CONTROLLING METHOD OF ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a controlling method of a robot capable of controlling the robot in accordance with the mass and the center-of-gravity position of a load even under a condition where only a small action can be taken by estimating the mass and the center-of-gravity position of the load mounted on the robot in the small action and with high precision. SOLUTION: This controlling method computes the mass and the center-of-gravity position of the load by measuring motor torque and arm angles of a plurality of arms including two axes rotational axes of which are orthogonal with each other and deriving a geometric relation where the rotational axes are orthogonal with each other from a torque component caused by the load computed from them. COPYRIGHT: (C)2006,JPO&NCIPI