LOADING WEIGHT OF ARTICULATED ROBOT AND AUTOMATIC CALCULATION METHOD FOR POSITION OF GRAVITY CENTER OF LOADING WEIGHT

摘要

PROBLEM TO BE SOLVED: To provide a method to automatically calculate weight of a load and the position of the gravity center of an arm head end of an articulated robot without receiving influence of a measurement error of a measured feed-back electric current.;SOLUTION: The load 2 whose weight and position of the gravity center are known is mounted on the head end of the arm of the articulated robot 1, the articulated robot 1 is made to move in accordance with a movement pattern program and a correction coefficient to correct a detected driving electric current is computed from the driving electric current detected at this time and an ideal electric current calculated from the known weight of the load 2, the known position of the gravity center and a mass point model in a first stage. The weight of the unknown load 2 and the unknown gravity center position are computed in accordance with a corrected driving electric current by mounting the load 2 whose weight and gravity center position are unknown on the arm head end of the articulated robot 1 and making the articulated robot 1 to move in accordance with the movement pattern program in a second stage and excluding the measurement error by correcting the driving electric current detected at this time by the correction coefficient.;COPYRIGHT: (C)2004,JPO