured result by the force sensor 1 and the acceleration speed data grasped by the acceleration speed sensor 4. Then, in calculation of the mass m of the article Q, at least one of an extreme value of the force measurement data and an extreme value of the acceleration speed data is used. |
