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 rotates around a first rotation axis and a second arm that rotates around a second rotation axis extending in a direction different from the first rotation axis;
a first position sensor that detects a position of the first arm; and
a first inertia sensor that is installed at the first arm;
whereinthe first arm is coupled to the base and is controlled based on an output from the first position sensor and an output from the first inertia sensor, anda vibration of the arm is suppressed based on the output from the first position sensor and the output from the first inertia sensor.
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Abstract
A robot includes a base, a first arm which is rotatable around a first rotating axis with respect to the base, a second arm which is rotatable around a second rotating axis orthogonal to the first rotating axis, a third arm which is rotatable around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm, and a second angular velocity sensor provided in the third arm. The angle between a detection axis of the first angular velocity sensor and the first rotating axis is a predetermined first angle. The angle between a detection axis of the second angular velocity sensor and the second rotating axis is a predetermined second angle.
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Citations
17 Claims
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1. A robot comprising:
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a base; an arm that includes a first arm that rotates around a first rotation axis and a second arm that rotates around a second rotation axis extending in a direction different from the first rotation axis; a first position sensor that detects a position of the first arm; and a first inertia sensor that is installed at the first arm;
whereinthe first arm is coupled to the base and is controlled based on an output from the first position sensor and an output from the first inertia sensor, and a vibration of the arm is suppressed based on the output from the first position sensor and 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)
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Specification
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Current AssigneeSeiko Epson Corporation (Seiko Group)
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Original AssigneeSeiko Epson Corporation (Seiko Group)
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InventorsAsada, Atsushi, NIU, Akio, Hosomi, Hiroaki
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Granted Patent
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Time in Patent OfficeDays
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Field of Search
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US Class Current
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CPC Class CodesB25J 13/088 with position, velocity or ...B25J 9/04 by rotating at least one ar...B25J 9/1628 characterised by the contro...B25J 9/1694 characterised by use of sen...Y10S 901/09 Closed loop, sensor feedbac...
