| 摘要 |
PURPOSE: A device and method for controlling a torque sensor of a robot joint are provided to perform a dynamic test of the torque sensor by consecutively applying a fixed intensity of torque to the robot joint from outside. CONSTITUTION: A device for controlling a torque sensor of a robot joint comprises a frame, a driving part, a differential gear(130), a reducer(140), a torque sensor, a torque sensor calibration part. The driving part is installed in one side of the frame. The reducer reduces the rotation of the rotary shaft of the differential gear. The torque sensor measures the torque delivered through the rotary shaft of the reducer. The torque sensor calibration part is combined in the rotary shaft of the differential gear or of the rotary shaft of the reducer. The torque sensor calibration part comprises a bar(210), first and second elastic members, and first and second displacement generating parts. The bars are formed in the rotary shaft of the differential gear or of the rotary shaft of the reducer to be symmetry with a fixed distance. The first and second elastic members are combined in both ends of bar, respectively. The first and second displacement generating parts are combined in the end part of each elastic member. The first and second displacement generating parts consecutively generate the displacements of first and second directions of the bars, respectively.
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