ジャイロを用いたロボットの姿勢計測に関する研究(第1報) : 概念および高精度ターンテーブルを用いた精度検証実験

概要

論文の詳細を見る
Nowadays off-line teaching of a robot is desired to take the place of common manual teaching. It is a precondition for off-line teaching that a robot has high positioning and orientating accuracy. ISO 9283 defines performance criteria of a robot which include these kinds of accuracy and it recommends several systems to test them. These systems are required to measure the position and the orientation of a robot hand in real time, with high accuracy and without contact. As for position measurement. a system using a laser beam has been proposed and used by some users and manufacturers of robots now. However it is very difficult to measure the orientation of a robot and there is no practical measuring system in the present state. In this study an orientation measuring system of a robot using a gyroscope is proposed. Since a practical robot hand performs 3-DOF(degree-of-freedom) complicated rotational motion dynamically, the accuracy of this system under such conditions was inspected by using a precise 3-DOF turntable as a calibration standard. It was, proved that the accuracy is about ±0.03゜ and ±0.05゜ for static and dynamic orientation measurement respectively. It was proved by these results that this system has a good potential to measure the orientation of a practical robot.
1998-05-05