Robot and offset correction device for force sensor
AssigneeSeiko Epson Corporation
InventorYasuhiro Shimodaira
Life of this patent
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Abstract
A robot includes a robot arm, a force sensor that is provided on the robot arm, and a processor that is configured to execute computer-executable instructions so as to control the robot and process a sensor output of the force sensor. The processor is configured to: set an offset calculation period after resetting the force sensor; and perform an offset calculation operation for calculating a value based on the sensor output during the offset calculation period as an offset and a correction operation for subtracting the offset from the sensor output at the time of force detection after the elapse of the offset calculation period.
Claims16
A robot comprising:
- a robot arm;
- a force sensor that is provided on the robot arm;
- and
- a processor that is configured to execute computer-executable instructions so as to control the robot and process a sensor output of the force sensor,
- wherein the processor is configured to:
- set an offset calculation period after resetting the force sensor;
- and
- perform an offset calculation operation for calculating a value based on the sensor output during the offset calculation period as an offset and a correction operation for subtracting the offset from the sensor output at the time of force detection after the elapse of the offset calculation period.
An offset correction device for correcting an offset of a force sensor, comprising:
- a processor that is configured to process a sensor output of the force sensor,
- wherein the processor is configured to:
- set an offset calculation period after resetting the force sensor;
- calculate a value based on an output of the force sensor during the offset calculation period as an offset;
- and
- subtract the offset from the output of the force sensor at the time of force detection after the elapse of the offset calculation period.
Dependencies are inferred from the claim text.