| 摘要 |
PURPOSE:To obtain a posture sensor suitable for controlling the posture of a robot, by constituting the same of a spherical body received in a spherical container, the viscous liquid allowed to fill the spherical container and a detection means for detecting the approaching of the spherical body. CONSTITUTION:By attaching a posture sensor to the specific position of moving matter 1 coming to a measuring object to be subjected to posture detection by attaching metal fittings 2, the steel ball 5 in a spherical container 4 is always positioned in a gravity direction regardless of the posture of the moving body 1. By this mechanism, the relative positions of the steel ball 5 and approaching sensors 7a-7f are changed and the distribution of a magnetic force signal due to electromagnetic action is changed. Therefore, the positional change of the steel sphere 5 with the movement of the moving matter 1 is detected by the change in the electromagnetic outputs of approaching sensors 7a, 7d, 7e, 7f, 7a, 7b attached to the spherical container 4 in pairs at every shafts, that is, a roll shaft c-d, a pitch shaft e-f and a rocking shaft a-b. Herein, the detection output of each approaching sensor is operated to calculate the two-dimensional posture of the moving matter 1 as the relative position to the gravity direction. |
