| 摘要 |
<P>PROBLEM TO BE SOLVED: To easily and accurately calibrate a torque sensor mounted in a multi-joint robot. <P>SOLUTION: The torque sensor calibration device 10 includes: the torque sensor 1 mounted in the multi-joint robot 100 having a plurality of links and a plurality of joints for rotatably connecting the links, and for measuring the torque of the joints; a force sensor 2 for measuring external force acting on the connection points of the multi-joint robot 100; and a determination device for simultaneously determining, based on the torque of the joints measured by the torque sensor 1, the external force measured by the force sensor 2 and a motion equation of base links of the multi-joint robot 100, a minimum dynamics parameter of the motion equation and a torque offset value of the torque sensor 1. <P>COPYRIGHT: (C)2012,JPO&INPIT |
