ARTICULATED ROBOT SYSTEM WITH FUNCTION OF MEASURING ATTITUDE, METHOD AND SYSTEM FOR CERTIFYING MEASURING PRECISION OF GYRO BY USE OF TURNTABLE FOR CALIBRATION REFERENCE, AND DEVICE AND METHOD FOR CALIBRATING TURNTABLE FORMED OF N-AXES

摘要

PROBLEM TO BE SOLVED: To realize a real-time, non-contact, and highly precise attitude measurement free from limitation of measuring range by arranging a piezoelectric rotary gyro at the fingertip of a robot. ;SOLUTION: An articulated robot system 100 is provided with a piezoelectric element rotary gyro 50 which consists of, for example, two gyro units each consisting of two sets of piezoelectric element-made benders and detects the angular velocity around three axes and acceleration in three axial directions of the fingertip of a robot 10. The detected angle speed is arithmetically processed by a signal processing box 55, whereby the attitude change from the initial attitude can be determined. The static and dynamic precision certification with the assumption of the natural movement of the robot with respect to the gyro 50 is performed, for example, by use of a turntable with three degrees of freedom as calibration reference, and a laser tracking system, for example, is used for the calibration of dimensional error or mounting error of the turntable itself.;COPYRIGHT: (C)2000,JPO