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1. (WO2018079107) EXTERNAL FORCE DETECTING METHOD

Pub. No.:    WO/2018/079107    International Application No.:    PCT/JP2017/032864
Publication Date: Fri May 04 01:59:59 CEST 2018 International Filing Date: Wed Sep 13 01:59:59 CEST 2017
IPC: G01L 1/00
B25J 13/08
G01L 5/00
G05B 11/36
Applicants: AZBIL CORPORATION
アズビル株式会社
Inventors: KAWASE, Shigeru
川瀬 茂
Title: EXTERNAL FORCE DETECTING METHOD
Abstract:
This external force detecting method is configured such that: an acceleration detector (4) detects the acceleration of a fixed portion (101); a position detector (2) detects the position of a movable portion (102) relative to the fixed portion (101); a position control means (subtractor (5) and gain adjusting portion (6)) outputs a current command value Irp based on a difference between the position detected by the position detector (2) and a reference position Pr; an acceleration compensating portion (8) outputs an acceleration compensation value Irc based on a result obtained by multiplying the acceleration detected by the acceleration detector (4) by the total mass of the movable portion (102), an end effector (12) and a workpiece (50); an adder/subtractor (9) adds the acceleration compensation value Irc to the current command value Irp; a constant current control portion (10) matches a current value of a drive current Ia to a current command value Ir; and an external force detecting portion (11) detects an external force F on the basis of a result obtained by subtracting the acceleration compensation value Irc from the current value of the drive current Ia.