发明名称 |
ARTICULATED ROBOT SYSTEM, ARTICULATED ROBOT, FORCE MEASUREMENT MODULE, FORCE MEASUREMENT METHOD, AND PROGRAM |
摘要 |
PROBLEM TO BE SOLVED: To measure a force and moment acting on a link and a joint of an articulated robot. SOLUTION: The articulated robot includes: a distortion generation member 190 which is disposed at a joint part and fixed to each of a drive shaft on a driving force generation side and an output shaft 176 on the link 174 side as a driving force output destination, at positions away from their respective axes, to generate a bending distortion elastically according to a couple of forces acting on the positions; and a distortion sensor disposed in contact with the distortion generation member 190 to detect the bending distortion. A measurement control means includes an arithmetic means, which calculates a load torque generated axially around the joint part from an output value from the distortion sensor and converts the load torque of the joint part into a force which acts on the link according to the principle of virtual work. COPYRIGHT: (C)2011,JPO&INPIT
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申请公布号 |
JP2011056601(A) |
申请公布日期 |
2011.03.24 |
申请号 |
JP20090206803 |
申请日期 |
2009.09.08 |
申请人 |
TOKYO INSTITUTE OF TECHNOLOGY |
发明人 |
HUANG QINGJIU |
分类号 |
B25J19/02;B25J13/08;G01L3/10;G01L5/16 |
主分类号 |
B25J19/02 |
代理机构 |
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主权项 |
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地址 |
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