著者

高野 一輝 大野 和則 鈴木 高宏 田所 諭

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2015 (ISSN:24243124)

巻号頁・発行日

pp._1A1-I09_1-_1A1-I09_3, 2015-05-17 (Released:2017-06-19)

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We had developed the 3D shape measurement method using the robot technology to measure underground pipes.And we got the rough shapes of pipe. Our new aim is the accuracy improvement of the 3D shape measurement.Gyroscope on the robot is used to estimate robot position.Hence the specification of gyroscope is greatly related to accuracy of measurement.In this paper, to improve the accuracy of measurement, we propose a method to choose a gyroscope which can satisfy the target accuracy. We evaluated the measurement error caused by specification of gyroscope by simulation, and we found the index of specification of gyroscope.