Displacement measuring system for measuring the deflection of a mobile robot

摘要

A deflection measuring system (10) for measuring a deflection of a mechanism unit of a wrist robot (11), comprising: a measurement mark (12) which is at a first position on any mechanism unit of the articulated robot (11) or at a second position which is one of the articulated robot (11 a position measuring device (13) disposed at the other of the first or second positions and configured to measure a position of the measuring mark (12); anda controller (14) configured to control the articulated robot (11) and the position measuring device (13), the controller (14) comprising: a robot control unit (31) configured to change a posture of the articulated robot (11); such that a relative positional relationship between the measuring mark (12) and the position measuring device (13) is changed only depending on a deflection of the mechanism unit; anda displacement amount calculating unit (32) for measuring positions of the measurement mark (12) correspondingly before and after a change of posture by the position measuring device (13) and calculating an actual displacement amount of the mechanism unit based on a movement amount between the position of the measurement mark (12), measured before the change of posture, and the position of the measuring mark (12), measured after the change of posture, is designed.