HAND-FORCE MEASUREMENT DEVICE, HAND-FORCE MEASUREMENT METHOD, AND HAND-FORCE MEASUREMENT PROGRAM

摘要

The hand force sensation measuring device calculates the hand force sense based on a link parameter geometrically representing a position and orientation relationship between links in an articulated robot having a link mechanism and an individual error of the articulated robot affecting the link parameter And a processing device for calculating an external force acting on the hand of the articulated robot.