DEVICE AND A METHOD FOR COMPENSATING AN ANGULAR VELOCITY ERROR OF A ROBOT, CAPABLE OF PREVENTING ADDITIONAL COSTS BY USING ONLY ENCODER AND GYRO FOR GYROSCOPE LOCATION MEASUREMENT

摘要

PURPOSE: A device and a method for compensating an angular velocity error of a robot are provided to minimize an angular velocity error by using only encoder and gyroscope in rear time when starting and stopping a robot.;CONSTITUTION: A device for compensating an angular velocity error of a robot comprises an encoder variety compensating unit(400) and an angular velocity error correcting unit(215). The encoder variety compensating unit outputs the reliability by calculating the changing amount of encoder and the reliable range of angular velocity of the running encoder. The angular velocity error correcting unit corrects the angular velocity error based on the outputted reliability.;COPYRIGHT KIPO 2011