The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 04, 1986
Filed:
Oct. 04, 1985
Hisaaki Hirabayashi, Yokohama, JP;
Koichi Sugimoto, Hiratsuka, JP;
Shinichi Arai, Yokohama, JP;
Tomoyuki Masui, Yokohama, JP;
Hidetoshi Inaba, Yokohama, JP;
Hitachi, Ltd., Tokyo, JP;
Abstract
The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.