| 摘要 |
PURPOSE:To realize a method for running exactly a robot to a target by combining an angular velocity and acceleration sensor unit in three axial directions, which is loaded on the robot, which a computer and measuring independently the present position of the robot. CONSTITUTION:A sensor unit is constituted of angular velocity detecting sensors 13, 14 and 15 in three axial directions and acceleration detecting sensors 16, 17 and 18 in three axial directions, the sensor unit is attached to the vicinity of the center part of a robot, and an initial fitting position of the robot is set as an origin. Thereafter, when the robot body runs, each sensor operates and generates a displacing signal, and this signal is inputted to an arithmetic processing computer 36 through amplifiers 32, 33 and A/D converters 34, 35. In such a state, the computer 36 brings an angular velocity signal to integral operation and displays it as a displacement angle, brings an acceleration signal to arithmetic processing and displays it as a distance, and measures quantitatively the shift quantity caused by a gravity drop, etc. In such a way, by repeating the running - confirmation of a sensor position - correction of a position direction, the robot can run along a target line with high accuracy irrespective of an error of a driving system. |
