| 摘要 |
PURPOSE:To make it possible to detect only external force by erasing the effect of the wt. of a working jig regardless of a wrist posture, by a method wherein the X-axis of a three- direction force detector is set to a vertical direction prior to work to take outputs Yo, Zo of Y- and Z- axes and the wrist of a robot is subsequently rotated by 90 deg. to take the output Xo of an X-axis. CONSTITUTION:A three-direction force detector 3 is mounted to a robot wrist 2 and a working jig 4 is fixed to the leading end of said detector 3 and the wt. W of the working jig 4 itself is preliminarily measured and the X-axis of the detector 4 is allowed to coincide with a vertical direction. Whereupon, the wt. of the working jig 4 is entirely applied to the X-axis and the outputs of Y- and Z- axes substantially come to zero. The outputs of the Y- and Z- axes at this time are set to Yo, Zo. Next, when the robot wrist 2 is rotated by 90 deg. around a Z-axis, the wt. of the working jig 4 is entirely applied to the Y-axis but not applied to the X- and Z- axes and, therefore, the output of the X-axis is set to Xo. By this calibration of a zero point, output at the time of no load can be confirmed. When work is performed by a wrist posture, both of the component force of external force received by the working jig 4 and the component force of the wt. of the working jig 4 are applied to each of the detection axes of the three-direction force detector 3 but, because the effect of the wt. W of the working jig 4 can be set off by calculating the component forces, the residual part becomes an external force.
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