公开(公告)号：JP2001287189A

公开(公告)日：2001-10-16

申请号：JP2000108346

申请日：2000-04-10

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI ,  KAMIMURA HEIHACHIRO ,  YAMAGUCHI ISAO ,  SUZUKI SEIZO ,  YABUUCHI NORIYOSHI ,  UENO JUNICHI ,  USUI YASUKI ,  NAGANO HIROAKI ,  RENBUTSU KATSUHIKO ,  ISAKI MITSUHARU

IPC: B25J19/02 ,  A61G12/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/06 ,  B25J9/22 ,  B25J13/08 ,  G01L1/20 ,  G01L5/00 ,  G01L5/22

Abstract: PROBLEM TO BE SOLVED: To provide a contact sensor that can measure the distribution of pressures throughout the surface of each joint unit forming a robot arm and having cylindrical shapes cut with an offset angle at both ends, and provide a technology that can control the driving of the robot arm on a real-time basis with detection values from the sensor. SOLUTION: A pressure-sensitive sheet sensor comprising a combination of row electrodes arranged parallel and column electrodes arranged in a bobbin form distributes the electrode nodes throughout the surface of each joint having cylindrical shapes cut with an offset angle at both ends. An electrode structure covering given widths along the columns and rows decreases the number of output signal terminals to thus lessen the burden of arithmetic processing. The pressure-sensitive sheet sensor, an encoder and an information processing means disposed for each joint execute local processing before sending the results to a CPU to thus lessen the burden of central arithmetic processing.