| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot that can suppress the occurrence of a failure and can improve productivity, and can restore precision without removing a force sensor from a robot device even if weight is measured using the force sensor in which the precision of detection changes with time. <P>SOLUTION: The robot having the force sensor includes: a workpiece weight calculation means for calculating the weight of a holding workpiece based on a detection value of the force sensor to obtain the weight; a weight comparison means for comparing the measured weight obtained by the workpiece weight calculation means with the reference weight of the workpiece; a sensor detection deviation determining means for determining deviation between a detection value of a reference weight having the reference weight and the reference weight when the measured weight is different from the reference weight; and a detection value calibration means for making the robot hold the reference weight to calibrate the deviation of the detection value when the detection value of the reference weight is determined to be deviated from the reference weight in the sensor detection deviation determining means. <P>COPYRIGHT: (C)2013,JPO&INPIT |
