| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect a detecting error in a detecting unit that detects a joint angle of a parallel-type link robot. Ž<P>SOLUTION: In the parallel-type link robot having a n-angled shape link mechanism (wherein n is an integer equal to or greater than 4), an error detecting device detecting the detecting error in a joint angle detecting unit is composed of: the joint angle detecting unit for respectively detecting n-1 pieces of joint angle of joint units out of the joint units constituting the n-angled shape link mechanism; an angle error parameter acquisition unit for acquiring parameters concerning the angle errors of the joint angles based on length of each link member of the n-angled shape link mechanism and the joint angles of the n-1 pieces of the joint units detected by the joint angle detecting unit, under a structural condition of the n-angled shape link mechanism; and an error determination unit for determining whether or not the angle error is observed on any of the n-1 pieces of the joint units based on the parameters acquired from the angle error parameter acquisition unit. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
|
