VIBRATION MEASUREMENT METHOD FOR MOVING PART, VIBRATION MEASUREMENT METHOD FOR ROBOT, AND CONTROL DEVICE

• US 20170312922A1
• Filed: 04/18/2017
• Published: 11/02/2017
• Est. Priority Date: 04/28/2016
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: UNNO, Yukihiro
• Granted Patent: US 10,618,175 B2
• Time in Patent Office: Days
• 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: G05B 2219/37388 Acceleration or deceleration, inertial measurement
• CPC Class Codes: G05B 2219/37435 Vibration of machine
• CPC Class Codes: G05B 2219/40459 Minimum torque change model

Abstract

A vibration measurement method for a moving part is a vibration measurement method in which vibration of a moving part is measured using a first inertial sensor. The method includes: performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor. An example of the moving part may be a plurality of arms or the like provided in such a way as to be able to rotate about a rotation axis.

Claims

1. A vibration measurement method for a moving part in which vibration of a moving part is measured using a first inertial sensor, the method comprising:

performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and

finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor.

2. The vibration measurement method for the moving part according to claim 1, wherein

the moving part has a plurality of arms provided in such a way as to be able to rotate about a rotation axis, and

when moving a distal end of the moving part from a first position to a second position, measurement is carried out by the first inertial sensor in a state where at least two arms of the plurality of arms are made to rotate and resonate by the drive unit.

3. The vibration measurement method for the moving part according to claim 2, wherein

the rotation axes of the two arms are parallel to each other.

4. The vibration measurement method for the moving part according to claim 2, wherein

the distal end of the moving part is maintained in a same attitude while the distal end of the moving part is moved from the first position to the second position.

5. The vibration measurement method for the moving part according to claim 1, wherein

the moving part is driven at a plurality of difference velocities and measurement is carried out by the first inertial sensor at each velocity.

6. The vibration measurement method for the moving part according to claim 1, wherein

the first inertial sensor is installed inside the moving part.

7. The vibration measurement method for the moving part according to claim 1, wherein

a second inertial sensor that is different from the first inertial sensor is provided in a support part supporting the moving part, and

measurement is carried out by the second inertial sensor in a state where the moving part is driven by the drive unit, and a magnitude of vibration of the support part is found, based on an output from the second inertial sensor.

8. The vibration measurement method for the moving part according to claim 1, wherein

the first inertial sensor is a 6-axis inertial sensor.

9. The vibration measurement method for the moving part according to claim 1, wherein

the first inertial sensor is an angular velocity sensor.

10. A vibration measurement method for a robot in which vibration of a robot is measured using an inertial sensor, the method comprising:

performing measurement by the inertial sensor in a state where the robot is resonating, driven by a drive unit which drives the robot; and

finding a magnitude of vibration of the robot, based on an output from the inertial sensor.

11. A control device which controls a robot with an arm, the control device comprising:

a computing unit which finds a magnitude of vibration of the arm, based on an output from an inertial sensor provided in the arm, in a state where the arm is resonating.

12. The control device according to claim 11, further comprising

a selection unit which causes the arm to move at a plurality of different velocities and selects a velocity corresponding to the lowest magnitude of vibration, of the magnitudes of vibration of the arm found by the computing unit with the respective velocities.