PURPOSE: To observe dislocation from a track and vibration generated at the tip of a robot manipulator easily and accurately at the time of commanding rectilinear movement to the robot manipulator by fitting a contact probe at the tip of the manipulator through a force sensor.
CONSTITUTION: A robot manipulator 1 is provided with a contact 6 at its tip through a force detector 5. In order to constrain two optional translational directions XR, ZR of this contact 6, a movable plane is pressed to the contact 6 so that the detection value of the force detector 5 becomes the set value, and fixed upon obtaining the set value. The tip of the robot manipulator 1 is then moved rectilinearly at equal speed toward an unconstrained translational direction YR, and the detection value of the force detector 5 in the process of the equal rectilinear movement is read. The quantity of dislocation D from a rectilinear track at this time is enumerated from the detection value of the force detector 5 for observation.
YOSHIDA YUTAKA
NAKADA YASUYUKI
