Force information display device
AssigneeSintokogio, Ltd.
InventorsYoshikane TANAAMI, Miyuki HAYASHI
Life of this patent
Estimating the term…
Abstract
A control section executes: a first calculation process calculating, from an angular velocity supplied from a gyro sensor, a displaced angle of a robot hand; a first display process converting, according to the displaced angle of the robot hand, at least one of a force and a moment, supplied from the force sensor, in a force sensor coordinate system fixed to a force sensor into at least one of a force and a moment in an absolute coordinate system fixed to a ground and indicating it on a display; or a second display process indicating, on the display, a relation between the absolute coordinate system and the force sensor coordinate system according to the displaced angle of the robot hand.
Claims10
A force information display device comprising:
- a signal input section that receives detection signals respectively supplied from a force sensor and a gyro sensor disposed between a robot arm and a robot hand;
- and
- a control section,
- the control section executing a first calculation process and a first display process or a second display process,
- the first calculation process calculating a displaced angle of the robot hand from an angular velocity supplied from the gyro sensor via the signal input section,
- the first display process (a) carrying out, on a basis of the displaced angle of the robot hand calculated in the first calculation process, conversion such that at least one of a force and a moment in a force sensor coordinate system fixed to the force sensor, supplied from the force sensor via the signal input section, is converted into at least one of a force and a moment in an absolute coordinate system fixed to a ground and (b) indicating a result of the conversion on a display, and
- the second display process indicating, on the display, a relation between the absolute coordinate system and the force sensor coordinate system on a basis of the displaced angle of the robot hand calculated in the first calculation process.
Dependencies are inferred from the claim text.