Robot having workpiece mass measurement function

1. A robot having a workpiece mass measurement function for measuring a mass of a workpiece that is held, the robot comprising:

a force measurement unit that measures a force that is applied to a tip part of a mechanism part of the robot; and

a mass estimation unit that estimates the mass of the workpiece that is held by the robot, based on the force acquired by the force measurement unit while the robot is moving;

wherein the mass estimation unit comprises an acceleration acquiring unit that measures or estimates acceleration that applies to the tip part of the mechanism part of the robot;

the mass estimation unit estimates that mass of the workpiece that is held by the robot, based on an equation between the force measured by the force measurement unit while the robot is moving, the acceleration acquired by the acceleration acquiring unit and the mass of the workpiece that is held by the robot;

the force measurement unit measure the force in a plurality of the directions;

the acceleration acquiring unit acquired the acceleration in the plurality of directions; and

the mass estimation unit estimates the mass with respect to the plurality of directions, so that an average value of a plurality of masses is made a mass estimation value.

2. The robot as defined in claim 1 , wherein the force measurement unit estimates the mass of the workpiece based on a force measurement value measured when the workpiece is held and a force measurement value that is measured when the workpiece is not held.

3. The robot as defined in claim 1 , wherein a posture of the tip part of the mechanism part is not changed while the robot is moving.

4. The robot as defined in claim 1 , wherein an average value of a plurality of masses of the workpiece estimated by the mass estimation unit at a plurality of times while the robot is moving, is made a mass estimation value.

5. The robot as defined in claim 1 , wherein the acceleration acquiring unit calculates the acceleration by a dynamics equation.

6. The robot as defined in claim 1 , wherein the acceleration acquiring unit acquires the acceleration measured by an acceleration sensor that is attached to the robot.

7. The robot as defined in claim 1 , wherein the mass estimation unit estimates the mass of the workpiece that is held by the robot, based on the force acquired by the force measurement unit while the tip part of the mechanism part is moving on a surface that is perpendicular to a direction of a gravitational force that applies to the tip part of the mechanism part of the robot without changing the posture of the tip part.

8. The robot as defined in claim 7 , further comprising a posture acquiring unit that acquires a posture of the tip part of the mechanism part of the robot,

wherein the mass estimation unit estimates the mass of the workpiece that is held by the robot, based on the forces in one or more directions measured by the force measurement unit and the posture acquired by the posture acquiring unit.

9. The robot as defined in claim 1 , wherein the mass estimation unit estimates the mass of the workpiece that is held by the robot, based on the force that is acquired by the force measurement unit while the tip part of the mechanism part of the robot is moving on a linear path at constant speed.

10. The robot as defined in claim 9 , further comprising a posture acquiring unit that acquires a posture of the tip part of the mechanism part of the robot,

wherein the mass estimation unit estimates the mass of the workpiece that is held by the robot, based on the forces in one or more directions measured by the force measurement unit and the posture acquired by the posture acquiring unit.