WEIGHT AND CENTER OF GRAVITY POSITION CORRECTING DEVICE FOR FORCE CONTROL WORKING MACHINE

摘要

PURPOSE:To eliminate the need of complicated adjusting work and measuring work at the time of installing a working machine by obtaining a weight parameter for compensating gravity in vector expression based on the base coordinate system or the like corresponding to an installation location in the case of a force control working machine including a force sensor. CONSTITUTION:A robot main body 1 is installed on a pedestal part 3 while being inclined to the direction 2 of gravity by a designated angle. In this case, a force sensor 4 for detecting the force in an arbitrary direction and the moment round the reference point is attached to the arm part of the robot main body 1. A working tool 5 is mounted on the force sensor 4. A force input device 11, an attitude input device 12, a weight and center of gravity position arithmetic device 13 and a storage device 14 for storing the respective parameters of weight and center of gravity position are attached to the control device 10 of the robot main body 11. The weight parameter of the working tool 5 is calculated as the vector quantity, and the center of gravity position parameter of the working tool 5 is calculated. The parameters are used as the weight correction value of working operation.