METHOD OF CONTROLLING ROBOT AND ROBOT
First Claim
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 using an angular velocity detected by the inertial sensor and an angular velocity obtained from angle information detected by the angular sensor.
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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.
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Citations
9 Claims
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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 using an angular velocity detected by the inertial sensor and an angular velocity obtained from angle information detected by the angular sensor. - View Dependent Claims (2, 3)
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4. A robot comprising:
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a motor; an arm connected to and driven by the motor; an angular sensor adapted 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 calculated from an angular velocity detected by the inertial sensor and an angular velocity obtained from angle information detected by the angular sensor. - View Dependent Claims (5, 6)
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7. A method of controlling a robot comprising:
calculating a correction amount of an output from the acceleration sensor using a velocity of a sensor coordinate system detected by a velocity sensor and a velocity of a sensor coordinate system calculated using an acceleration detected by an acceleration sensor. - View Dependent Claims (8, 9)
Specification