ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM
First Claim
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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, anda vibration of the arm is suppressed based on the output from the first inertia sensor.
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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.
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Citations
19 Claims
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1. A robot comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification