| 摘要 |
PROBLEM TO BE SOLVED: To provide a mass measurement device, which moves an object and computes mass of the object from force and acceleration exerted thereon, capable of removing the gravitational force component from an output of a force sensor.SOLUTION: A mass measurement device 100, in order to move an object Q and compute mass of the object Q from the force and acceleration exerted thereon, includes a suction unit 2 for holding the object Q, a robot arm 3 for moving the suction unit 2, a force sensor 1 for measuring force exerted on the object Q while being moved, an acceleration sensor 4 for measuring acceleration exerted on the object Q while being moved, a control unit 40, and high-pass filters 35a and 35b. The high-pass filters 35a and 35b are capable of removing a DC component from an output of the force sensor 1. The control unit 40 computes mass of the object Q using the force sensor 1 output whose DC component has been removed. |
