| 摘要 |
PURPOSE:To detect accurately the position of a moving robot, by providing a position detecting ball body and an angle detector in the bottom part of a robot base. CONSTITUTION:When the center of a ball body 5 is brought into contact with an origin 0 of an X-Y plane on a floor 6 and the robot is moved to a point P (X0, Y0) thereafter without changing the attitude, a rotation detector 10 arranged at right angles to the X-axis direction detects a rotation angle theta1 of a roller 8 and a rotation detector 11 arranged at right angles to the Y-axis direction detect a rotation angle theta2 of a roller 9 to calculate an extent x0 of movement of the ball body 5 in the X-axis direction and an extent y0 of movement in the Y-axis direction in accordance with equations x0=r1theta1 and y0=r2theta2 (r1 and r2 are radiuses of rollers 8 and 9). Thus, the position P (x0, y0) to which the robot is moved is detected accurately by outputs of rotation detectors 10 and 11. |
