ROBOT HAVING WORKPIECE MASS MEASUREMENT FUNCTION
First Claim
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1. A robot having a workpiece mass measurement function for measuring a mass of a workpiece that is held, the robot comprising:
- a force measurement unit that measures a force that is applied to a tip part of a mechanism part of the robot; and
a mass estimation unit that estimates the mass of the workpiece that is held by the robot, based on the force acquired by the force measurement unit while the robot is moving.
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Abstract
A robot (1) having a workpiece mass measurement function for measuring the mass of a workpiece that is held, includes a force measurement unit (5) that measures the force that is applied to the tip part (2) of the mechanism part of the robot (1), and a mass estimation unit (11) that estimates the mass of the workpiece that is held by the robot (1), based on information about the force acquired by the force measurement unit (5) while the robot (1) is moving.
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Citations
13 Claims
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1. A robot having a workpiece mass measurement function for measuring a mass of a workpiece that is held, the robot comprising:
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a force measurement unit that measures a force that is applied to a tip part of a mechanism part of the robot; and a mass estimation unit that estimates the mass of the workpiece that is held by the robot, based on the force acquired by the force measurement unit while the robot is moving. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification