Title:
CALIBRATION DEVICE AND ROBOT SYSTEM USING SAME
Document Type and Number:
WIPO Patent Application WO/2016/208467
Kind Code:
A1
Abstract:
The present invention addresses the problem of obtaining a calibration device capable of performing calibration with high precision. A calibration unit, which performs calibration by subtracting bias values and the gravitational force component of a robot end load from force information and extracts only the external force generated by contact with a work object, comprises: an approximation curve-generating part for generating an approximation curve on the basis of positional information and force information when a tool part is rotated according to an orientation command value; a bias value-estimating part for estimating bias values in the force information on the basis of the approximation curve, positional information and force information; a mass/center of gravity position-estimating part for eliminating the bias values from the force information and, using the force information from which bias values have been eliminated, calculating the robot end load mass and center of gravity position vector; and an external force component-calculating section for subtracting bias values and the gravitational force component of the robot end load from the force information using the estimated bias values, and the robot end load mass and center of gravity position vector.
Inventors:
SHIRATSUCHI KOJI (JP)
Application Number:
PCT/JP2016/067793
Publication Date:
December 29, 2016
Filing Date:
June 15, 2016
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J13/08; B25J9/10
Foreign References:
| JPS6425207A | 1989-01-27 | |||
| JPH0355189A | 1991-03-08 | |||
| JPH11237296A | 1999-08-31 | |||
| JP2012115912A | 2012-06-21 | |||
| JP2014014902A | 2014-01-30 |
Attorney, Agent or Firm:
SOGA, Michiharu et al. (JP)
Michiharu Soga (JP)
Michiharu Soga (JP)
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