| 摘要 |
PURPOSE:To control the force of robot by constituting a Wheatstone bridge circuit by a distortion detecting means, and outputting a signal corresponding to displacement force of an elastic body. CONSTITUTION:An elastic body of a symmetrical structure whose distortion is generated due to force working on an operating part is provided on a robot. In this state, when force or a moment works on this elastic body and the elastic body is distorted, this distortion is detected as the variation of an electric resistance value by distortion detecting means g1-g24. Subsequently, by the variation of a resistance value of the means g1-g24, a voltage corresponding to the force and the moment is outputted through Wheatstone bridge circuits WS1-WS6 and amplifiers Z1-Z6, the force and the moment are detected, and an operating part such as a finger, etc., of the robot is controlled. Accordingly, outputs of the circuits WS1-WS6 go to a non-coherent matrix, and in addition to a temperature compensation and a gain, displacement force of the elastic body can be detected, therefore, the force control of the robot can be executed easily.
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