| 摘要 |
PROBLEM TO BE SOLVED: To identify the spring constant around the zxy axes with high accuracy for each rotary joint shaft of an articulated robot arm. SOLUTION: At least the position out of the position and the attitude of a point of measurement determined on a fore end of a robot arm or close to the fore end thereof is measured by a measuring means, and calculated by using the predicted value of the spring constant around each axis of zxy of each rotary hinge shaft. The difference between the measured value and the calculated value is defined as the difference between the true value of the spring constant around each axis of zxy of each rotary hinge shaft and the artificially determined value as the predicted value, and the predicted value of the spring constant is corrected by the mathematical method so that the difference between the two is equal to or less than the predetermined threshold. The finally obtained predicted value of each spring constant (the identified spring constant) becomes the value close to the true spring constant with certain level of correctness. COPYRIGHT: (C)2011,JPO&INPIT
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