ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM

• US 20160107311A1
• Filed: 12/22/2015
• Published: 04/21/2016
• Est. Priority Date: 04/10/2013
• Status: Abandoned Application

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: NIU, Akio
• Application Number:
  US14/979,004
• Publication Number:
  US 20160107311A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: B25J 9/04 by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B25J 9/1638 compensation for arm bending/inertia, pay load weight/inertia
• CPC Class Codes: B25J 9/1651 acceleration, rate control
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.

Claims

1. A robot comprising:

a base;

an arm that includes a first arm that is rotated around a first rotation axis and a second arm that is rotated around a second rotation axis in a direction different from the first rotation axis; and

a first inertia sensor that is installed at the first arm;

wherein the first arm is coupled to the base and is controlled based on an output from the first inertia sensor, and

a vibration of the arm is suppressed based on the output from the first inertia sensor.

2. The robot according to claim 1, wherein

a vibration of the first arm is suppressed by a control of the first arm based on the output from the first inertia sensor.

3. The robot according to claim 1, wherein

the first rotation axis coincides with a normal of an installation surface of the base.

4. The robot according to claim 2, wherein

the first rotation axis coincides with a normal of an installation surface of the base.

5. The robot according to claim 1, wherein

the direction of the second rotation axis is perpendicular to the direction of the first rotation axis.

6. The robot according to claim 2, wherein

the direction of the second rotation axis is perpendicular to the direction of the first rotation axis.

7. The robot according to claim 3, wherein

the direction of the second rotation axis is perpendicular to the direction of the first rotation axis.

8. The robot according to claim 4, wherein

the direction of the second rotation axis is perpendicular to the direction of the first rotation axis.

9. The robot according to claim 1, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

10. The robot according to claim 2, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

11. The robot according to claim 3, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

12. The robot according to claim 4, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

13. The robot according to claim 5, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

14. The robot according to claim 6, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

15. The robot according to claim 7, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

16. The robot according to claim 8, comprising:

a second inertia sensor that is installed between the second arm and a front end of the arm;

wherein

the second arm is coupled to the first arm, and

a vibration of the arm is suppressed based on an output from the second inertia sensor.

17. The robot according to claim 16, wherein:

a vibration of the second arm is suppressed by a control of the second arm based on the output from the second inertia sensor.

18. The robot according to claim 1, wherein

the first inertia sensor is an angular velocity sensor.

19. The robot according to claim 17, wherein:

the first inertia sensor is an angular velocity sensor, and

the second inertia sensor is an angular velocity sensor.