Robot load center of gravity position estimation device and robot load center of gravity position estimation method

摘要

A position of gravity of center of a load loaded to an industrial load is estimated. The robot has a robot arm driven horizontally. The robot arm includes first to fourth axis. Acceleration generated at the second axis during accelerated and decelerated intervals of each of three operation periods. In each operation period, the second axis is driven to move the robot arm from one initial position to one first estimating position and returns it from the estimating position to the initial position. During each operation period, the load is given a known mass, the fourth axis is positioned at a preset angle, and the first, third and fourth axes are the same in positions between the initial and estimating positions. The fourth-axis position is changed to different angles for every operation period. Based on calculated acceleration and known factors of the robot and load, the position is estimated.