Apparatus for Detecting Force And Position on Joint of Robot And Method for Detecting Force And Position on Joint of Robot Using the Same

摘要

The present invention relates to an apparatus to measure a force and a position on a joint of a robot, capable of being easily applied to a joint portion of an actual robot, and accurately measuring a force applied to a joint portion and a position to intelligently and stably control movement of the robot; and a method to measure a force and a position on a joint of a robot using the same. According to the present invention, the apparatus comprises: a case coupled to a first structure of the robot in the joint portion of the robot; a detection unit installed inside the case to be able to vertically move and rotate, and coupled to a second structure in the joint portion of the robot to receive an external force when the second structure relatively moves with respect to the first structure, so as to perform relative movement with respect to the case; film-typed first pressure and position sensors installed to be stacked between the bottom surface of the cast and a lower surface of the detection unit to change a resistance value when a pressing force is vertically applied by the detection unit, so as to measure the force in a vertical direction and a position where the force is applied; and film-typed second pressure and position sensors formed in a ring shape to be stacked adjacent to the outer surface of the detection unit, and changing a resistance value when a pressing force is horizontally applied by the detection unit, so as to respectively measure the force in a horizontal direction, the position where the force is applied, and a position where the detection unit is rotated.