Method of controlling robot and robot

• US 10,239,204 B2
• Filed: 07/23/2015
• Issued: 03/26/2019
• Est. Priority Date: 01/20/2012
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Motoyoshi, Masaki, Hirabayashi, Tomokazu
• Primary Examiner(s): Edwards, Jerrah
• Application Number:
  US14/807,643
• Publication Number:
  US 20150328770A1
• Time in Patent Office: 1,342 Days
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: B25J 9/1653 parameters identification, estimation, stiffness, accuracy, error analysis
• CPC Class Codes: G01P 21/02 of speedometers
• CPC Class Codes: G01P 3/44 for measuring angular speed G01P3/56 takes precedence
• CPC Class Codes: G05B 2219/40597 Measure, calculate angular momentum, gyro of rotating body at end effector
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.

Claims

1. A method of controlling a robot including a motor, an angular sensor adapted to detect a rotational angle of the motor, an arm connected to the motor, and an inertial sensor attached to the arm, the method comprising:

calculating a correction amount of an output from the inertial sensor, the correction amount being based on a calculated torsional angular velocity, the calculated torsional angular velocity being calculated from;

an angular velocity detected by the inertial sensor; and

an angular velocity obtained from angle information detected by the angular sensor;

correcting a sensitivity of the inertial sensor based upon the correction amount; and

controlling the arm based upon the correction amount of the output from the inertial sensor.

2. The method of controlling the robot according to claim 1, wherein

the calculating of a correction amount is performed during a movement of the robot.

3. The method of controlling the robot according to claim 1, further comprising:

eliminating an offset error of the inertial sensor before the correction amount is calculated.

4. A robot comprising:

a motor;

an arm connected to and driven by the motor;

an angular sensor configured to detect a rotational angle of the motor; and

an inertial sensor attached to the arm;

the arm is controlled based on a correction amount of an output from the inertial sensor, the correction amount being based on a calculated torsional angular velocity, the calculated torsional angular velocity being calculated from;

an angular velocity detected by the inertial sensor; and

an angular velocity obtained from angle information detected by the angular sensor,

wherein a sensitivity of the inertial sensor is corrected based upon the correction amount.

5. The robot according to claim 4, wherein

the correction amount is calculated during a movement of the robot.

6. The robot according to claim 4, further comprising:

an offset error of the inertial sensor is eliminated before the correction amount is calculated.