Device, method and program for estimating weight and position of gravity center of load by using robot
AssigneeFanuc Corporation
InventorYasuhiro Naitou
Life of this patent
Estimating the term…
Abstract
A device, a method and a program, by which a weight and a horizontal position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has: two torque sensors configured to detect a first torque applied to a first axis of a robot, and a second torque applied to a second axis of the robot; and a calculation section configured to calculate a weight and a horizontal position of a gravity center of a workpiece, by using two detection values of the torque sensors in one posture in which a hand attached to a movable part of the robot holds the workpiece.
Claims11
An estimation device, comprising:
- at least one sensor configured to detect a first torque applied to a first portion of a robot, and a second torque applied to a second portion of the robot different from the first portion or a force applied to the robot;
- and
- a processor configured to calculate a weight of an article and a position of a gravity center of the article with respect to the robot in a horizontal direction, by using a detection value of the at least one sensor in one posture in which the robot holds the article positioned at a movable part of the robot.
An estimation method, comprising:
- detecting, by at least one sensor, a first torque applied to a first portion of a robot, and a second torque applied to a second portion of the robot different from the first portion or a force applied to the robot;
- and
- calculating a weight of an article and a position of a gravity center of the article with respect to the robot in a horizontal direction, by using a detection value of the at least one sensor in one posture in which the robot holds the article positioned at the movable part of the robot.
A non-transitory computer readable medium storing a program for causing, when executed by a robot and an arithmetic processing unit used in conjunction with the robot, execution of:
- detecting, by at least one sensor, a first torque applied to a first portion of the robot, and a second torque applied to a second portion of the robot different from the first portion or a force applied to the robot;
- and
- calculating, by the arithmetic processing unit, a weight of an article and a position of a gravity center of the article with respect to the robot in a horizontal direction, by using a detection value of the at least one sensor in one posture in which the robot holds the article positioned at the movable part of the robot.
Dependencies are inferred from the claim text.