Professional - bu attitude control device

摘要

PURPOSE:To control the posture of a probe so as to make the same perpendicu lar to a surface to be measured, by calculating the own wt. of the probe includ ed in the force detected by a force detection means on the basis of the detected posture of the probe and correcting the detected force. CONSTITUTION:This control apparatus is constituted of a support means 101 composed, for example, of an arm having a multiple degree freedom, a drive means 102 for driving the same and the probe 103 provided to the means 101 and, when the probe 103 contacts a surface to be measured, the drag received by the probe 103 is detected by a force detection means 104. Since the own wt. of the probe 103 is included in this drag, the posture of the probe 103 is detected by a posture detection means 105 and the component force in each axial direction is calculated from the known own wt. of the probe 103 by a driving control means 106 to correct the detected force. By this method, the means 102 is controlled on the basis of the correction result so as to make the probe 103 vertical to the surface to be measured and the means 101 is driven to allow the probe 103 to become vertical to the surface to be measured.