1.1. Introduction

1.1. Introduction

 

Load estimation is a function for calculating the weight and the weight center of a load attached to the end of a robot. In order to control the robot based on dynamics models, it is required to secure dynamics parameters both for the main body of the robot and for the load attached to the robot all together. In relation to that, as the load that is to be attached to the robot will be different, depending on the situations of the individual sites and the difficult in calculating their data at sites, there is a need for a function that will allow a robot controller to estimate the data automatically.

 

n Load Estimation coordinate: Tool coordinate

 

 

Figure 1.1 Tool coordinate

 

※ The load estimation function is for helping a robot operate smoothly. It would be inappropriate to use the function to measure weight with precision.

 

※ The load estimation function can be used only when the robot is installed on the ground.

In other words, the load estimation function will not be supported for a robot if it is installed on a wall or onto a ceiling.

 

※ As the physical properties (weight, weight center, and inertia) of a tool get smaller, the estimation error will get larger

If the physical properties of a tool are small, it is recommended for the user to enter the tool data manually.

 

※ If there are tools, which are to be attached to a robot and works that are to be handled by the tools, it is required to register the tool data for individual conditions first before using them. Load estimation should be performed for individual working conditions of (tools) and (tools + works).