A device, a method and a program, by which a weight and a horizontal position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has: two torque sensors configured to detect a first torque applied to a first axis of a robot, and a second torque applied to a second axis of the robot; and a calculation section configured to calculate a weight and a horizontal position of a gravity center of a workpiece, by using two detection values of the torque sensors in one posture in which a hand attached to a movable part of the robot holds the workpiece.

A position of gravity of center of a load loaded to an industrial load is estimated. The robot has a robot arm driven horizontally. The robot arm includes first to fourth axis. Acceleration generated at the second axis during accelerated and decelerated intervals of each of three operation periods. In each operation period, the second axis is driven to move the robot arm from one initial position to one first estimating position and returns it from the estimating position to the initial position. During each operation period, the load is given a known mass, the fourth axis is positioned at a preset angle, and the first, third and fourth axes are the same in positions between the initial and estimating positions. The fourth-axis position is changed to different angles for every operation period. Based on calculated acceleration and known factors of the robot and load, the position is estimated.

A device, a method and a program, by which a weight and a horizontal position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has: two torque sensors configured to detect a first torque applied to a first axis of a robot, and a second torque applied to a second axis of the robot; and a calculation section configured to calculate a weight and a horizontal position of a gravity center of a workpiece, by using two detection values of the torque sensors in one posture in which a hand attached to a movable part of the robot holds the workpiece.

A motor selection apparatus includes: a mechanical condition obtainment unit that obtains information pertaining to a distance between a center of mass of a workpiece and a rotation center of a motor; an operating pattern obtainment unit that obtains information pertaining to an operating pattern; a motor information obtainment unit that obtains information pertaining to instantaneous torque; an eccentric load torque calculation unit that calculates eccentric load torque, which is load torque acting on the motor in accordance with the rotation phase of the motor; an acceleration/deceleration torque calculation unit that calculates acceleration/deceleration torque; a required torque calculation unit that calculates a required torque from a sum of the eccentric load torque and the acceleration/deceleration torque; and a motor selection unit that determines whether a motor can be selected, based on whether the required torque is less than or equal to the instantaneous torque of the motor.

A position of gravity of center of a load loaded to an industrial load is estimated. The robot has a robot arm driven horizontally. The robot arm includes first to fourth axis. Acceleration generated at the second axis during accelerated and decelerated intervals of each of three operation periods. In each operation period, the second axis is driven to move the robot arm from one initial position to one first estimating position and returns it from the estimating position to the initial position. During each operation period, the load is given a known mass, the fourth axis is positioned at a preset angle, and the first, third and fourth axes are the same in positions between the initial and estimating positions. The fourth-axis position is changed to different angles for every operation period. Based on calculated acceleration and known factors of the robot and load, the position is estimated.

A motor selection apparatus includes: a mechanical condition obtainment unit that obtains information pertaining to a distance between a center of mass of a workpiece and a rotation center of a motor; an operating pattern obtainment unit that obtains information pertaining to an operating pattern; a motor information obtainment unit that obtains information pertaining to instantaneous torque; an eccentric load torque calculation unit that calculates eccentric load torque, which is load torque acting on the motor in accordance with the rotation phase of the motor; an acceleration/deceleration torque calculation unit that calculates acceleration/deceleration torque; a required torque calculation unit that calculates a required torque from a sum of the eccentric load torque and the acceleration/deceleration torque; and a motor selection unit that determines whether a motor can be selected, based on whether the required torque is less than or equal to the instantaneous torque of the motor.

A traveling robot includes a mobile unit, an arm and an electronic control unit. The electronic control unit is configured to set a target position to which the traveling robot intends to travel. The electronic control unit is configured to calculate a center of gravity of the traveling robot. The electronic control unit is configured to plan a motion of a movable part of the mobile unit and/or arm to the set target position. The electronic control unit is configured to, in the case where the traveling robot is close to the set target position, plan the motion of the movable part of the mobile unit and/or arm such that a limitation on a range of the center of gravity is relaxed as compared to a limitation on the range of the center of gravity in the case where the traveling robot is far from the set target position.