The present invention relates to a method for estimating a position of a robot and a robot including a position estimating apparatus. The method for estimating the position of the robot according to the present invention, which is the method for estimating the position of the robot ascended/descended by winding a pair of ropes, comprises: a distance measuring step of measuring a distance from an upper end to which each of the pair of ropes is fixed to a point where each rope is connected to the robot; an angle measurement step of measuring an angle between each rope and the robot; and a position calculation step of calculating the position of the robot based on a distance value measured in the distance measuring step and an angle value measured in the angle measurement step. Accordingly, the position of the robot can be accurately estimated.

    본 발명에 따른 로봇의 위치 추정 방법은, 한 쌍의 로프를 감아 등강하는 로봇의 위치 추정 방법으로서, 한 쌍의 로프 각각이 고정되어 있는 상측 단부에서 각각의 로프가 로봇에 연결된 지점까지의 거리를 측정하는 거리 측정 단계; 각각의 로프와 로봇이 이루는 각도를 측정하는 각도 측정 단계; 및 거리 측정 단계에서 측정된 거리값과, 각도 측정 단계에서 측정된 각도값을 기초로 로봇의 위치를 산출하는 위치 산출 단계를 포함한다.


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    Title :

    LOCATION ESTIMATION METHOD FOR ROBOT AND ROBOT COMPRISING THE LOCATION ESTIMATION DEVICE


    Additional title:

    로봇의 위치 추정 방법 및 위치 추정 장치를 포함하는 로봇


    Contributors:
    KIM JONGWON (author) / PARK GARAM (author) / LEE JISEOK (author) / KIM HWA SOO (author) / OH JOOHYUN (author) / CHAE HOBYEONG (author) / YOON DUPYO (author) / YOO SUNGKEUN (author) / HONG JOOYOUNG (author) / SEO TAEWON (author)

    Publication date :

    2020-07-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B66D Haspeln , CAPSTANS




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