A Study on Position Detection and Control System of Self-movable Micro Robot (2nd Report)

摘要

are conducted on several type of robots, especially articulated robots, in industrial areas. However, there are such fields as die-making, inspection of gas tanks , operations in small places in which those robots cannot be used. In these areas, it is difficult to move workpieces and articulated robots are too big for operations in small places. Thus, self-movable micro robots system possible to be carried are suitable. In this paper, a new type of position control system of self-movable micro robot is described. This system comprises a walking type self-movable micro robot (16 mm long -27 mm wide -12 mm high), a robot controller, its position detecting subsystem and a total system controller (a personal computer).