JP2008207304A5 - - Google Patents
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- JP2008207304A5 JP2008207304A5 JP2007048749A JP2007048749A JP2008207304A5 JP 2008207304 A5 JP2008207304 A5 JP 2008207304A5 JP 2007048749 A JP2007048749 A JP 2007048749A JP 2007048749 A JP2007048749 A JP 2007048749A JP 2008207304 A5 JP2008207304 A5 JP 2008207304A5
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- load
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- mass
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- gravity
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- 230000005484 gravity Effects 0.000 claims 8
- 238000005259 measurement Methods 0.000 claims 2
- 238000004364 calculation method Methods 0.000 claims 1
Claims (4)
前記２つの回転軸を１軸毎に等角速度運動させ所定の位相間隔を有しており所定の角度に位置する２点における各点の角度とその角度におけるモータ電流測定値とを求め、
これら角度とモータ電流測定値と前記アームの質量に起因するトルク成分から前記負荷の質量に起因するトルク成分の振幅と位相とを各軸ごとに求め、
前記負荷の質量に起因するトルク成分の振幅と位相に基づいて前記負荷の質量及び重心位置を算出するロボットに取り付けられた負荷の質量と重心位置の算出方法。 A plurality of at least one set of two rotation axes driven by a motor and having a twisted relationship in which a plane formed by a straight line connecting the two rotation center axes and one rotation center axis is substantially orthogonal to the other rotation center axis in robots with arms, one of said two rotation axes are state-of-the-art rotary axis of the robot, the other is a rotating shaft on the cutting edge side next to the cutting edge of the rotary shaft, said top rotates around the rotation axis of the distal end side, a method of calculating the weight and center of gravity of the load attached to the robot you calculate the mass and center of gravity position of the attached load on the cutting edge of the arm,
The two rotating shafts are moved at equal angular speeds for each axis to obtain an angle of each point at two points having a predetermined phase interval and located at a predetermined angle, and a motor current measurement value at the angle,
Obtain the amplitude and phase of the torque component due to the mass of the load from each angle, the motor current measurement value and the torque component due to the mass of the arm ,
A load mass and center of gravity position calculation method attached to a robot that calculates the load mass and center of gravity position based on the amplitude and phase of a torque component caused by the load mass .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007048749A JP4858229B2 (en) | 2007-02-28 | 2007-02-28 | Calculation method of load mass and center of gravity position attached to robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007048749A JP4858229B2 (en) | 2007-02-28 | 2007-02-28 | Calculation method of load mass and center of gravity position attached to robot |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2008207304A JP2008207304A (en) | 2008-09-11 |
| JP2008207304A5 true JP2008207304A5 (en) | 2010-01-21 |
| JP4858229B2 JP4858229B2 (en) | 2012-01-18 |
Family
ID=39784048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2007048749A Active JP4858229B2 (en) | 2007-02-28 | 2007-02-28 | Calculation method of load mass and center of gravity position attached to robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4858229B2 (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102119147A (en) | 2008-08-11 | 2011-07-06 | 日本曹达株式会社 | Oxime ether derivative and bactericide for agricultural and horticultural use |
| KR101360450B1 (en) | 2012-12-27 | 2014-02-12 | 현대자동차주식회사 | Grippper of robot and method for controlling the same |
| KR101438971B1 (en) | 2012-12-27 | 2014-09-15 | 현대자동차주식회사 | Grippper of robot and method for controlling the same |
| KR101575487B1 (en) * | 2014-06-11 | 2015-12-08 | 현대자동차주식회사 | Method and system for calculating weight and center of gravity of object for robot |
| KR101743225B1 (en) * | 2015-12-30 | 2017-06-15 | 국방과학연구소 | Device and method for measuring center of gravity for multi-axis driving system |
| JP6464205B2 (en) | 2017-01-17 | 2019-02-06 | ファナック株式会社 | Robot controller |
| JP6867885B2 (en) * | 2017-06-05 | 2021-05-12 | 川崎重工業株式会社 | Angle transmission error identification system, angle transmission error identification method and robot system |
| CN107511821B (en) * | 2017-08-21 | 2019-11-29 | 北京精密机电控制设备研究所 | Joint of mechanical arm flexible control device and method based on electric current torque mixing sensing |
| KR101847357B1 (en) * | 2017-12-01 | 2018-04-10 | 한국기초과학지원연구원 | Stage of specimen holder for electron microscope and controlling method thereof |
| JP7076274B2 (en) * | 2018-04-24 | 2022-05-27 | 三菱電機株式会社 | Position estimation device and mechanical device |
| JP7473679B2 (en) * | 2020-04-15 | 2024-04-23 | 上海非夕機器人科技有限公司 | Method for estimating gravity direction for a robot, robot system, and non-transitory computer-readable medium |
| CN112199798B (en) * | 2020-10-29 | 2023-11-17 | 中国水利水电第十一工程局有限公司 | Design and calculation method for constructing three arc door support arms based on addition of middle support arm of inclined support arm |
| CN114789432B (en) * | 2022-03-31 | 2023-08-29 | 西安交通大学 | Double-arm robot manpower-position hybrid control method for building board installation |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS638903A (en) * | 1986-06-30 | 1988-01-14 | Toshiba Corp | Estimation system for articulation origin error of articulated robot |
| JP4305340B2 (en) * | 2004-09-08 | 2009-07-29 | パナソニック株式会社 | Calculation method of load mass and center of gravity position attached to robot |
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2007
- 2007-02-28 JP JP2007048749A patent/JP4858229B2/en active Active
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